Controller Sysmac Studio Version 1 Operation Manual EN 202012 W504I-E3-35
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Controller Sysmac Studio Version 1 Operation Manual EN 202012 W504I-E3-35
W504-E1-35 1020
W504-E1-35, 1020
Sysmac Studio Version 1 - Omron Automation – Americas
This manual describes the operating procedures of the Sysmac Studio mainly ... tion on terminology in the NJ/NX-series CPU Unit Software User's Manual (Cat.
Sysmac Studio Version 1
Extracted Text
Automation Software
Sysmac Studio Version 1
Operation Manual
SYSMAC-SE2
W504-E1-35
NOTE
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. 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 information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes 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 Internet Explorer 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.
� NVIDIA, the NVIDIA logo, GeForce, and the GeForce logo are the trademarks or registered trademarks of NVIDIA Corporation in the USA and other countries.
� ATITM and RadeonTM are the trademarks of Advanced Micro Devices, Inc. � Celeron, Intel and Intel Core are trademarks of Intel Corporation in the U.S. and / or other countries. � Git and the Git logo are either registered trademarks or trademarks of Software Freedom Conservancy, Inc.,
corporate home of the Git Project, in the United States and/or other countries.
Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Introduction
Introduction
Thank you for purchasing the Sysmac Studio Automation Software. The Sysmac Studio allows you to use a computer to program and set up Sysmac devices. This manual describes the operating procedures of the Sysmac Studio mainly for NJ/NX/NY-series Controllers. Use this manual together with the user's manuals for the other devices that you use.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (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.
Notice
This manual contains information that is necessary to use the Sysmac Studio. Please read and understand this manual before using the Sysmac Studio. Keep this manual in a safe place where it will be available for reference during operation.
Sysmac Studio Version 1 Operation Manual (W504)
1
Manual Structure
Manual Structure
Page Structure
The following page structure is used in this manual.
4 Installation and Wiring
Level 2 heading Level 3 heading
A step in a procedure
Indicates a procedure.
4-3 Mounting Units
4-3-1 Connecting Controller Components
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.
1 Join the Units so that the connectors fit exactly.
Hook
Hook holes
Connector
Level 1 heading Level 2 heading Level 3 heading
Gives the current headings.
4-3 Mounting Units
Special information
Icons indicate precautions, additional information, or reference information.
4
2 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. Move the sliders toward the back until they lock into place.
Lock Release
Slider
Precautions for Correct Use 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 the adjacent Unit connectors.
4-3-1 Connecting Controller Components
Page tab
Gives the number of the main section.
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.
2
Sysmac Studio Version 1 Operation Manual (W504)
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 for Correct Use 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 CPU Units with different unit versions and for different versions of the Sysmac Studio is given. Note References are provided to more detailed or related information.
Precaution on Terminology
� For descriptions of the CPU Unit and Controller terms that are used in this manual, refer to information on terminology in the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or the NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
� In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Controller 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.
� In this manual, the functions of a specific model of the NX-series CPU Units/Controllers may be described with its model specified, such as "NX701 CPU Unit/Controller" or "NX1P2 CPU Unit/Controller."
� In this manual, the Controller functions that are integrated in the NY-series Industrial PC may be referred to as an "NY-series Controller".
� The Sysmac Studio supports the NJ/NX/NY-series Controllers. Unless another Controller series is specified, the operating procedures and screen captures used in the manual are examples for the NJ-series Controllers.
Terminology
For descriptions of the Controller terms that are used in this manual, refer to information on terminology in the manuals that are listed in Related Manuals on page 29.
Sysmac Studio Version 1 Operation Manual (W504)
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Manual Structure
4
Sysmac Studio Version 1 Operation Manual (W504)
Sections in this Manual
Sections in this Manual
1 Introduction 2 Installation and
Uninstallation
3 System Design
10 Support Software Provided with the Sysmac Studio
11 Troubleshooting A Appendices
4 Programming
I Index
5 Controller Configurations and Setup
6 Online Connections to a Controller
7 Debugging
8 Other Functions
9 Reusing Programming
1 10 2 11 3A 4I
5 6 7 8 9
Sysmac Studio Version 1 Operation Manual (W504)
5
CONTENTS
CONTENTS
Introduction ............................................................................................................... 1 Manual Structure ....................................................................................................... 2 Sections in this Manual ............................................................................................ 5 Terms and Conditions Agreement ......................................................................... 14 Safety Precautions .................................................................................................. 15 Precautions for Safe Use........................................................................................ 20 Precautions for Correct Use................................................................................... 23 Regulations and Standards.................................................................................... 24 Versions ................................................................................................................... 25 Related Manuals ...................................................................................................... 29 Revision History ...................................................................................................... 35
Section 1 Introduction
1-1 The Sysmac Studio ................................................................................................................. 1-2 1-2 Features.................................................................................................................................... 1-3 1-3 Specifications .......................................................................................................................... 1-4
1-3-1 Product Model Numbers ............................................................................................................. 1-4 1-3-2 Support Software That You Can Install from the Sysmac Studio DVD and Enclosed Data ........ 1-6 1-3-3 Supported Languages................................................................................................................. 1-6 1-3-4 Applicable Models ....................................................................................................................... 1-7 1-3-5 Types of Licenses ....................................................................................................................... 1-8 1-3-6 Applicable Computers ................................................................................................................. 1-9 1-4 Components........................................................................................................................... 1-11
Section 2 Installation and Uninstallation
2-1 Installing the Sysmac Studio.................................................................................................. 2-2 2-1-1 Confirmations before Installation................................................................................................. 2-2 2-1-2 Requirements for Installation ...................................................................................................... 2-2 2-1-3 Installing the Sysmac Studio ....................................................................................................... 2-4
2-2 Uninstalling the Sysmac Studio ........................................................................................... 2-12 2-2-1 Uninstalling the Sysmac Studio................................................................................................. 2-12
2-3 Auto-updating the Sysmac Studio ....................................................................................... 2-16 2-3-1 Confirmations before Implementing Auto-updating ................................................................... 2-16 2-3-2 Implementing an Auto-update ................................................................................................... 2-16
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Section 3 System Design
3-1 Basic Flow of System Design 1.............................................................................................. 3-3
3-2 Basic Flow of System Design 2.............................................................................................. 3-5
3-3 Creating a Project.................................................................................................................... 3-7 3-3-1 Starting and Exiting the Sysmac Studio...................................................................................... 3-7 3-3-2 Creating a Project File ................................................................................................................ 3-9 3-3-3 Closing a Project File and Returning to the Start Page ............................................................ 3-14 3-3-4 Saving the Project File.............................................................................................................. 3-15 3-3-5 Saving a Project File Under a Different Name.......................................................................... 3-16 3-3-6 Opening a Project File .............................................................................................................. 3-17 3-3-7 Exporting a Project File............................................................................................................. 3-19 3-3-8 Importing a Project File............................................................................................................. 3-21 3-3-9 Password Protection for Project Files....................................................................................... 3-23 3-3-10 Project Update History Management........................................................................................ 3-27 3-3-11 Creating a Project from an Online Connection ......................................................................... 3-30 3-3-12 Displaying and Registering Licenses........................................................................................ 3-30 3-3-13 Project Version Control ............................................................................................................. 3-31
3-4 Parts of the Window .............................................................................................................. 3-32 3-4-1 Application Window .................................................................................................................. 3-32 3-4-2 Multiview Explorer (1) ............................................................................................................... 3-33 3-4-3 Edit Pane (3)............................................................................................................................. 3-36 3-4-4 Toolbox (4) ................................................................................................................................ 3-41 3-4-5 Changing the Display Location of Window Parts...................................................................... 3-44
3-5 Menu Command Structure.................................................................................................... 3-48
3-6 Basic Editing Operations...................................................................................................... 3-53
3-7 Sysmac Studio Settings and Operations ............................................................................ 3-56 3-7-1 Setting Parameters ................................................................................................................... 3-56 3-7-2 Programming ............................................................................................................................ 3-60 3-7-3 Library Functions ...................................................................................................................... 3-62 3-7-4 Project Management................................................................................................................. 3-63 3-7-5 Debugging ................................................................................................................................ 3-63 3-7-6 Simulation ................................................................................................................................. 3-66 3-7-7 Monitoring Information .............................................................................................................. 3-67 3-7-8 Communications ....................................................................................................................... 3-68 3-7-9 Maintenance ............................................................................................................................. 3-68 3-7-10 Security Measures .................................................................................................................... 3-69 3-7-11 Customizing Function ............................................................................................................... 3-70 3-7-12 Window Operation .................................................................................................................... 3-70 3-7-13 Online Help ............................................................................................................................... 3-70 3-7-14 OPC UA Functions.................................................................................................................... 3-71 3-7-15 Function Specifications of DB Connection Function................................................................. 3-72 3-7-16 CNC Functions ......................................................................................................................... 3-72 3-7-17 EtherNet/IP Connection Settings .............................................................................................. 3-73 3-7-18 EtherNet/IP Slave Terminal Settings......................................................................................... 3-73 3-7-19 Function Specifications of Safety Control Units........................................................................ 3-74 3-7-20 Function Specifications of NA-series Programmable Terminals ............................................... 3-78 3-7-21 Vision Sensor Functions ........................................................................................................... 3-83 3-7-22 Displacement Sensor Functions ............................................................................................... 3-89 3-7-23 Team Development Option ....................................................................................................... 3-90 3-7-24 3D Simulation Function............................................................................................................. 3-90 3-7-25 Robot Function ......................................................................................................................... 3-91 3-7-26 Application Manager Function .................................................................................................. 3-93
Section 4 Programming
4-1 Variable Registration............................................................................................................... 4-3 4-1-1 Creating Global Variables ........................................................................................................... 4-4 4-1-2 Creating Device Variables ........................................................................................................ 4-10
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4-1-3 4-1-4 4-1-5 4-1-6 4-1-7 4-1-8 4-1-9 4-1-10
Creating Local Variables ........................................................................................................... 4-21 Creating Axis Variables ............................................................................................................. 4-25 Creating Axes Group Variables ................................................................................................. 4-27 Creating Cam Data Variables.................................................................................................... 4-29 Creating Function Block Instance Variables.............................................................................. 4-31 System-defined Variables ......................................................................................................... 4-32 Entering Variable Attributes....................................................................................................... 4-33 Variable Manager ...................................................................................................................... 4-43
4-2 Registering POUs .................................................................................................................. 4-51 4-2-1 Displaying POUs ....................................................................................................................... 4-51 4-2-2 Registering Programs ............................................................................................................... 4-51 4-2-3 Registering Function Blocks...................................................................................................... 4-54 4-2-4 Registering Functions ............................................................................................................... 4-56
4-3 Creating Data Types .............................................................................................................. 4-58
4-4 Namespaces........................................................................................................................... 4-68 4-4-1 Data for Which You Can Use Namespaces .............................................................................. 4-68 4-4-2 Setting Namespaces ................................................................................................................. 4-68 4-4-3 Using Namespaces ................................................................................................................... 4-71
4-5 Programming ......................................................................................................................... 4-74 4-5-1 Programming Ladder Diagrams ................................................................................................ 4-74 4-5-2 Programming Structured Text ................................................................................................. 4-129 4-5-3 Comparison before Pasting Dependents ................................................................................ 4-140
4-6 Searching and Replacing.................................................................................................... 4-142 4-6-1 Scope of Searching and Replacing......................................................................................... 4-142 4-6-2 Search and Replace Pane ...................................................................................................... 4-142 4-6-3 Items to Set ............................................................................................................................. 4-143 4-6-4 Searching ................................................................................................................................ 4-146 4-6-5 Replacing ................................................................................................................................ 4-147 4-6-6 Searching All ........................................................................................................................... 4-148 4-6-7 Replacing All ........................................................................................................................... 4-148 4-6-8 Replacing All N.O. and N.C. Inputs ......................................................................................... 4-148
4-7 Program Checks .................................................................................................................. 4-149 4-7-1 Check All Programs................................................................................................................. 4-149 4-7-2 Check Selected Programs ...................................................................................................... 4-149
4-8 Building and Rebuilding ..................................................................................................... 4-151
4-9 Offline Comparison ............................................................................................................. 4-153 4-9-1 Procedure for Offline Comparison........................................................................................... 4-153 4-9-2 Merging Detailed Comparison Results.................................................................................... 4-159
Section 5 Controller Configurations and Setup
5-1 Overview of Controller Configurations and Setup ............................................................... 5-3
5-2 EtherCAT Configuration and Setup ....................................................................................... 5-4 5-2-1 Procedure to Open the EtherCAT Tab Page ............................................................................... 5-4 5-2-2 Registering Slaves Offline to Configure EtherCAT...................................................................... 5-4 5-2-3 Registering Slaves Online to Configure EtherCAT...................................................................... 5-6 5-2-4 Setting Master Parameters ......................................................................................................... 5-8 5-2-5 Setting Slave Parameters ........................................................................................................... 5-9 5-2-6 Exporting Slave Settings ........................................................................................................... 5-14 5-2-7 Installing and Uninstalling ESI Files .......................................................................................... 5-16 5-2-8 Transferring the Network Configuration Information ................................................................. 5-17 5-2-9 Exporting EtherCAT Network Configuration Information........................................................... 5-18 5-2-10 Printing an EtherCAT Configuration .......................................................................................... 5-20 5-2-11 Starting Vision Sensor or Displacement Sensor Setup............................................................. 5-21
5-3 EtherCAT Slave Terminal Configuration and Setup ........................................................... 5-22 5-3-1 Creating the EtherCAT Slave Terminal Configuration ............................................................... 5-23 5-3-2 Transferring the Slave Terminal Configuration Information ....................................................... 5-32 5-3-3 Exporting the EtherCAT Slave Terminal Configuration Information........................................... 5-32
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5-4 Setting EtherCAT Drives ....................................................................................................... 5-34 5-4-1 Applicable EtherCAT Drives ..................................................................................................... 5-34 5-4-2 Overview of the Structure of the EtherCAT Drive Tab Page ..................................................... 5-35 5-4-3 Setting EtherCAT Drives ........................................................................................................... 5-36 5-4-4 Monitoring EtherCAT Drives ..................................................................................................... 5-41
5-5 CPU/Expansion Rack Configuration and Setup ................................................................. 5-42 5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit...................................... 5-43 5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units ...................................................... 5-51
5-6 Controller Setup .................................................................................................................... 5-60 5-6-1 Operation Settings .................................................................................................................... 5-60 5-6-2 Built-in EtherNet/IP Port Settings.............................................................................................. 5-66 5-6-3 Built-in I/O Settings ................................................................................................................... 5-70 5-6-4 Option Board Settings............................................................................................................... 5-71 5-6-5 Memory Settings....................................................................................................................... 5-72
5-7 Motion Control Setup ............................................................................................................ 5-73 5-7-1 Setting Axes.............................................................................................................................. 5-73 5-7-2 Setting Axes Groups ................................................................................................................. 5-81
5-8 Cam Data Settings................................................................................................................. 5-83 5-8-1 Registering Cam Data Settings ................................................................................................ 5-83 5-8-2 Editing Cam Data Settings........................................................................................................ 5-83 5-8-3 Procedure to Transfer Cam Data Settings................................................................................ 5-88 5-8-4 Importing Cam Data Settings.................................................................................................... 5-89 5-8-5 Exporting Cam Data Settings ................................................................................................... 5-90 5-8-6 Exporting Cam Tables............................................................................................................... 5-91 5-8-7 Transferring Cam Tables from the Controller to Files ............................................................... 5-92 5-8-8 Transferring Cam Tables from Files to the Controller ............................................................... 5-93 5-8-9 Superimposing Cam Tables...................................................................................................... 5-93 5-8-10 Registering Cam Definitions ..................................................................................................... 5-95 5-8-11 Transferring Cam Definitions .................................................................................................... 5-99 5-8-12 Updating Cam Definition Settings........................................................................................... 5-101
5-9 Task Settings ....................................................................................................................... 5-102 5-9-1 Registering Tasks ................................................................................................................... 5-102 5-9-2 Procedure to Set Tasks........................................................................................................... 5-102 5-9-3 Task I/O Settings..................................................................................................................... 5-103 5-9-4 Program Assignments............................................................................................................. 5-104 5-9-5 Settings for Exclusive Control of Variables in Tasks ............................................................... 5-105
Section 6 Online Connections to a Controller
6-1 Overview................................................................................................................................... 6-2
6-2 Going Online with a Controller............................................................................................... 6-3 6-2-1 Overview..................................................................................................................................... 6-3 6-2-2 Setting the Connection Method .................................................................................................. 6-4 6-2-3 Going Online............................................................................................................................... 6-5 6-2-4 Going Online after Checking the Connection Method ................................................................ 6-6 6-2-5 Going Offline............................................................................................................................... 6-6 6-2-6 Confirming Serial IDs.................................................................................................................. 6-7 6-2-7 Checking for Forced Refreshing ................................................................................................. 6-7 6-2-8 Going Online without a Project ................................................................................................... 6-8
Section 7 Debugging
7-1 Debugging Operations on the Simulator and Controller ..................................................... 7-2
7-2 Operations Used for Both Online and Offline Debugging ................................................... 7-4 7-2-1 Monitoring ................................................................................................................................... 7-4 7-2-2 Differential Monitor.................................................................................................................... 7-21 7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing......................................... 7-23
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7-2-4 7-2-5 7-2-6 7-2-7 7-2-8 7-2-9 7-2-10 7-2-11
Cross References ..................................................................................................................... 7-35 Online Editing............................................................................................................................ 7-39 Changing the Operating Mode .................................................................................................. 7-43 Monitoring Controller Status...................................................................................................... 7-44 Task Execution Status Monitor.................................................................................................. 7-47 Task Execution Time Monitor .................................................................................................... 7-48 Axis Status Monitor (MC Monitor Table).................................................................................... 7-49 Data Tracing.............................................................................................................................. 7-51
7-3 Offline Debugging ................................................................................................................. 7-78 7-3-1 Debugging with Program Simulation......................................................................................... 7-78 7-3-2 Offline Debugging of Sequence and Motion Control Programs ................................................ 7-98 7-3-3 Offline Debugging for Sequence Control and Vision Sensor .................................................. 7-101 7-3-4 Offline Debugging for Sequence Control and Displacement Sensor ...................................... 7-106 7-3-5 Offline Debugging with Sequence Control and NA-series PT Simulator (Simultaneous Simulation of Controller with NA-series PT).................................................... 7-108 7-3-6 Integrated NS-series PT Simulation for Offline Debugging of Sequence Control and NS-series PTs ...................................................................................................................7-111 7-3-7 3D Simulation.......................................................................................................................... 7-113
7-4 Preparations for Online Debugging ................................................................................... 7-114 7-4-1 Assigning Variables and Real I/O............................................................................................ 7-114 7-4-2 Assigning Axis Variables and I/O Devices............................................................................... 7-116
7-5 Performing Online Debugging............................................................................................ 7-118 7-5-1 Transferring/Comparing Data to/from the Controller ............................................................... 7-119 7-5-2 Testing Axis Operation (MC Test Run) .................................................................................... 7-142 7-5-3 Checking I/O Wiring ................................................................................................................ 7-146 7-5-4 Checking I/O Assignments ...................................................................................................... 7-147 7-5-5 Resetting the Controller .......................................................................................................... 7-148 7-5-6 Restarting Units....................................................................................................................... 7-149
Section 8 Other Functions
8-1 SD Memory Card Operations.................................................................................................. 8-3 8-1-1 SD Memory Card Window Procedures ....................................................................................... 8-3
8-2 Clock Information Settings ..................................................................................................... 8-7
8-3 Security Settings ..................................................................................................................... 8-8 8-3-1 Operation Authority Verification................................................................................................... 8-8 8-3-2 Authentication of User Program Execution IDs......................................................................... 8-14 8-3-3 Write Protection of the CPU Unit............................................................................................... 8-16 8-3-4 Data Protection ......................................................................................................................... 8-18
8-4 User Memory Usage Monitor ................................................................................................ 8-22
8-5 Printing ................................................................................................................................... 8-23 8-5-1 Items You Can Print .................................................................................................................. 8-23 8-5-2 Print Setup ................................................................................................................................ 8-24 8-5-3 Printing ...................................................................................................................................... 8-27 8-5-4 Print Preview ............................................................................................................................. 8-28
8-6 Clearing Memory ................................................................................................................... 8-29 8-6-1 Clearing All Memory of the CPU Unit ........................................................................................ 8-29 8-6-2 Clearing All Memory of NX Units............................................................................................... 8-30 8-6-3 Clear All Memory Operation for the Units in a Slave Terminal .................................................. 8-31
8-7 Releasing Access Rights ...................................................................................................... 8-32
8-8 Displaying Unit Production Information.............................................................................. 8-33 8-8-1 Displaying CPU Unit Production Information ............................................................................ 8-33 8-8-2 Displaying EtherCAT Slave Production Information .................................................................. 8-35 8-8-3 Displaying Production Information for Configuration Units in EtherCAT Slave Terminals ......... 8-35
8-9 Backup Functions ................................................................................................................. 8-36 8-9-1 Controller Backup Functions ..................................................................................................... 8-37 8-9-2 SD Memory Card Backup Functions......................................................................................... 8-40
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8-9-3 8-9-4
Backing Up Variables and Memory........................................................................................... 8-42 Importing/Exporting Backup Files ............................................................................................. 8-50
8-10 Transferring All Controller Data ........................................................................................... 8-53 8-10-1 Transferring Data from the Computer to a Controller ............................................................... 8-53 8-10-2 Transferring Data from the Controller to the Computer ............................................................ 8-54
8-11 NX Unit Maintenance............................................................................................................. 8-55
8-12 EtherCAT Maintenance.......................................................................................................... 8-56 8-12-1 Disconnecting a Slave from and Reconnecting a Slave to the Network................................... 8-56 8-12-2 Packet Monitoring ..................................................................................................................... 8-58 8-12-3 Diagnostic and Statistical Information....................................................................................... 8-59 8-12-4 Maintenance Operations for EtherCAT Slave Terminals........................................................... 8-64
8-13 Grouping for POUs and Global Variables ........................................................................... 8-66 8-13-1 Displaying the Programming Group Tab Page ......................................................................... 8-66 8-13-2 Grouping POUs ........................................................................................................................ 8-67 8-13-3 Grouping Global Variables........................................................................................................ 8-70
8-14 Project Shortcut View ........................................................................................................... 8-73 8-14-1 Displaying the Project Shortcut View........................................................................................ 8-74 8-14-2 Adding User Folders ................................................................................................................. 8-75 8-14-3 Renaming User Folders............................................................................................................ 8-75 8-14-4 Copying and Pasting User Folders ........................................................................................... 8-75 8-14-5 Cutting User Folders................................................................................................................. 8-76 8-14-6 Deleting User Folders ............................................................................................................... 8-76 8-14-7 Editing Comments on User Folders.......................................................................................... 8-77 8-14-8 Adding Shortcuts ...................................................................................................................... 8-77 8-14-9 Editing Items from Shortcuts..................................................................................................... 8-79 8-14-10 Copying and Pasting Shortcuts ................................................................................................ 8-80 8-14-11 Cutting Shortcuts ...................................................................................................................... 8-80 8-14-12 Deleting Shortcuts .................................................................................................................... 8-81 8-14-13 Editing Comments on Shortcuts ............................................................................................... 8-81 8-14-14 Jumping from a Shortcut to the Multiview Explorer .................................................................. 8-82
8-15 Troubleshooting .................................................................................................................... 8-83 8-15-1 Troubleshooting Dialog Box...................................................................................................... 8-83 8-15-2 Controller Errors ....................................................................................................................... 8-84 8-15-3 Controller Event Log ................................................................................................................. 8-88 8-15-4 User-defined Errors .................................................................................................................. 8-92 8-15-5 User-defined Event Log ............................................................................................................ 8-93 8-15-6 Event Setting Table................................................................................................................... 8-94 8-15-7 Displaying and Editing the Event Setting Table ........................................................................ 8-96 8-15-8 Event Log Viewer...................................................................................................................... 8-99
8-16 Changing Variable Comments and Data Type Comments............................................... 8-101 8-16-1 Exporting Comments .............................................................................................................. 8-101 8-16-2 Editing the Comment File ....................................................................................................... 8-101 8-16-3 Importing Comment Files........................................................................................................ 8-102 8-16-4 Switching the Displayed Comments ....................................................................................... 8-103
8-17 Exporting Global Variables................................................................................................. 8-104 8-17-1 Exporting Global Variables for the Network Configurator ....................................................... 8-104 8-17-2 Exporting Global Variables for the CX-Designer..................................................................... 8-104
8-18 Importing ST Programs....................................................................................................... 8-105
8-19 Importing IEC 61131-10 XML Files ..................................................................................... 8-106 8-19-1 Importing Data ........................................................................................................................ 8-106 8-19-2 Compare before Importing...................................................................................................... 8-107
8-20 Importing Motor Sizing Tool Results ................................................................................. 8-109
8-21 Updating the Configurations and Setup Transfer Data.....................................................8-111
8-22 EtherNet/IP Connection Settings ....................................................................................... 8-112
8-23 Sysmac Studio Option Settings ......................................................................................... 8-113
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CONTENTS
Section 9 Reusing Programming
9-1 Overview................................................................................................................................... 9-2
9-2 Example of Reusing Device and Program Assets ................................................................ 9-4 9-2-1 Changing I/O Assignments.......................................................................................................... 9-4 9-2-2 Deleting Device Options.............................................................................................................. 9-6 9-2-3 Adding Device Options................................................................................................................ 9-7
9-3 Creating and Using Libraries ................................................................................................. 9-8 9-3-1 Creating a Library........................................................................................................................ 9-8 9-3-2 Using a Library .......................................................................................................................... 9-11
9-4 Program Sharing in Derived Devices .................................................................................. 9-16 9-4-1 Overview of Sharing Programs in Derived Devices .................................................................. 9-16 9-4-2 Procedure to Share a Program ................................................................................................. 9-17 9-4-3 Editing Shared Data .................................................................................................................. 9-21 9-4-4 Changing a Sharing Relationship.............................................................................................. 9-23
Section 10 Support Software Provided with the Sysmac Studio
10-1 Support Software Provided with the Sysmac Studio ......................................................... 10-2 10-2 Starting and Exiting the Support Software ......................................................................... 10-4
10-2-1 Starting the Support Software Provided with Sysmac Studio ................................................... 10-4 10-2-2 Exiting the Support Software Provided with Sysmac Studio ..................................................... 10-5
Section 11 Troubleshooting
11-1 Error Messages for Ladder Program Checks ..................................................................... 11-2 11-2 Error Messages for Structured Text Checks....................................................................... 11-7 11-3 Error Messages for Variable Check ....................................................................................11-11 11-4 Error Messages for Sysmac Studio Operation ................................................................. 11-12
Appendices
A-1 Driver Installation for Direct USB Cable Connection ...........................................................A-3 A-1-1 Installing the USB Driver .............................................................................................................A-3 A-1-2 Installing a Specified USB Driver ................................................................................................A-3 A-1-3 Confirmation Procedure after Installation....................................................................................A-6
A-2 Specifying One of Multiple Ethernet Interface Cards...........................................................A-7
A-3 Differences between the Simulator and the Physical Controller ........................................A-9 A-3-1 Operation of Functions................................................................................................................A-9 A-3-2 Task Execution ..........................................................................................................................A-13 A-3-3 Task Execution Times ...............................................................................................................A-16 A-3-4 Floating-point Data Expressions ...............................................................................................A-17
A-4 Online Help.............................................................................................................................A-18 A-4-1 Sysmac Studio Help Contents ..................................................................................................A-18 A-4-2 Instruction Reference ................................................................................................................A-18 A-4-3 Keyboard Mapping Reference ..................................................................................................A-19 A-4-4 System Defined Variable Reference .........................................................................................A-19
A-5 Shortcut Keys ........................................................................................................................A-20 A-5-1 Basic Operations.......................................................................................................................A-20 A-5-2 Editing Programs.......................................................................................................................A-21 A-5-3 Searching and Replacing ..........................................................................................................A-22 A-5-4 Online........................................................................................................................................A-22 A-5-5 Simulation .................................................................................................................................A-23
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Sysmac Studio Version 1 Operation Manual (W504)
CONTENTS
A-5-6 A-5-7
SD Memory Card ...................................................................................................................... A-23 Changing Shortcut Keys ........................................................................................................... A-24
A-6 Simulation Instructions.........................................................................................................A-33 A-6-1 Simulate Positive Limit Input Signal Instruction ........................................................................ A-33 A-6-2 Simulate Negative Limit Input Signal Instruction ...................................................................... A-34 A-6-3 Simulate Home Proximity Signal Instruction............................................................................. A-36 A-6-4 Simulate Immediate Stop Input Signal Instruction .................................................................... A-37 A-6-5 Simulate External Latch Input Signal Instruction ...................................................................... A-38 A-6-6 Simulate Drive Alarm Instruction............................................................................................... A-39 A-6-7 Simulate Drive Warning Instruction .......................................................................................... A-41 A-6-8 Encoder Velocity Input Instruction ............................................................................................ A-42 A-6-9 Write Actual Position Instruction ............................................................................................... A-44 A-6-10 Write Actual Velocity Instruction................................................................................................ A-46 A-6-11 Write Actual Torque Instruction ................................................................................................. A-48 A-6-12 Detailed Information on Error Codes ........................................................................................ A-50
A-7 Directly Connecting to an EtherCAT Slave Terminal..........................................................A-52 A-7-1 Procedure for Directly Connecting to an EtherCAT Slave Terminal.......................................... A-52 A-7-2 Transferring Settings for an EtherCAT Slave Terminal ............................................................. A-53 A-7-3 Comparing the EtherCAT Slave Terminal Configuration Information........................................ A-54 A-7-4 USB Connection Prohibition Setting for EtherCAT Slave Terminals ......................................... A-54 A-7-5 I/O Wiring Checks for EtherCAT Slave Terminals..................................................................... A-55 A-7-6 Differences in Operation from an Online Connection to an NJ/NX/NY-series Controller.......... A-56
A-8 MDP Settings for EtherCAT Network Slaves.......................................................................A-57 A-8-1 Installing ESI Files for MDP Slaves .......................................................................................... A-57 A-8-2 Adding MDP Slaves.................................................................................................................. A-57 A-8-3 Editing Module Configurations.................................................................................................. A-57 A-8-4 Building Module Configurations Online..................................................................................... A-58 A-8-5 Setting MDP Slaves and Transferring/Comparing Module Configurations ............................... A-58 A-8-6 Displaying Production Information ............................................................................................ A-58
A-9 Changing the Sysmac Studio Display Language ...............................................................A-59 A-9-1 Changing the Display Language............................................................................................... A-59
A-10 Changing models among NJ-, NX-, and NY-series Controllers.........................................A-60 A-10-1 Changing between NJ-series and NX701 Controllers .............................................................. A-60 A-10-2 Changing between NJ-series and NY-series Controllers.......................................................... A-62 A-10-3 Changing between NY-series and NX701 Controllers .............................................................. A-63 A-10-4 Changing between NX1P2 and NJ-series Controllers.............................................................. A-64 A-10-5 Changing between NX1P2 and NX701 Controllers .................................................................. A-66 A-10-6 Changing between NX1P2 and NY-series Controllers ............................................................. A-68 A-10-7 Changing between NX102 and NJ-series Controllers .............................................................. A-69 A-10-8 Changing between NX102 and NX701 Controllers .................................................................. A-71 A-10-9 Changing between NX102 and NY-series Controllers .............................................................. A-73 A-10-10 Changing between NX102 and NX1P2 Controllers .................................................................. A-74
A-11 Report Tools...........................................................................................................................A-76 A-11-1 Sysmac Controller Log Upload Tool ......................................................................................... A-76 A-11-2 Sysmac Studio Error Report Generating Tool........................................................................... A-78 A-11-3 Sysmac Coupler Log Upload Tool ............................................................................................ A-79
A-12 Downloading Manuals...........................................................................................................A-81 A-12-1 Displaying the Manual Download Site ...................................................................................... A-81
Index
Sysmac Studio Version 1 Operation Manual (W504)
13
Terms and Conditions Agreement
Terms and Conditions Agreement
WARRANTY
� The warranty period for the Software is one year from the date of purchase, unless otherwise specifically agreed.
� If the User discovers defect of the Software (substantial non-conformity with the manual), and return it to OMRON within the above warranty period, OMRON will replace the Software without charge by offering media or download from OMRON's website. And if the User discovers defect of media which is attributable to OMRON and return it to OMRON within the above warranty period, OMRON will replace defective media without charge. If OMRON is unable to replace defective media or correct the Software, the liability of OMRON and the User's remedy shall be limited to the refund of the license fee paid to OMRON for the Software.
LIMITATION OF LIABILITY
� THE ABOVE WARRANTY SHALL CONSTITUTE THE USER'S SOLE AND EXCLUSIVE REMEDIES AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES, EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO, WARRANTY OF MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE. IN NO EVENT, OMRON WILL BE LIABLE FOR ANY LOST PROFITS OR OTHER INDIRECT, INCIDENTAL, SPECIAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF USE OF THE SOFTWARE.
� OMRON SHALL HAVE NO LIABILITY FOR DEFECT OF THE SOFTWARE BASED ON MODIFICATION OR ALTERNATION TO THE SOFTWARE BY THE USER OR ANY THIRD PARTY. OMRON SHALL NOT BE RESPONSIBLE AND/OR LIABLE FOR ANY LOSS, DAMAGE, OR EXPENSES DIRECTLY OR INDIRECTLY RESULTING FROM THE INFECTION OF OMRON PRODUCTS, 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.
� OMRON SHALL HAVE NO LIABILITY FOR SOFTWARE DEVELOPED BY THE USER OR ANY THIRD PARTY BASED ON THE SOFTWARE OR ANY CONSEQUENCE THEREOF.
APPLICABLE CONDITIONS
USER SHALL NOT USE THE SOFTWARE FOR THE PURPOSE THAT IS NOT PROVIDED IN THE ATTACHED USER MANUAL.
CHANGE IN SPECIFICATION
The software specifications and accessories may be changed at any time based on improvements and other reasons.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
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Sysmac Studio Version 1 Operation Manual (W504)
Safety Precautions
Safety Precautions
Definition of Precautionary Information
The following notation is used in this manual to provide precautions required to ensure safe usage of the Sysmac Studio and an NJ/NX/NY-series Machine Automation Controller. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The following notation is used.
WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.
Caution
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.
Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance.
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15
Safety Precautions
Symbols
The circle and slash symbol indicates operations that you must not do. The specific operation is shown in the circle and explained in text. This example indicates prohibiting disassembly.
The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a precaution for electric shock.
The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a general precaution.
The filled circle symbol indicates operations that you must do. The specific operation is shown in the circle and explained in text. This example shows a general precaution for something that you must do.
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Sysmac Studio Version 1 Operation Manual (W504)
Safety Precautions
WARNING
Check the user program for proper execution before you use it for actual operation.
Check the parameters for proper execution before you use them for actual operation.
Always confirm safety at the destination node before you transfer a user program, configuration data, setup data, device variables, or values in memory used for CJ-series Units from the Sysmac Studio. The devices or machines may perform unexpected operation regardless of the operating mode of the CPU Unit.
Execute online editing only after you confirm that no adverse effects will be caused to the operation of the master and slave axes if the synchronized control processing time is extended.
Before you perform online editing for a function or a function block, check the locations where the function or function block is used in the Cross Reference Tab Page and confirm the range that will be affected.
Sufficiently confirm safety before you change the values of I/O ports or variables on the I/O Map when the Sysmac Studio is online with the CPU Unit. Incorrect operation may cause the devices that are connected to Output Units to operate regardless of the operating mode of the Controller.
If you set inappropriate parameters when you change the levels of NX Unit events, unexpected machine operation may result. Confirm that the machine will not be adversely affected before you transfer the data.
If you use EtherCAT slaves, check the specifications of those slaves in manuals or other documentation and confirm that the system will not be adversely affected before you transfer parameters.
When you search and replace a string in a project that includes more than one device, make sure that the string to replace is in the data of the intended device before you replace it. If you replace data of an unintended device, the controlled system may cause an unexpected operation.
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Safety Precautions
Caution
Although the Simulator simulates the operation of the Controller, there are difference from the Controller in operation and timing. After you debug the user program on the Simulator, always check operation on the physical Controller before you use the user program to operate the controlled system. Accidents may occur if the controlled system performs unexpected operation.
The Simulator instructions are not processed on the physical Controller and all outputs from the instructions will be FALSE. After you debug the user program on the Simulator, always check operation on the physical Controller before you use the user program to operate the controlled system. Accidents may occur if the controlled system performs unexpected operation.
Simultaneous simulation for offline debugging of sequences and the HMI can be performed to simulate the linked operation of the Controller and HMI. However, there are differences in the operation and timing between this simulation and the actual combination of the HMI and Controller. After you debug operation with the simulation, always check operation on the physical Controller and HMI before you use them in the actual system. Accidents may occur if the controlled system performs unexpected operation.
Sufficiently confirm safety before you change the values of variables online. Incorrect operation may cause the devices that are connected to Output Units to operate regardless of the operating mode of the Controller.
Always confirm safety before you reset the Controller or any components.
Always confirm the safety at the destination node before you transfer a user program to a node or perform an operation that changes device variables. Not doing so may result in injury.
Sufficiently confirm safety before you change the values of variables on a Watch Tab Page when the Sysmac Studio is online with the CPU Unit. Incorrect operation may cause the devices that are connected to Output Units to operate regardless of the operating mode of the Controller.
Sufficiently confirm safety at the connected slave or Unit before you change the value of an I/O port or device variable. Not doing so may result in injury.
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Sysmac Studio Version 1 Operation Manual (W504)
Safety Precautions
Caution
Always confirm safety at the destination node before you transfer parameters or data from the Sysmac Studio to another node. Not doing so may result in injury.
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Precautions for Safe Use
Precautions for Safe Use
Operation
� Confirm that the controlled system will not be adversely affected before you perform any of the following operations. � Changing the operating mode of the CPU Unit (including changing the Startup Mode). � Changing the user program or settings. � Changing set values or present values. � Performing forced refreshing.
� Before you restart operation, make sure that the required data, including device variables, the user program, and parameters, is transferred to a CPU Unit, Special I/O Unit, CPU Bus Unit, or externally connected device that was replaced.
� Before you restart the EtherNet/IP Unit, make sure that doing so will not adversely affect the controlled system.
� When you restore only part of the data that was backed up, confirm that no problems will occur if you do not restore all of the backup data. Otherwise, malfunction of the device may occur.
� If you transfer only selected programs from the programs that did not match for the synchronization function, there is no way to check on the Sysmac Studio the integrity with the programs that you do not transfer. After you transfer the programs, confirm safety before you change the CPU Unit to RUN mode.
EtherCAT Communications
� If verifying revisions is not selected in the Revision Check Method parameter in the master settings in EtherCAT configuration, parameters are also transferred to slaves with different revisions. If an incompatible revision of a slave is connected, incorrect parameters may be set and operation may not be correct. If you disable the revision check, make sure that only compatible slaves are connected before transferring the parameters.
� Unexpected operation may result if you transfer inappropriate network configuration settings. Even if appropriate network configuration settings are set, confirm that the controlled system will not be adversely affected before you transfer the data.
� After you transfer the user program, the CPU Unit is restarted and communications with the EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave specifications. The time that communications are cut off depends on the EtherCAT network configuration. Before you transfer the user program, confirm that the system will not be adversely affected.
� NX bus communications are not always established immediately after the power supply is turned ON. Use the system-defined variables and the EtherCAT Coupler Unit device variables in the user program to confirm that communications are established before attempting control operations.
Slave Terminals
� If any inappropriate parameters are set when you transfer the following settings, unexpected machine operation may result. Confirm that the machine will not be adversely affected before you transfer the data. Also, confirm that the Unit configuration, I/O allocations, and Unit operation settings are correctly set in the Slave Terminal before you start actual operation. � Communications Coupler Unit and NX Unit settings � Node address and Unit number settings for the Communications Coupler Unit and NX Units � I/O allocation settings for the Communications Coupler Unit and NX Units
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Sysmac Studio Version 1 Operation Manual (W504)
Precautions for Safe Use
� If inappropriate Unit configuration information is transferred to the Slave Terminal, unexpected machine operation may result. Even if appropriate Unit configuration information is set, confirm that the controlled system will not be adversely affected before you transfer the data.
� If you execute communications instructions for NX Units with inappropriate path information, unexpected machine operation may result. Confirm that the path information is correct before you start actual operation.
� After you import Communications Coupler Unit and NX Unit settings, confirm that the Unit configuration, I/O allocations, and Unit operation settings are correctly set in the Slave Terminal before you start actual operation.
� If inappropriate backup data is set when you restore backup data to a Unit, unexpected machine operation may result. Confirm that the system will not be adversely affected before you transfer the data.
� Do not disconnect the cable when you change the values of I/O ports or variables from the I/O Map with a direct connection to the EtherCAT Coupler Unit. To connect directly to a different Coupler Unit, go offline, connect the cable to the other Unit, and go online again.
MC Test Run
� Confirm the axis number carefully before you perform an MC Test Run. � An MC Test Run operation involves motor operation. Refer to the operation manual before you exe-
cute an MC Test Run. Be particularly careful of the following points. � Confirm safety around all moving parts. � When you click the Run Button, the motor begins actual operation at the specified velocity. Only
begin motor operation if you are absolutely sure there is no danger if you start the motor. � Always have an external emergency stop device available. � Sometimes you may be unable to stop the motor from your computer. Install an external emer-
gency stop device so that you can stop the motor immediately if needed. � Only operate the motor when you can clearly confirm the motor operation so that you can react
quickly in the case of any danger that may arise due to operation of the motor. � A communications error will occur if you attempt to begin operations without EtherCAT communi-
cations. Always establish EtherCAT communications first. � Precautions during MC Test Run Operation
� During test run execution, only the Sysmac Studio has any control of the operation. Any commands from motion control instructions are ignored.
� If communications are interrupted between the Sysmac Studio and Controller during test run operations, you will not be able to stop the motor from the computer. Provide an external hardware means that you can use to stop the motor without fail.
Motion Control
� The absolute encoder home offsets are stored in the Controller and backed up by a Battery as absolute encoder information. 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 home again. If you do not define home, unintended operation of the controlled system may occur.
1. The Servomotor or Servo Drive was changed since the data was backed up.
2. The absolute encoder was set up after the data was backed up.
3. The absolute data for the absolute encoder was lost. � If you change the detailed settings of the Axis Basic Settings Tab Page, make sure that the device or
machine performs the expected operation before you start actual operation. If the relationship between the functions of the Motion Control Function Module and the EtherCAT slave process data that is assigned to the axes is not correct, the device or machine may perform unexpected operation.
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Precautions for Safe Use
Unit Replacement
� 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.
Model Change
� If the configuration of the EtherCAT network includes an EtherCAT slave that cannot be used by the Controllers after model change, the configuration and settings of the EtherCAT network will be all cleared. In that case, create and set an EtherCAT network configuration again.
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Sysmac Studio Version 1 Operation Manual (W504)
Precautions for Correct Use
Precautions for Correct Use
� Observe the following precautions when you start the Sysmac Studio or any of the Support Software that is provided with it. � Exit all applications that are not necessary to use the Sysmac Studio. For virus checker or other software that could affect the startup and operations of the Sysmac Studio, take measures such as to remove the Sysmac Studio from the scope of virus checking. � If any hard disks or printers that are connected to the computer are shared with other computers on a network, isolate them so that they are no longer shared. � With some notebook computers, the default settings assign the USB port to a modem or infrared communications. Refer to the user documentation for your computer and set the USB port as a normal serial port. � With some notebook computers, the default settings do not supply power to the USB port or Ethernet port to save energy. There are energy-saving settings in Windows, and also sometimes in utilities or the BIOS of the computer. Refer to the user documentation for your computer and disable all energy-saving features.
� No checks are made to verify the logical consistency between data items in the Special Unit Setup. Therefore, always check the logical consistency between all settings before transferring the Special Unit Setup to the NJ-series Controller and starting operation, especially when you perform tasks such as enabling or disabling a setting from another setting. Depending on the settings, logical inconsistencies could result in unintended operation. For example, assume that setting item 1 specifies either standard settings or custom settings and that the custom settings start from setting item 2. Here, even if you set the custom settings from item 2 onward, the setting of setting item 1 will not be automatically changed to specify using the custom settings. In this case, if you do not also change the setting of setting item 1 to specify using the custom settings, the settings from items 2 onward will be ignored.
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Regulations and Standards
Regulations and Standards
Software Licenses and Copyrights
� This product incorporates certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
� This software uses knowledge media technology that was developed by the Meme Media Laboratory (VBL) of Hokkaido University.
IEC 61131-3 Compliance Statement
This product conforms to the IEC 61131-3 standards. Refer to the IEC 61131-3 compliance statement (http://www.fa.omron.co.jp/nj_info_e/) for information on items that are in compliance with these standards.
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Sysmac Studio Version 1 Operation Manual (W504)
Versions
Versions
Unit Versions
Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series Units, NY-series Industrial PCs, 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 hardware revisions or unit versions. This section describes NJ/NX-series CPU Units, NY-series Industrial PCs, and EtherCAT slaves as examples.
Checking Versions
You can check versions on the ID information indications or with the Sysmac Studio.
Checking Unit Versions on ID Information Indications
The unit version is given on the ID information indication on the side of the product. The ID information on an NX-series NX701- CPU Unit is shown below.
ID information indication Lot number Serial number
Unit version
LOT No. DDMYY PORT1 : PORT2 :
xxxx
Ver.1. HW Rev.
MAC address
Hardware revision
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank. The ID information on an NX-series NX1P2- CPU Unit is shown below.
MAC address
Unit version ID information indication
PORT1 :
PORT2 :
Ver.1.
HW Rev.
LOT No. DDMYY xxxx
Hardware revision
Lot number Serial number Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
Sysmac Studio Version 1 Operation Manual (W504)
25
Versions
The ID information on an NJ-series NJ501- CPU Unit is shown below.
ID information indication Unit model
Unit version
Hardware revision
NJ501 -
Ver.1.
PORT1 MAC ADDRESS: PORT2 MAC ADDRESS:
Lot No. DDMYY xxxx
HW Rev.
Lot number Serial number MAC address
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank. The unit version of the NY-series Industrial PC is given on the ID information indication on the back of the product. The ID information on an NY-series NY52- Controller is shown below.
ID information indication
Unit version
Ver.1.
Checking Unit Versions with the Sysmac Studio
You can use the Production Information Dialog Box while the Sysmac Studio is online to check the unit version of a Unit.
You can check the unit version of the following Units and Controllers. � NJ/NX-series CPU Units or NY-series Controllers � CJ-series Special I/O Units and CPU Bus Units � EtherCAT slaves
The unit versions of CJ-series Basic I/O Units cannot be checked from the Sysmac Studio.
Refer to the 8-8 Displaying Unit Production Information on page 8-33 for details on the Unit production information displays.
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Sysmac Studio Version 1 Operation Manual (W504)
Versions
NX-series CPU Units and NY-series Controllers
1 Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the
Multiview Explorer and select Display Production Information. The Production Information Dialog Box is displayed. The unit version is displayed after Ver. to the right of the Unit model number or Controller model number.
NJ-series CPU Units and CJ-series Units
1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview
Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select Edit from the menu. The Unit Editor is displayed.
2 Right-click any open space in the Unit Editor and select Production Information.
The Production Information Dialog Box is displayed. The unit version is displayed after Ver. to the right of the Unit model number.
EtherCAT Slaves
1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right-
click EtherCAT under Configurations and Setup and select Edit from the menu. The EtherCAT Tab Page is displayed.
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27
Versions
2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.
The Production Information Dialog Box is displayed. The unit version is displayed after Rev. to the right of the Unit model number.
Additional Information � Refer to the manual for the specific Unit for the unit versions of the CPU Units to which the
database connection service and other functions were added, as well as for the unit versions of the Communications Coupler Units, NX Units, and Safety Control Units. � This manual sometimes refers to the unit version of the CPU Unit as the unit version of the Controller.
Unit Versions and Sysmac Studio Versions
The functions that are supported by a Unit depend on its unit version. The version of Sysmac Studio that supports the functions that were added for an upgrade is required to use those functions. Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) and NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for the relationship between the unit versions of the NJ/NX-series CPU Units and the NY-series Industrial PCs and the Sysmac Studio versions, and for the functions that are supported by each unit version. Refer to the relevant manuals for the Communications Coupler Unit and NX Units for differences in the functional support provided by each unit version.
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Sysmac Studio Version 1 Operation Manual (W504)
Related Manuals
Related Manuals
The following manuals are related. Use these manuals for reference.
Manual name Sysmac Studio Version 1 Operation Manual (this manual) Sysmac Studio Drive Functions Operation Manual
Sysmac Studio Project Version Control Function Operation Manual
Sysmac Studio 3D Simulation Function Operation Manual
Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual
Cat. No. W504 I589
W589
W618
W595
Model numbers SYSMACSE2
SYSMACSE2
SYSMACDEL SYSMACSE2
SYSMACTA4 SYSMACSE2
SYSMACSA4-64 SYSMACSE2
SYSMACSE200D-64
Sysmac Studio Robot Integrated System Building Function with IPC Application Controller Operation Manual
W621
SYSMACSE2
SYSMACSE200D-64
CX-Integrator CS/CJ/CP/NSJ/NJ-series Network Configuration Tool Operation Manual
CX-Designer User's Manual
W464 V099
CX-Protocol Operation Manual
W344
NX-series CPU Unit
W535
Hardware User's Manual
NX701-
NX-series NX102 CPU Unit Hardware User's Manual
W593 NX102-
Application
Learning about the operating procedures and functions of the Sysmac Studio.
Learning about the Servo Drive related functions of the Sysmac Studio.
Description Describes the operating procedures of the Sysmac Studio.
Describes the Servo Drive related operating procedures and functions among those of the Sysmac Studio.
Learning the overview of the Sysmac Studio project version control function and how to use it.
Learning the overview of Sysmac Studio 3D simulation and how to use it.
Outlines the Sysmac Studio project version control function, and describes how to install, basic operation, and how to operate its major functions.
Outlines Sysmac Studio 3D Simulation, and describes the operating procedure and how to operate it.
Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using Robot Integrated CPU Unit.
Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using IPC Application Controller.
Learning how to configure networks (data links, routing tables, Communications Unit settings, etc.).
Learning to create screen data for NS-series Programmable Terminals.
Creating data transfer protocols for general-purpose devices connected to CJseries Serial Communications Units.
Learning the basic specifications of the NX701 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.
Learning the basic specifications of the NX102 CPU Units, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Describes the operating procedures of the Sysmac Studio for Robot Integrated CPU Unit.
Describes the operating procedures of the Sysmac Studio for IPC Application Controller.
Describes operating procedures for the CX-Integrator.
Describes operating procedures for the CXDesigner.
Describes operating procedures for the CX-Protocol.
Provides an introduction to the entire NX701 system along with the following information on the CPU Unit. � Features and system configuration � Introduction � Part names and functions � General specifications � Installation and wiring � Maintenance and inspection Provides an introduction to the entire NX102 system along with the following information on the CPU Unit. � Features and system configuration � Introduction � Part names and functions � General specifications � Installation and wiring � Maintenance and inspection
Sysmac Studio Version 1 Operation Manual (W504)
29
Related Manuals
Manual name
NX-series NX1P2 CPU Unit Hardware User's Manual
Cat. No. Model numbers W578 NX1P2-
NJ-series CPU Unit
W500
Hardware User's Manual
NJ501- NJ301- NJ101-
NJ/NX-series CPU Unit W501 Software User's Manual
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual
W579
NX1P2-
NJ/NX-series Instructions W502 Reference Manual
NJ/NX-series CPU Unit Motion Control User's Manual
W507
NJ/NX-series Motion Control Instructions Reference Manual
W508
NJ/NX-series CPU Unit Built-in EtherCAT� Port User's Manual
W505
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
Application Learning the basic specifications of the NX1P2 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.
Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.
Learning how to program and set up an NJ/NXseries CPU Unit. Mainly software information is provided.
Learning about the details of functions only for an NXseries NX1P2 CPU Unit and an introduction of functions for an NJ/NX-series CPU Unit.
Learning detailed specifications on the basic instructions of an NJ/NXseries CPU Unit.
Description Provides an introduction to the entire NX1P2 system along with the following information on the CPU Unit.
� Features and system configuration � Introduction � Part names and functions � General specifications � Installation and wiring � Maintenance and inspection Provides an introduction to the entire NJ-series system along with the following information on the CPU Unit.
� Features and system configuration � Introduction � Part names and functions � General specifications � Installation and wiring � Maintenance and inspection Provides the following information on a Controller built with an NJ/NX-series CPU Unit.
� CPU Unit operation � CPU Unit features � Initial settings � Language specifications and programming
based on IEC 61131-3 Of the functions for an NX1P2 CPU Unit, the following information is provided.
� Built-in I/O � Serial Communications Option Boards � Analog I/O Option Boards
An introduction of following functions for an NJ/NX-series CPU Unit is also provided.
� Motion control functions � EtherNet/IP communications functions � EtherCAT communications functions Describes the instructions in the instruction set (IEC 61131-3 specifications).
Learning about motion control settings and programming concepts.
Describes the settings and operation of the CPU Unit and programming concepts for motion control.
Learning about the specifications of the motion control instructions that are provided by OMRON.
Describes the motion control instructions.
Using the built-in EtherCAT port on an NJ/NX-series CPU Unit.
Provides information on the built-in EtherCAT port. This manual provides an introduction and information on the configuration, features, and setup.
30
Sysmac Studio Version 1 Operation Manual (W504)
Related Manuals
Manual name NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual
NJ/NX-series CPU Unit OPC UA User's Manual NX-series CPU Unit FINS User's Manual NJ/NX-series Database Connection CPU Units User's Manual
NJ-series SECS/GEM CPU Units User's Manual NJ-series NJ Robotics CPU Unit User's Manual NJ/NY-series NC Integrated Controller User's Manual NJ-series Robot Integrated CPU Unit User's Manual NJ/NX-series Troubleshooting Manual
NY-series IPC Machine Controller Industrial Panel PC Hardware User's Manual
Cat. No. W506
W588 W596 W527
W528 W539 O030 O037 W503
W557
Model numbers NX701- NX102- NX1P2- NJ501- NJ301- NJ101- NX102- NJ501-100
NX701-20 NX102-
NX701-20 NX102-20 NJ501-20 NJ101-20 NJ501-1340
NJ501-4
NJ501-53 NY532-54
NJ501-R
NX701- NX102- NX1P2- NJ501- NJ301- NJ101- NY532-
NY-series IPC Machine Controller Industrial Box PC Hardware User's Manual
W556
NY512-
NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Setup User's Manual
W568
NY532- NY512-
Application
Using the built-in EtherNet/IP port on an NJ/NXseries CPU Unit.
Description
Describes the operating procedures of the Network Configurator.
Using the OPC UA.
Information on the OPC UA provided.
Using the FINS function of Describes the FINS function of an NX-series
an NX-series CPU Unit.
CPU Unit.
Learning how to use the database connection function.
Describes how to use the database connection service with the Sysmac Studio.
Using the GEM Services with NJ-series Controllers. Controlling robots with NJseries CPU Units. Learning how to use the numerical control with NJ/NY series. Using the NJ-series Robot Integrated CPU Unit.
Learning about the errors that may be detected in an NJ/NX-series Controller.
Provides information on the GEM Services.
Describes the functionality to control robots.
Describes how to setup/use the NC functions.
Describes the settings and operation of the CPU Unit and programming concepts for OMRON robot control. Describes concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors.
Learning the basic specifications of the NY-series Industrial Panel PCs, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.
Learning the basic specifications of the NY-series Industrial Box PCs, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.
Learning the initial settings of the NY-series Industrial PCs and preparations to use Controllers.
An introduction to the entire NY-series system is provided along with the following information on the Industrial Panel PC.
� Features and system configuration � Introduction � Part names and functions � General specifications � Installation and wiring � Maintenance and inspection An introduction to the entire NY-series system is provided along with the following information on the Industrial Box PC.
� Features and system configuration � Introduction � Part names and functions � General specifications � Installation and wiring � Maintenance and inspection The following information is provided on an introduction to the entire NY-series system.
� Two OS systems � Initial settings � Industrial PC Support Utility � NYCompolet � Industrial PC API � Backup and recovery
Sysmac Studio Version 1 Operation Manual (W504)
31
Related Manuals
Manual name
NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Software User's Manual
Cat. No. W558
Model numbers NY532- NY512-
NY-series Instructions Reference Manual
W560
NY532- NY512-
NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Motion Control User's Manual
NY-series Motion Control Instructions Reference Manual
W559 W561
NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual
NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC
Built-in EtherNet/IP Port User's Manual
NY-series Troubleshooting Manual
W562 W563 W564
NX-series Communications Coupler Unit User's Manual
W519 W536
NX-series Data Reference Manual
W525
NY532- NY512-
NY532- NY512- NY532- NY512-
NY532- NY512-
NY532- NY512- NX-ECC NX-EIC
NX-
Application Learning how to program and set up the Controller functions in an NY-series Industrial PC.
Learning detailed specifications on the basic instructions of an NYseries Industrial PC. Learning about motion control settings and programming concepts of an NY-series Industrial PC.
Description The following information is provided on the NYseries Controller functions. � Controller operation � Controller features � Controller settings � Programming based on IEC 61131-3 lan-
guage specifications The instructions in the instruction set (IEC61131-3 specifications) are described.
The settings and operation of the Controller and programming concepts for motion control are described.
Learning about the specifications of the motion control instructions of an NYseries Industrial PC.
Using the built-in EtherCAT port in an NY-series Industrial PC.
The motion control instructions are described.
Information on the built-in EtherCAT port is provided. This manual provides an introduction and provides information on the configuration, features, and setup.
Using the built-in EtherNet/IP port in an NY-series Industrial PC.
Information on the built-in EtherNet/IP port is provided. Information is provided on the basic setup, tag data links, and other features.
Learning about the errors that may be detected in an NY-series Industrial PC.
Leaning how to use an NXseries Communications Coupler Unit and Slave Terminals
Referencing lists of the data that is required to configure systems with NXseries Units.
Concepts on managing errors that may be detected in an NY-series Controller and information on individual errors are described.
Introduces the system, configuration methods, Unit hardware, setting methods, and functions of Slave Terminals that consist of a Communications Coupler Unit and NX Units.
Lists of the power consumptions, weights, and other NX Unit data that is required to configure systems with NX-series Units are provided.
32
Sysmac Studio Version 1 Operation Manual (W504)
Related Manuals
Manual name NX-series NX Units User's Manuals
NX-series Safety Control Unit User's Manual NX-series Safety Control Unit / Communication Control Unit User's Manual NX-series Communication Control Unit Built-in Function User's Manual
Cat. No. W521
W522 W592 W566 W523
W524
W540 W565 W567 Z401 H228 Z930
Z395
Z396
Model numbers
NX-ID NX-IA NX-OC NX-OD NX-MD-
NX-AD NX-DA
NX-HAD-
NX-TS NX-HB
NX-PD1 NX-PF0 NX-PC0 NX-TBX
NX-EC0 NX-ECS NX-PG0
NX-CIF
NX-RS
NX-ILM
NX-V680C
NX-TC
NX-SL NX-SI NX-SO
NX-SL5 NX-SI NX-SO NX-CSG
NX-CSG
FQ-M-series Specialized Vision Sensor for Positioning User's Manual
Vision System FH/FHV Series Operation Manual for Sysmac Studio
Z314 Z343
ZW-series Confocal Fiber Type Displacement Sensor User's Manual
ZW-7000/5000-series Confocal Fiber Type Displacement Sensor User's Manual
Z332 Z362
FQ-MS12(-M)ECT FQ-MS12(-M) FH-1 FH-1- FH-2 FH-2- FH-3 FH-3- FH-5 FH-5- FHV7- -C FHV7- -S FHV7- -S- FHV7- -H FHV7- -H- ZW-CE1
ZW-7000 ZW-5000
Application
Learning how to use NX Units.
Description
Describe the hardware, setup methods, and functions of the NX Units. Manuals are available for the following Units. Digital I/O Units, Analog I/O Units, System Units, Position Interface Units, Communications Interface Units, Load Cell Input Units, and IO-Link Master Units.
Learning how to use NX- Describes the hardware, setup methods, and series Safety Control Units. functions of the NX-series Safety Control Units.
Learning how to use the NX-series Safety Control Units and Communication Control Units.
Learning about the built-in functions of an NX-series Communication Control Unit.
Learning about the setting procedures for FQ-Mseries Vision Sensors.
Learning about the setting procedures for FH-series and FHV-series Vision Sensors.
Describes the hardware, setup methods, and functions of the NX-series Safety Control Units and Communication Control Units.
Describes the software setup methods and communications functions of an NX-series Communication Control Units.
Describes the Sysmac Studio setting procedures for FQ-M-series Vision Sensors.
Describes the Sysmac Studio setting procedures for FH-series and FHV-series Vision Sensors.
Learning the setting procedures for ZW-series Displacement Sensors.
Learning the setting procedures for ZW-7000/5000series Displacement Sensors.
Describes the Sysmac Studio setting procedures for ZW-series Displacement Sensors.
Describes the Sysmac Studio setting procedures for ZW-7000/5000-series Displacement Sensors.
Sysmac Studio Version 1 Operation Manual (W504)
33
Related Manuals
Manual name
ZW-7000/5000-series Confocal Fiber Type Displacement Sensor User's Manual for Communication Settings
NA-series Programmable Terminal Hardware User's Manual
Cat. No. Z363
V117
Model numbers ZW-7000 ZW-5000
NA5-W
NA-series Programmable Terminal Software User's Manual
NA-series Programmable Terminal Device Connection User's Manual
NA-series Programmable Terminal Soft-NA User's Manual
V118 V119 V126
NA5-W NA5-W NA-RTLD
Application
Learning the communication setting procedures for ZW-7000/5000-series Displacement Sensors.
Description
Describes the Sysmac Studio setting procedures for ZW-7000/5000-series Displacement Sensors.
Learning the installation and connection with peripheral devices for NAseries PT.
Learning about NA-series PT pages and object functions.
Learning the methods to connect NA-series PT with each device.
Learning the basic use of Soft-NA and the differences from NA-series PT.
Describes how to install NA-series PT and to connect it with peripheral devices.
Describes the pages and object functions of the NA-series Programmable Terminals.
Describes how to connect NA-series PT with other devices.
Describes the basic use of Soft-NA and the differences from NA-series PT.
34
Sysmac Studio Version 1 Operation Manual (W504)
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. W504-E1-35
Revision code
Revision code 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
32 33 34 35
Date
Revised content
July 2011 Original production
October 2011 Revisions for an upgrade to Sysmac Studio version 1.01.
March 2012 Revisions for an upgrade to Sysmac Studio version 1.02.
May 2012 Revisions for an upgrade to Sysmac Studio version 1.03.
August 2012 Revisions for an upgrade to Sysmac Studio version 1.04.
February 2013 Revisions for an upgrade to Sysmac Studio version 1.05.
April 2013 Revisions for an upgrade to Sysmac Studio version 1.06.
June 2013 Revisions for an upgrade to Sysmac Studio version 1.07.
September 2013 Revisions for an upgrade to Sysmac Studio version 1.08.
December 2013 Revisions for an upgrade to Sysmac Studio version 1.09.
July 2014 Revisions for an upgrade to Sysmac Studio version 1.10.
October 2014 Revisions for an upgrade to Sysmac Studio version 1.11.
January 2015 Revisions for an upgrade to Sysmac Studio version 1.12.
April 2015 Revisions for an upgrade to Sysmac Studio version 1.13.
December 2015 Revisions for an upgrade to Sysmac Studio version 1.14.
April 2016 Revisions for an upgrade to Sysmac Studio version 1.15.
July 2016 Revisions for an upgrade to Sysmac Studio version 1.16.
September 2016 Revisions for the support of NY-series Controllers.
October 2016 Revisions for an upgrade to Sysmac Studio version 1.17.
April 2017 Revisions for an upgrade to Sysmac Studio version 1.18.
October 2017 Revisions for an upgrade to Sysmac Studio version 1.20.
January 2018 Revisions for an upgrade to Sysmac Studio version 1.21.
April 2018 Revisions for an upgrade to Sysmac Studio version 1.22.
April 2018 Revisions for an upgrade to Sysmac Studio version 1.23.
July 2018 Revisions for an upgrade to Sysmac Studio version 1.24.
October 2018 Revisions for an upgrade to Sysmac Studio version 1.25.
January 2019 Revisions for an upgrade to Sysmac Studio version 1.26.
April 2019 Revisions for an upgrade to Sysmac Studio version 1.27.
July 2019 Revisions for an upgrade to Sysmac Studio version 1.29.
October 2019 Revisions for an upgrade to Sysmac Studio version 1.30.
January 2020 Revisions for an upgrade to Sysmac Studio version 1.31 and the support of Sysmac Studio (64 bit).
April 2020 Revisions for an upgrade to Sysmac Studio version 1.40.
July 2020 Revisions for an upgrade to Sysmac Studio version 1.41.
August 2020 Revisions for an upgrade to Sysmac Studio version 1.42.
October 2020 Revisions for an upgrade to Sysmac Studio version 1.43.
Sysmac Studio Version 1 Operation Manual (W504)
35
Revision History
36
Sysmac Studio Version 1 Operation Manual (W504)
1
Introduction
This section provides an overview and lists the specifications of the Sysmac Studio and describes its features and components.
1-1 The Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1-2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1-3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-3-1 Product Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1-3-2 Support Software That You Can Install from the Sysmac Studio DVD and
Enclosed Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 1-3-3 Supported Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 1-3-4 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 1-3-5 Types of Licenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 1-3-6 Applicable Computers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 1-4 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
Sysmac Studio Version 1 Operation Manual (W504)
1-1
1 Introduction
1-1 The Sysmac Studio
The Sysmac Studio Automation Software provides an integrated development environment to set up, program, debug, and maintain SYSMAC NJ/NX/NY-series Controllers and other Machine Automation Controllers, as well as EtherCAT slaves.
Flexible Development Environment
The Sysmac Studio provides an environment for programming with variables. There is no need for concern about memory addresses. This eliminates the need to wait for memory address definitions for hardware before the start of software development. Hardware and software can be designed independently and developed in parallel. POUs (program organization units) that include programs, functions, and function blocks can be used to design programming that does not depend on any one specific system. This increases the reusability of programming.
Development Environment for Multiple Programmers
The Sysmac Studio provides an environment for programming with variables and POUs. Programming is designed with POUs (programs, functions, and function blocks). The programs are then assigned to tasks and the program execution order is defined. This reduces the interdependence of the programs and therefore allows more than one programmer to easily work at the same time. The assignments of variables to hardware and the definitions of the relations between information that is shared between different programs can be set at any time.
1-2
Sysmac Studio Version 1 Operation Manual (W504)
1-2 Features
1 Introduction
1-2 Features
More Support for IEC 61131-3 Programming Languages
The Sysmac Studio is based on the International Standard IEC 61131-3. It provides a state-of-the-art
programming environment based on the ladder diagram and structured text programming languages and on POUs, which include programs, functions, and function blocks.
1
Easy Operation
The Sysmac Studio places as few restrictions as possible on the design procedures to allow you to start design work from any part of the system. The design concept features easy-to-understand operating procedures with suitable guides that do not interfere with the workflow so that you can see the flow of design work. This provides user-friendly operation for flexible design work in which even mistakes in settings and procedures can be corrected immediately or left until the project is finalized as long as they will not lead to serious accidents. The Sysmac Studio is designed to achieve optimum functionality and ease of operation to combine Machine Automation Controllers, such as those in the NJ/NX/NY Series, with Sysmac-compliant EtherCAT slaves and other Sysmac devices.
Complete Debugging
The Sysmac Studio provides complete functions for debugging sequence control, such as changing present values and changing programming online. It also provides debugging functions with motion control simulations of motion control, such as displaying trace results in 2D or 3D and displaying traces on virtual devices. These functions enable debugging on images that are closer to the physical devices.
Also, debugging through Vision System simulation with a Vision Sensor is supported. With the Vision Edition, you can perform simulation for individual Vision Sensors. With the Standard Edition, you can also perform integrated simulation with a Controller.
Maintenance
The Sysmac Studio lets you check the Controller status on a status list. Troubleshooting functions let you easily check error details and corrections for Controller errors. You can also assign user-defined errors in the same way as Controller errors are assigned.
Sysmac Studio Version 1 Operation Manual (W504)
1-3
1 Introduction
1-3 Specifications
1-3-1 Product Model Numbers
The product Sysmac Studio includes a DVD media and licenses. Each of them is given a model number and the DVD media comes as 32-bit or 64-bit application. The licenses are the same for 32-bit and 64-bit applications.
If you are purchasing the Sysmac Studio for the first time, purchase both a DVD media and one or more licenses. The media is the same for all of the licenses. If you are purchasing the product for additional licenses, you can purchase only the licenses. You can also purchase the DVD separately. The DVD is not included with the licenses.
DVD
Product Sysmac Studio Standard Edition Version 1.
Licenses
32-bit/64-bit application 32-bit application 64-bit application
Model number SYSMAC-SE200D SYSMAC-SE200D-64
Product
Number of licenses
Model number
Sysmac Studio Standard Edition Version 1.
1 license 3 licenses
SYSMAC-SE201L SYSMAC-SE203L
10 licenses
SYSMAC-SE210L
30 licenses
SYSMAC-SE230L
50 licenses
SYSMAC-SE250L
Sysmac Studio Vision Edition*1 Version 1.
1 license
SYSMAC-VE001L
Sysmac Studio Measurement Edition*2
Version 1.
1 license 3 licenses
SYSMAC-ME001L SYSMAC-ME003L
Sysmac Studio NX-IO Edition*3 Version 1.
1 license
SYSMAC-NE001L
Sysmac Studio Drive Edition*4 Version 1.
1 license
SYSMAC-DE001L
Sysmac Studio Safety Edition*5 Version 1.
1 license
SYSMAC-FE0L
*1 You can use the Vision Edition only for the FQ-M-series Vision Sensors and FH-series Vision Sensors. *2 With the Measurement Edition, you can use only the setup functions for ZW-series Displacement Sensors. *3 You can use the NX-IO Edition only for EtherNet/IP Slave Terminals that use an NX-series EtherNet/IP Coupler
Unit. *4 You can use the Drive Edition only for 1S-series and G5-series Servo Drives. *5 You can use the Safety Edition only for safety control systems that use an NX-series Communication Control
Unit or NX-series EtherNet/IP Coupler.
1-4
Sysmac Studio Version 1 Operation Manual (W504)
1-3 Specifications
1 Introduction
Sysmac Studio Options
You must purchase an option license to use the functions supported by the option. To use an option license, register it after you install the Sysmac Studio.
Product name Sysmac Studio Team Development Option*1
Sysmac Studio 3D Simulation Option*2
Number of licenses
Model number
1 license
SYSMAC-TA401L
3 licenses 10 licenses
SYSMAC-TA403L SYSMAC-TA410L
1
30 licenses
SYSMAC-TA430L
50 licenses
SYSMAC-TA450L
1 license
SYSMAC-SA401L-64
3 licenses
SYSMAC-SA403L-64
10 licenses
SYSMAC-SA410L-64
30 licenses
SYSMAC-SA430L-64
50 licenses
SYSMAC-SA450L-64
*1 Refer to the Sysmac Studio Project Version Control Function Operation Manual (Cat. No. W589) for details on the Team Development Option.
*2 Refer to the Sysmac Studio 3D Simulation Function Operation Manual (Cat. No. W618) for details on the 3D simulation option.
1-3-1 Product Model Numbers
Sysmac Studio Version 1 Operation Manual (W504)
1-5
1 Introduction
1-3-2 Support Software That You Can Install from the Sysmac Studio DVD and Enclosed Data
The following table lists the Support Software that you can install from the Sysmac Studio DVD and the data that is included on the DVD.
Installable Software � Sysmac Studio � CX-Integrator*1 � CX-Designer*1 � CX-Protocol*1 � Network Configurator*1 � CX-ConfiguratorFDT*1 � Adept Robot IP Address Set-
ting Tool � CX-Server*1 � Communications Middleware
Version Ver. 1. Ver. 2. Ver. 3. Ver. 1. Ver. 3. Ver. 2. Ver. 1.
Ver. 5. Ver. 1.
Classification Automation Software Support Software Support Software Support Software Support Software Support Software Support Software
Enclosed data � CPS � Manuals (PDF files)
Communication Middleware Communication Middleware
*1 This software cannot be installed from the Sysmac Studio Vision Edition, Measurement Edition, or Drive Edition.
Refer to 10-1 Support Software Provided with the Sysmac Studio on page 10-2 for information on Support Software.
1-3-3 Supported Languages
The Sysmac Studio supports the following languages. Japanese, English, German, French, Italian, Spanish, Traditional Chinese, Simplified Chinese, and Korean
1-6
Sysmac Studio Version 1 Operation Manual (W504)
1 Introduction
1-3 Specifications
1-3-4 Applicable Models
1-3-4 Applicable Models
The models that you can select when you create a project on the Sysmac Studio are given in the following tables.
Controllers Model numbers
NX701-16
NX701-17
NJ501-13
NJ501-14
NJ501-15 NJ501-43 NJ501-44 NJ501-45 NJ501-53 NJ501-R*1 NJ301-11 NJ301-12 NJ101-10 NJ101-90
Model numbers NY532-13
NY532-14
NY532-15
NY532-54
NY512-13 NY512-14 NY512-15 NX102-10 NX102-11 NX102-12
NX102-90 NX1P2-10 NX1P2-101 NX1P2-11 NX1P2-111 NX1P2-90 NX1P2-901 NX1P2-9B NX1P2-9B1
Vision Sensors
Model numbers
FQ-MS12-ECT*2 FQ-MS12-M-ECT*2
1
FQ-MS12*2
FQ-MS12-M*2
FH-1
FH-1-
FH-2
FH-2-
FH-3
FH-3-
FH-5 FH-5- FHV7--C FHV7- -S
FHV7- -S-
FHV7- -H
FHV7- -H-
Displacement Sensors Model numbers
ZW-CE1 ZW-CE1T ZW-C1 ZW-C1T ZW-8000 ZW-8000T ZW-7000 ZW-7000T ZW-5000 ZW-5000T
HMIs Model numbers
NA5-15W NA5-12W NA5-9W NA5-7W NA-RTLD
Slave Terminals Model numbers
NX-EIC
Drives Model numbers
R88D-1SN-ECT R88D-KN-ECT(-L)
Safety Network Controllers
Model numbers
NX-CSG
*1 Supported by the Sysmac Studio (64 bit) only. *2 Supported by the Sysmac Studio (32 bit) only. *3 Select Application Manager when you select a device.
Application Controllers Model numbers
AM101-1000*1*3
Sysmac Studio Version 1 Operation Manual (W504)
1-7
1 Introduction
Additional Information
� Some Controllers support OPC UA. Refer to the NJ-series CPU Unit OPC UA User's Manual (Cat. No. W588) for details on the OPC UA and the models of the Controllers that support OPC UA.
� The NJ501-20, NJ101-20, NX701-20, and NX102-20 are Controllers that support DB connection. Refer to the NJ/NX-series Database Connection CPU Units User's Manual (Cat. No. W527) for details.
� The NJ501-1340 supports GEM Services. Refer to the NJ-series SECS/GEM CPU Units User's Manual (Cat. No. W528) for details.
� The NJ501-4 support robot control. Refer to the NJ-series NJ Robotics CPU Unit User's Manual (Cat. No. W539) for details.
� The NJ501-5300 and NY532-5400 are Controllers that support CNC function. For details, refer to the NJ/NY-series NC Integrated Controller User's Manual (Cat. No. O030).
� The NX-CSG is a Communication Control Unit that is necessary to use the NX-SL5 Safety CPU Unit. Refer to the NX-series Safety Control Unit / Communication Control Unit User's Manual (Cat. No. Z395) for details.
Download the PDF files of the manuals from your OMRON website.
1-3-5 Types of Licenses
Edition Standard Edition Vision Edition Measurement Edition NX-IO Edition Drive Edition Safety Edition
Trial Version (without a License)
Description
This edition allows you to use all the models that are listed under 1-34 Applicable Models on page 1-7.
You can use this edition only for FQ-M-series Vision Sensors and FHseries Vision Sensors.
You can use this edition only for ZW-series Displacement Sensors.
You can use this edition only for EtherNet/IP Slave Terminals that use an NX-series EtherNet/IP Coupler Unit.
You can use this edition only for 1S-series and G5-series Servo Drives.
You can use this edition only for safety control systems that use an NX-series Communication Control Unit or NX-series EtherNet/IP Coupler.
You can use all of the functions of the Standard Edition for 30 days after you install the software.
You can register more than one license at the same time. The priority of license validity is given in the following table.
Priority
Types of Licenses
1 (high)
Standard Edition
2 3 (low)
Vision Edition Measurement Edition NX-IO Edition Drive Edition Safety Edition Trial Version
� If licenses with different priorities are registered at the same time, the license with the highest priority is valid.
1-8
Sysmac Studio Version 1 Operation Manual (W504)
1-3 Specifications
1-3-6 Applicable Computers
1 Introduction
Example: If you register a license for the Vision Edition when the Trial Version is already installed in the Sysmac Studio, you can use only Vision Sensors. In this case, you cannot use the Trial Version of the Sysmac Studio.
� If licenses with the same priorities are registered at the same time, all of the licenses are valid.
Example: If you register a license for the Vision Edition when a license for the Measurement Edition is already registered in the Sysmac Studio, you can use both Displacement Sensors and Vision Sensors.
Refer to 3-3-12 Displaying and Registering Licenses on page 3-30 for the procedure to register licenses.
1
License Activation (Advanced Warning)
For future versions of the Sysmac Studio, activation will be required for installation and re-installation.
Activation is necessary to create a relationship between the OMRON software product and the computer on which you will use it.
This allows OMRON to help prevent illegal usage and copying of software.
When license activation is introduced, you will need to perform a license activation procedure. If you do not perform license activation at that time, you will be able to use the software for only a limited period of time.
1-3-6 Applicable Computers
The Sysmac Studio is an application that runs on Microsoft Windows. The Sysmac Studio comes as either 32-bit or 64-bit applications. The supported OS and system requirements are given in the following table.
System Requirements
The system requirements for the Sysmac Studio are given in the following table.
For Sysmac Studio (32 bit)
OS
CPU*1
RAM
Display
Windows 7 (32-bit or 64-bit edition)
Windows 8 (32-bit or 64-bit edition)
Windows 8.1 (32-bit or 64-bit edition)
Windows 10 (32-bit or 64-bit edition)
DOS/V (IBM AT compatible machines) personal computers equipped with Intel� CoreTM i5 M520 (2.4 GHz) or equivalent/faster processors are recommended.
2 GB min.
4 GB min. recommended
XGA 1,024 � 768, 16 million colors
WXGA 1,280 � 800, 16 million colors recommended
*1 If you create a user program with a memory size over 20 MB, the personal computer equipped with Intel� CoreTM i7 or an equal/faster processor and the RAM of 8 GB or more is recommended.
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1 Introduction
Apply the latest updates to the OS installed on your computer to ensure that it is always up-to-date.
In addition, installation of the following applications is a system requirement for the Sysmac Studio. � .NET Framework 3.5 � .NET Framework 4.6.1
They are installed automatically if they are not already installed on the computer when the Sysmac Studio is installed.
Other system requirements are given below.
System requirement Available hard disk space required for installation Optical drive Communications port
Specification 9 GB min. DVD-ROM Ethernet or USB (USB 2.0)
For Sysmac Studio (64 bit)
OS
CPU*1*2
RAM*2
Display*2
Windows 10 (64-bit edition)
DOS/V (IBM AT compatible machines) personal computers equipped with Intel� CoreTM i5-3xxx (3rd generation: Ivy Bridge) or equivalent/later processors are required.
4 GB min.
8 GB min. recommended
XGA 1,024 � 768, 16 million colors
WXGA 1,280 � 800, 16 million colors recommended
*1 If you create a user program with a memory size over 20 MB, the personal computer equipped with Intel� CoreTM i7 or an equal/faster processor and the RAM of 8 GB or more is recommended.
*2 Refer to the Sysmac Studio 3D Simulation Function Operation Manual (Cat. No. W618) for recommended system requirements to use the 3D Simulation Option function.
Apply the latest updates to the OS installed on your computer to ensure that it is always up-to-date.
In addition, installation of the following applications is a system requirement for the Sysmac Studio. � .NET Framework 3.5 � .NET Framework 4.6.1
They are installed automatically if they are not already installed on the computer when the Sysmac Studio is installed.
Other system requirements are given below.
System requirement Available hard disk space required for installation Optical drive Communications port
Specification 12 GB min. DVD-ROM Ethernet or USB (USB 2.0)
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Sysmac Studio Version 1 Operation Manual (W504)
1-4 Components
1 Introduction
1-4 Components
Recommended Video Cards
The components of the DVD and license are listed below. Make sure that all components are included.
DVD Media (SYSMAC-SE200D/SYSMAC-SE200D-64)
1
Component Introduction Setup disk (DVD-ROM)
Description An introduction to the Sysmac Studio is provided. 1
Licenses (SYSMAC-SE2L/SYSMAC-VEL/SYSMAC-MEL /SYSMAC-NEL/SYSMAC-DEL)
Component License Agreement
License Card
License Stickers
User Registration Card Address Sheet
Description
The license agreement gives the usage conditions and warranty for the Sysmac Studio.
The following are given: Model number, version, license number, and number of licenses.
The following are given: Model number, version, license number, and number of licenses. Two stickers are provided.
Two cards are provided, one for Japan and one for other countries.
This is an address sheet that is used when the license is purchased outside of Japan.
Precautions for Correct Use
The license number, which is required for installation, is given on the license certificate. Keep it in a safe place so that it is not lost.
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1 Introduction
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2
Installation and Uninstallation
This section describes how to install and uninstall the Sysmac Studio.
2-1 Installing the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 2-1-1 Confirmations before Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 2-1-2 Requirements for Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 2-1-3 Installing the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-2 Uninstalling the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12 2-2-1 Uninstalling the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-3 Auto-updating the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16 2-3-1 Confirmations before Implementing Auto-updating . . . . . . . . . . . . . . . . . . . . 2-16 2-3-2 Implementing an Auto-update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
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2 Installation and Uninstallation
2-1 Installing the Sysmac Studio
2-1-1 Confirmations before Installation
Check the following items before you install the Sysmac Studio. � To install the Sysmac Studio, log onto Windows as the administrator or as a user with administrator
rights. There are files that a user without administrator rights cannot write. An access error will occur if you log on without administrator rights. � Apply the latest updates to the OS to ensure that it is always up-to-date. � Exit all applications that are running on the computer before you install the Sysmac Studio. � You cannot install the Sysmac Studio from a network drive, such as a DVD drive or hardware drive that is shared on a network. Always install the Sysmac Studio from a DVD drive on the computer onto which you need to install the Sysmac Studio. � Corrupted files cannot be restored on a compressed drive. Do not install the Sysmac Studio on a compressed drive. � Do not cancel the setup while it is in progress. Files that were copied may remain in the installation directory. � Do not turn OFF the power to the computer or reset the computer while the installation is in progress. Computer data may be corrupted. � You may need to restart Windows after you install the Sysmac Studio. Restart as required according to Installation Wizard messages.
2-1-2 Requirements for Installation
Supported OS
You can install the Sysmac Studio on computers with any of the following operating systems.
Sysmac Studio (32 bit)
OS
Windows 7 (32-bit or 64-bit edition)
Windows 8 (32-bit or 64-bit edition)
Windows 8.1*1 (32-bit or 64-bit edition)
Windows 10 (32-bit or 64-bit edition)
Sysmac Studio (64 bit) Windows 10 (64-bit edition)
*1. Windows 8.1 Update (KB2919355) must be applied to the OS.
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Sysmac Studio Version 1 Operation Manual (W504)
2-1 Installing the Sysmac Studio
2-1-2 Requirements for Installation
2 Installation and Uninstallation
CX-One Installation
If the CX-One is installed on the computer, the operation when you install the Sysmac Studio depends on the version of the CX-One.
Versions Earlier Than CX-One Version 4
Installation is cancelled and the Sysmac Studio cannot be installed. Uninstall the CX-One before you install the Sysmac Studio.
CX-One Version 4 or Higher
You can install the Sysmac Studio.*1
2
The Support Software*2 and CX-Server are installed in the installation folder of the CX-One. If the same Support Software is already installed, it is overwritten.
*1 If the Sysmac Studio is installed on a computer with the CX-One and then the CX-One is uninstalled, the Support Software may no longer operate correctly.
*2 Here, "Support Software" indicates the CX-Integrator, CX-Designer, CX-Protocol, Network Configurator, and CX-ConfiguratorFDT.
Installed Application Software
The following application software is installed.
Name Sysmac Studio
Version Ver. 1.
Support Software: CX Common Tools
Name CX-Integrator CX-Designer CX-Protocol Network Configurator CX-ConfiguratorFDT
Version Ver. 2. Ver. 3. Ver. 1. Ver. 3. Ver. 2.
Support Software: Other Tools
Name
Adept Robot IP Address Setting Tool*1
*1 The tool is always installed.
Version Ver.1.
Communications Middleware
Name CX-Server Communications Middleware
Version Ver. 5. Ver. 1.
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Other Application Software
Name .NET Framework
DirectX WinPcap
Version Ver. 3.5 SP1 Ver. 4.6.1 Ver. 9. Ver. 4.
2-1-3 Installing the Sysmac Studio
This section provides the procedure to install the Sysmac Studio.* * If the CX-One is installed on the computer, you may not be able to install the Sysmac Studio depending on the
version of the CX-One. Refer to 2-1-2 Requirements for Installation on page 2-2 for details.
Preparations for Installation
1 Set the Sysmac Studio installation disk into the DVD-ROM drive. The setup program is started automatically and the Select Setup Language Dialog Box is displayed.
2 Select the language to use, and then click the OK Button.
The Sysmac Studio Setup Wizard is started. � If the OS is not up-to-date, you may be asked to apply the latest updates to the OS. Apply the
latest updates to the OS and install the Sysmac Studio again. � If .NET Framework is not installed on the computer, the .NET Framework Installation Dialog
Box is displayed. The dialog box depends on the version of .NET Framework.
(1) Computer with Windows 7, Windows 8, or Windows 8.1 Where .NET Framework 4.6.1 Is Not Installed
The Microsoft .NET Framework 4.6.1 Setup Dialog Box is displayed. Follow the instructions given in the dialog boxes and install .NET Framework 4.6.1.
When .NET Framework has been installed, a confirmation dialog box to restart the computer is displayed. Always select the Yes, I want to restart my computer now. Option and click the Finish Button to restart the computer.
After the computer is restarted, double-click the Setup.exe under the DVD-ROM drive to start the setup again. (2) Computer with Windows 7 Where .NET Framework 3.5 SP1 Is Not Installed
The Microsoft .NET Framework 3.5 SP1 Setup Dialog Box is displayed.
Click the Install Button to start installation of .NET Framework 3.5 SP1. Click the Cancel Button to cancel installation of the Sysmac Studio.
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2-1 Installing the Sysmac Studio
2-1-3 Installing the Sysmac Studio
3 Click the Next Button.
2 Installation and Uninstallation
2
The License Agreement Dialog Box is displayed.
4 Read the License Agreement carefully. If you agree to all of the conditions, select the I accept the terms of the license agreement Option, and then click the Next Button.
The User Information Dialog Box is displayed.
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2 Installation and Uninstallation
5 The names that are registered on the computer are automatically entered for the user name and company name. Enter the license number (see note), and then click the Next Button. Note You must purchase a license separately. If you do not enter a license number, trial operation is provided for a 30-day period. Refer to 1-3-1 Product Model Numbers on page 1-4 for information on licenses.
The Regional Information Dialog Box is displayed. Note If the CX-One is installed, the Regional Information Dialog Box is not displayed and the loca-
tion that was selected for the CX-One is used. Go to step 7.
6 Select the region where you purchased the Sysmac Studio, and then click the Next Button.
The Choose Destination Location Dialog Box is displayed.
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2-1 Installing the Sysmac Studio
2-1-3 Installing the Sysmac Studio
2 Installation and Uninstallation
7 Check the installation folder, and then click the Next Button. The default installation folder is C:\Program Files\OMRON\.
2
The Setup Type Dialog Box is displayed.
8 Select the Complete or Custom Option, and then click the Next Button.
If you select the Complete Option, go to step 10. If you select the Custom Option, go to step 9.
Note If CX-One version 4 is installed, the dialog box is not displayed. Go to step 10.
9
Select the CX Common Tools Check Box, and then click the Next Button.
The Sysmac Studio and communications middleware are installed by default. The selections of these cannot be cleared.
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2 Installation and Uninstallation
10
The Ready to Install the Program Dialog Box is displayed.
Click the Install Button. To change the installation settings, click the Back Button.
Installation of the Sysmac Studio starts.
Installing the USB Device Driver for the Controller
During installation wizard execution, a Windows Security Dialog Box is displayed.
11 Click the Install Button.
The OMRON Corporation Modems are installed and then the next Windows Security Dialog Box is displayed.
12 Click the Install Button.
The OMRON Corporation Ports (COM & LPT) are installed.
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2-1 Installing the Sysmac Studio
13 Click the Install Button.
2 Installation and Uninstallation
NA5-V1 USB Client xXX Driver is installed.
2 Installing WinPcap
14
During the installation, a dialog box will prompt you to install the WinPcap component of the communications middleware.
Click the OK Button.
The WinPcap Setup Wizard is displayed.
15 Click the Next Button.
2-1-3 Installing the Sysmac Studio
16 17
18
The WinPcap Installation Wizard is displayed.
Click the Next Button. The License Agreement Dialog Box is displayed.
Read the License Agreement carefully. If you agree to all of the conditions, click the I Agree Button. The Installation options Dialog Box is displayed.
Select the Automatically start the WinPcap driver at boot time Option, and then click the Install Button. Installation of WinPcap starts.
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2 Installation and Uninstallation
19 Click the Finish Button.
This completes the installation of WinPcap.
Ethernet Card Selection
During installation wizard execution, the Direct Ethernet Connection: Network Card Selection Dialog Box is displayed.
20 Select the network card for connecting the Controller with an Ethernet cable from the computer that runs the Sysmac Studio, and then click the OK Button.
The network card for a direct Ethernet connection is selected and installation continues.
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2-1 Installing the Sysmac Studio
2 Installation and Uninstallation
Installing the USB Driver for OMRON SYSMAC PLCs and NS-series PTs
During installation wizard execution, a Windows Security Dialog Box is displayed.
21 Click the Install Button.
2
22
The OMRON Universal Serial Bus controllers are installed and then the InstallShield Wizard Complete Dialog Box is displayed.
If you are using Windows 8 or later and selected the Complete Option in step 8 or the CX Common Tools Check Box in step 9, the following message appears before the InstallShield Wizard Complete Dialog Box is displayed: Microsoft .NET Framework 3.5 SP1 is required to use CX-ConfiguratorFDT. After installing Sysmac Studio, install the .NET Framework 3.5 SP1 from the Internet.
Select the Yes, I want to restart my computer now Option, and then click the Finish Button.
2-1-3 Installing the Sysmac Studio
The computer is restarted. This completes the installation of the Sysmac Studio.
Additional Information
You must install .NET Framework 3.5 SP1 to use CX-Configurator-FDT on Windows 8. After the Sysmac Studio is installed, install .NET Framework 3.5 SP1. To install .NET Framework 3.5 SP1, select Programs - Turn Windows features on or off in the Control Panel. Select the .NET Framework 3.5 Option in the dialog box that is displayed next and click the OK Button.
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2 Installation and Uninstallation
2-2 Uninstalling the Sysmac Studio
2-2-1 Uninstalling the Sysmac Studio
Use the following steps to uninstall the Sysmac Studio. (1) Uninstall the Sysmac Studio. (2) Uninstall the Communications Middleware. (3) Uninstall the CX-Server Driver Manager* and the CX-Server.* * These are displayed if the Support Software is installed or if the Sysmac Studio is installed on a computer with
the CX-One. To uninstall the CX-One, refer to the CX-One Setup Manual for the procedure. Precautions for Correct Use To uninstall the Sysmac Studio, log onto Windows as the administrator or as a user with administrator rights. Without administrator rights, you may not be able to access some folders, which results in unsuccessful uninstallation.
Uninstalling the Sysmac Studio
1 Open the Control Panel from the Windows Start Menu and then select Programs and Features.
The Uninstall or change a program Dialog Box is displayed.
2 Select Sysmac Studio, and then click the Uninstall Button.
A dialog box is displayed to confirm deletion of the Sysmac Studio.
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2-2 Uninstalling the Sysmac Studio
3 Click the Yes Button.
2 Installation and Uninstallation
The Sysmac Studio is uninstalled and then a dialog box is displayed to confirm uninstallation of
CX Common Tools.
4 Click the Yes Button to continue removal of the CX Common Tools.
The CX Common Tools are removed.
2
*Always click the Yes Button and remove the CX Common Tools completely.
A dialog box is displayed after uninstallation of the Sysmac Studio is completed.
5 Click the Finish Button.
2-2-1 Uninstalling the Sysmac Studio
This completes the uninstallation of the Sysmac Studio.
Uninstalling the Communications Middleware
1 Open the Control Panel from the Windows Start Menu and then select Programs and Features.
The Uninstall or change a program Dialog Box is displayed.
2 Select Communications Middleware, and then click the Uninstall Button.
The following dialog box is displayed to confirm the uninstallation of Communication Middleware.
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2 Installation and Uninstallation
3 Click the Yes Button.
Uninstallation of the Communications Middleware is started.
4 Delete the Communications Middleware according to the messages in the dialog box.
The Maintenance Completed Dialog Box is displayed when uninstallation is completed.
Uninstalling the CX-Server Driver Manager and the CX-Server
1 Open the Control Panel from the Windows Start Menu and then select Programs and Features.
The Uninstall or change a program Dialog Box is displayed.
2 Select CX-Server Driver Manager Tool, and then click the Uninstall/Change Button.
The following dialog box is displayed.
3 Click the Yes Button.
A dialog box is displayed to select the driver to remove.
4 Click the Yes Button to remove all device drivers.
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2-2 Uninstalling the Sysmac Studio
2 Installation and Uninstallation
5 Delete the CX-Server Driver Manager according to the messages in the dialog box.
The Maintenance Completed Dialog Box is displayed when the uninstallation of the CX-Server Driver Management Tool is completed.
2
6 Continue by selecting the CX-Server and repeat the above procedure for uninstallation of CXServer.
2-2-1 Uninstalling the Sysmac Studio
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2 Installation and Uninstallation
2-3 Auto-updating the Sysmac Studio
You can use an Internet connection to automatically update the Support Software that is included in the Sysmac Studio package to the most current versions. If you use auto-updating, searches are made automatically for the newest versions of the currently installed Support Software from the Sysmac Studio package. When updates are found, they are installed to keep the Support Software that is installed from the Sysmac Studio package on your computer up to date.
2-3-1 Confirmations before Implementing Auto-updating
Check the following points before you start to update the software. � Log onto Windows as the administrator or as a user with administrator rights. � Exit all applications. � Connect to the Internet.
2-3-2 Implementing an Auto-update
1 Select All Programs - OMRON - Sysmac Studio - OMRON Automation Software AutoUpdate from the Windows Start Menu. The OMRON Automation Software Upgrade Utility starts and a list of the applications that are installed is displayed. (a)
(b)
(e)
(f)
(g)
(c)
(d)
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2-3 Auto-updating the Sysmac Studio
2 Installation and Uninstallation
No.
Item
Description
(a)
Message area
Tells whether updates are available.
(b)
Update display area
Displays available updates and messages from OMRON.
(c)
Download Only Button Downloads the selected updates and saves them to your computer.
Click this button to install the updates later.
(d)
Install Button
Downloads the selected updates and installs them on your computer.
(e)
Description Button
Displays an update description area at the bottom of the dialog box.
(f)
History Button
Displays a list of the applications that are installed and the updates that have been installed for each.
(g)
Setting Button
Displays a dialog box of the settings to periodically check for updates.
Click the + icon to see the updates that you can apply to an application.
2
The first time you implement an update, a dialog box is displayed for user confirmation before the OMRON Automation Software Upgrade Utility starts.
2-3-2 Implementing an Auto-update
Enter the items in the following table, and click the OK Button. This dialog box is displayed only the first time that you install updates.
Item
Description
E-mail Address
Enter your email address.
License Number (16 digits) Input the license number of the Sysmac Studio that you purchased.
Region
Select the region where you purchased the software.
� Japan
� Europe, Africa, or Middle East
� North or South America
� China � Southeast Asia, India, or Pacific region � Taiwan � Korea
2 Select the updates to install and click the Install Button.
The selected updates are downloaded and installation starts automatically. A dialog box that asks you to restart your computer is displayed after installation is completed.
3 Click the Yes Button to restart your computer and complete the updates. To restart later, click the No Button.
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2 Installation and Uninstallation
Additional Information � If there are updates to install for the OMRON Automation Software Upgrade Utility, the follow-
ing dialog box is displayed when you start the utility. Click the OK Button to download the updates.
� You use Programs and Features in the Control Panel to uninstall the updates.
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System Design 3
This section describes the basic concepts for designing an NJ/NX/NY-series System with the Sysmac Studio and the basic operating procedures.
3-1 Basic Flow of System Design 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-2 Basic Flow of System Design 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-3 Creating a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 3-3-1 Starting and Exiting the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 3-3-2 Creating a Project File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 3-3-3 Closing a Project File and Returning to the Start Page . . . . . . . . . . . . . . . . . 3-14 3-3-4 Saving the Project File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15 3-3-5 Saving a Project File Under a Different Name . . . . . . . . . . . . . . . . . . . . . . . . 3-16 3-3-6 Opening a Project File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17 3-3-7 Exporting a Project File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 3-3-8 Importing a Project File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21 3-3-9 Password Protection for Project Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23 3-3-10 Project Update History Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27 3-3-11 Creating a Project from an Online Connection . . . . . . . . . . . . . . . . . . . . . . . 3-30 3-3-12 Displaying and Registering Licenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30 3-3-13 Project Version Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3-4 Parts of the Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32 3-4-1 Application Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32 3-4-2 Multiview Explorer (1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33 3-4-3 Edit Pane (3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36 3-4-4 Toolbox (4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41 3-4-5 Changing the Display Location of Window Parts . . . . . . . . . . . . . . . . . . . . . . 3-44
3-5 Menu Command Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
3-6 Basic Editing Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53
3-7 Sysmac Studio Settings and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56 3-7-1 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56 3-7-2 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-60 3-7-3 Library Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-62 3-7-4 Project Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-63 3-7-5 Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-63 3-7-6 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-66 3-7-7 Monitoring Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-67 3-7-8 Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-68 3-7-9 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-68 3-7-10 Security Measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-69
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3 System Design
3-7-11 3-7-12 3-7-13 3-7-14 3-7-15 3-7-16 3-7-17 3-7-18 3-7-19 3-7-20 3-7-21 3-7-22 3-7-23 3-7-24 3-7-25 3-7-26
Customizing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-70 Window Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-70 Online Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-70 OPC UA Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-71 Function Specifications of DB Connection Function . . . . . . . . . . . . . . . . . . . . 3-72 CNC Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-72 EtherNet/IP Connection Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-73 EtherNet/IP Slave Terminal Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-73 Function Specifications of Safety Control Units . . . . . . . . . . . . . . . . . . . . . . . 3-74 Function Specifications of NA-series Programmable Terminals . . . . . . . . . . . 3-78 Vision Sensor Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-83 Displacement Sensor Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-89 Team Development Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-90 3D Simulation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-90 Robot Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-91 Application Manager Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93
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3 System Design
3-1 Basic Flow of System Design 1
3-1 Basic Flow of System Design 1
This section gives the basic flow and settings that are required to use the Sysmac Studio to design a user program that takes advantage of the characteristics of IEC 61131-3 programming. This basic flow is suitable for user program design in a development scenario in which hardware and software specifications are determined in phases. The procedures are described below.
Creating a Project
A project file is created. 1. Starting the Sysmac Studio: Start the Sysmac Studio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-1 2. Creating a Project: Create a project.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-2
Designing the User Program
Variables and POUs are registered.
3
1. Registering Global Variables: Register user-defined variables that are used in more than one program in the Global Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
2. Registering POUs: Register the programs, functions, and function blocks as POUs. . . . . . . . . . . . . . . . . . . . . . 4-2
3. Registering Local Variables: Register the user-defined variables that are used in only one POU in the Local Variables for that POU.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4. Registering Axis Variables: Register the Axis Variables that are used in the user program in the Axis Settings. . 4-1
5. Registering Axes Group Variables: Register the Axes Group Variables that are used in programs that control interpolates axes in the Axes Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
6. Registering Cam Data Variables: Register the cam data variables that are used in the user program in the Cam Data Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
7. Creating the POU Algorithms: Create the POU algorithms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5 to 4-6
Controller Configurations and Setup
The Controller Configurations and Setup are created. Controller Configurations: 1. Creating the EtherCAT Configuration: Register the EtherCAT slaves in the EtherCAT Configuration.. . . . . . . . . 5-2 2. Creating the CPU/Expansion Rack Configuration: Register the Units in the CPU/Expansion
Racks Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 3. Registering Device Variables: Register device variables to user-defined variables in the I/O Map to use
or to edit and use device variables in the user program. The device variables interface the user program with I/O information from the devices (slaves and Units). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Controller Setup: 1. Editing Slave Parameters: Edit the Operation Settings of the slaves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4 2. Editing Unit Parameters: Edit the Operation Settings of the Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 3. Editing Controller Setup: Edit the Operation Settings of the Controller in the Controller Setup.. . . . . . . . . . . . . . 5-6 4. Editing Axes: Edit the Operation Settings of the axes that you registered in the Axis Settings. . . . . . . . . . . . . . . 5-7 5. Editing Axes Groups: Edit the Operation Settings of the interpolated axes that you registered in the Axes Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Designing Tasks
The tasks, which are used to execute programs, are created. 1. Registering Tasks: Register the tasks in Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 2. Designing Tasks: Design the operation of the tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 3. Editing Tasks: Assign programs to the tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 4. Editing Tasks: Design the I/O that are controlled by the tasks and the variables that are shared between tasks. 5-9
Offline Program Debugging
The Simulator is used to debug the program. 1. Debugging through Simulation: Start the Simulator and debug the user program. . . . . . . . . . . . . . . . . . . . . . . . 7-3
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Preparations for Online Debugging
The settings that are required for online debugging are made. 1. Assigning Axis Variables and I/O Devices: Assign the axis variables and I/O devices in the Axis Settings. . . . 2. Assigning Variables and Real I/O: Assign the user-defined variables and I/O devices in the I/O Map. . . . . . . .
7-4-2 7-4-1
Online Program Debugging
Debugging is performed on the physical system.
1. Transferring Data to the Controller: Transfer the user program, system configuration, and variable information to the Controller.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Testing Axis Operation: Use the MC Test Run to check wiring.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Checking I/O: Use the I/O Map to check the I/O status between internal I/O devices and external I/O devices, and the wiring to external I/O devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Checking Assignments: Use a Watch Tab Page to check the assignments between user-defined variables and I/O devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-5-1 7-5-2
7-5-3
7-5-4
Testing Operation
Final debugging of the user program is performed using trial operation. Debugging Programming with Data Traces: Execute data traces to check the operation of the user program. . . .
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3-2 Basic Flow of System Design 2
3 System Design
3-2 Basic Flow of System Design 2
This section gives the basic flow and settings that are required to use the Sysmac Studio to design a user program in a traditional top-down fashion. This basic flow is suitable for user program design in a development scenario in which hardware and software specifications are determined in advance. The procedures are described below.
Creating a Project
A project file is created. 1. Starting the Sysmac Studio: Start the Sysmac Studio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2. Creating a Project: Create a project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-1 3-3-2
Controller Configurations and Setup
3
The Controller Configurations and Setup are created.
Controller Configurations:
1. Creating the EtherCAT Configuration: Register the EtherCAT slaves in the EtherCAT Configuration. . . . . . . . . . . 5-2
2. Creating the CPU/Expansion Rack Configuration: Register the Units in the CPU/Expansion Racks Configuration.5-5
Controller Setup:
1. Editing Slave Parameters: Edit the Operation Settings of the slaves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
2. Editing Unit Parameters: Edit the Operation Settings of the Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
3. Editing Controller Setup: Edit the Operation Settings of the Controller in the Controller Setup. . . . . . . . . . . . . . . . 5-5
4. Registering Axis Variables: Register the Axis Variables that are used in the user program in the Axis Settings. . . 4-1
5. Registering Axes Group Variables: Register the Axes Group Variables that are used in programs that control interpolates axes in the Axes Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
6. Editing Axes: Edit the Operation Settings of the axes that you registered in the Axis Settings. . . . . . . . . . . . . . . . 5-7
7. Editing Axes Groups: Edit the Operation Settings of the interpolated axes that you registered in the Axes Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Designing the User Program
The variables are registered and the POUs are created.
1. Registering Global Variables: Register user-defined variables that are used in more than one program in the Global Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Registering POUs: Register the programs, functions, and function blocks as POUs. . . . . . . . . . . . . . . . . . . . .
3. Registering Local Variables: Register the user-defined variables that are used in only one POU in the Local Variables for that POU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Registering Device Variables: Register device variables to user-defined variables in the I/O Map to use or to edit and use device variables in the user program. The device variables interface the user program with I/O information from the devices (slaves and Units). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Registering Cam Data Variables: Register the cam data variables that are used in the user program in the Cam Data Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Creating the POU Algorithms: Create the POU algorithms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1 4-2 4-1
4-1 4-1 4-5-1 to 4-5-2
Designing Tasks
The tasks, which are used to execute programs, are created. 1. Registering Tasks: Register the tasks in Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 2. Editing Tasks: Assign programs to the tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 3. Editing Tasks: Design the I/O that are controlled by the tasks and the variables that are shared between tasks. 5-9
Offline Program Debugging
The Simulator is used to debug the program. 1. Debugging through Simulation: Start the Simulator and debug the user program.. . . . . . . . . . . . . . . . . . . . . . . 7-3
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Preparations for Online Debugging
The settings that are required for online debugging are made. 1. Assigning Axis Variables and I/O Devices: Assign the axis variables and I/O devices in the Axis Settings. . . . 2. Assigning Variables and Real I/O: Assign the user-defined variables and I/O devices in the I/O Map. . . . . . . .
7-4-2 7-4-1
Online Program Debugging
Debugging is performed on the physical system.
1. Transferring Data to the Controller: Transfer the user program, system configuration, and variable information to the Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Testing Axis Operation: Use the MC Test Run to check wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Checking I/O: Use the I/O Map to check the I/O status between internal I/O devices and external I/O devices, and the wiring to external I/O devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Checking Assignments: Use a Watch Tab Page to check the assignments between user-defined variables and I/O devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-5-1 7-5-2
7-5-3
7-5-4
Testing Operation
Final debugging of the user program is performed using trial operation. 1. Debugging Programming with Data Traces: Execute data traces to check the operation of the user program. .
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3-3 Creating a Project
3-3-1 Starting and Exiting the Sysmac Studio
3 System Design
3-3 Creating a Project
This section describes how to start and exit the Sysmac Studio, create and save projects, and perform other basic operations.
3-3-1 Starting and Exiting the Sysmac Studio
Precautions for Correct Use Observe the following precautions when you start the Sysmac Studio or any of the Support Software that is provided with it. � If you start the Sysmac Studio as a user without administrator rights, you may not be able to
use some functions due to a file access error. In this case, enable the User Account Control 3
(UAC) of Windows and restart the Sysmac Studio. � If you use the simulation features of a Controller or HMI, log onto Windows as the administra-
tor or as a user with administrator rights and start the Sysmac Studio. � Exit all applications that are not necessary to use the Sysmac Studio. For virus checker or
other software that could affect the startup and operations of the Sysmac Studio, take measures such as to remove the Sysmac Studio from the scope of virus checking. � If any hard disks or printers that are connected to the computer are shared with other computers on a network, isolate them so that they are no longer shared. � With some notebook computers, the default settings assign the USB port to a modem or infrared communications. Refer to the user documentation for your computer and set the USB port as a normal serial port. � With some notebook computers, the default settings do not supply power to the USB port or Ethernet port to save energy. There are energy-saving settings in Windows, and also sometimes in utilities or the BIOS of the computer. Refer to the user documentation for your computer and disable all energy-saving features.
Starting the Sysmac Studio
Use one of the following methods to start the Sysmac Studio. � Double-click the Sysmac Studio shortcut icon on your desktop.
� Select All Programs - OMRON - Sysmac Studio - Sysmac Studio from the Windows Start Menu.
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The Sysmac Studio starts and the following window is displayed. This window is called the Start page.
Exiting the Sysmac Studio
Use one of the following methods to exit the Sysmac Studio. � Click the Close Button in the title bar.
� Select Exit from the File Menu.
The Sysmac Studio will close. * This menu is not displayed if the Start page is displayed. Click the Close Button in the title bar.
Additional Information If there is unsaved data when you exit the Sysmac Studio, a dialog box will appear that asks if you want to save the data.
Save the data if required. The Sysmac Studio will close after this operation.
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3-3 Creating a Project
3 System Design
3-3-2 Creating a Project File
This section describes how to create a project file.
Creating a Project File from the Start Page
Use the following procedure to create a project file from the Start page.
1 Click New Project on the Start page.
3
The Project Properties Screen is displayed. The following table gives the functions of the buttons.
Button
Function
New Project
Creates a project file.
Open Project
Opens an existing project file.
2 Enter the project name (mandatory), author (optional), and comment (optional) in the Project Properties Screen, select the device category, the device to use, and the version, and then click the Create Button.
3-3-2 Creating a Project File
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The property settings are listed below.
Property Project name Author
Comment Type
Description
Enter the project name.
Enter the author name. If this is the first time you are creating a project after installing the Sysmac Studio, the user name that you entered when you logged onto Windows is displayed.*1
Enter a comment.
Select the project type.
� Standard Project This type is used for a normal project.
� Library Project This type is used to create a library project. Refer to 9-3 Creating and Using Libraries for information on libraries.
� IAG Project This type is used to create an IAG to use with an NA-series PT. Refer to the NA-series Programmable Terminal Software User's Manual (Cat. No. V118) for details.
*1 You can change the author name that is displayed when you create a project. Change it in the option settings. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
You can change the properties later. Refer to Editing Project File Properties, below.
Additional Information
In the Sysmac Studio (64 bit), at the bottom left of the start page, Robot System � Open in Emulation Mode is displayed. This feature is only available for projects that use Robot Integrated CPU Units. For more information, refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595).
If you select a Vision Sensor, specify the model of the Vision Sensor in the next dialog box and then click the OK Button.
A project file is created and the following window is displayed.
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3-3 Creating a Project
3-3-2 Creating a Project File
3 System Design
A project file is created with the specified device already inserted.
Adding Devices
Right-click the Controller Icon and select Add Device from the menu.
Or, select the device directly from the Insert Menu. Example: Controller - NJ501.
3
The Add Device Dialog Box is displayed.
Select the device and then click the OK Button. The device is added to the project.
To add Vision Sensors, Displacement Sensors (Measurement Sensors), HMIs, or Slave Terminals, select them from the Insert Menu. To change the target device, select a device from the list.
Changing Devices
Right-click the device icon and select Change Device from the menu. Or, select the Change Device from the Controller Menu.
The Change Device Dialog Box is displayed.
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Select the device and then click the OK Button. The device is changed.
Precautions for Correct Use � If you change the device, the settings for functions that are not supported by the new model
will be lost. � You cannot change the device for a Vision Sensor. � You cannot change to a different category.
Controller Versions
If you select a Controller for the device, set the version. You can set the version to the unit version of the Controller that you are using or to any earlier unit version. You can program and make settings within the ranges that are supported for the unit version that you set for the Controller. If you attempt to use functions that are not supported by the unit version that you set, you will not be able to use them or errors will occur. For example, if you set the version to 1.01 for an NJ-series Controller, you can use the Controller within the ranges that are supported by unit version 1.01 of the Controller. In this case, you can transfer the user program that you created to a Controller with unit version 1.02, but you cannot transfer it to a Controller with a unit version of 1.00. You can change the version after you add a Controller. Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) and NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for information on Controller unit versions and supported functions.
Precautions for Correct Use If you change the unit version, the settings for functions that are not supported by the new unit version will be lost.
Precautions for Safe Use If the configuration of the EtherCAT network includes an EtherCAT slave that cannot be used by the Controllers after changing model, the configuration and settings of the EtherCAT network will be all cleared. In that case, create and set an EtherCAT network configuration again.
Editing Project File Properties
Use the following procedure to edit the properties of a project file.
1 Click Open Project on the Start page and select the project file to edit.
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3-3 Creating a Project
3-3-2 Creating a Project File
2 Click the Properties Button. Or click the Edit Properties icon ( the selected project file.
) that appears to the left of
3
The Project Properties Dialog Box is displayed.
Property
Value
Type
Select a standard project or a library project. Refer to 9-3 Creating and Using Libraries for information on library projects.
Enable password protection for the project file
Select this option to enable setting password protection for the project file. Refer to 3-3-9 Password Protection for Project Files for details.
3 Edit the properties, and then click the Save Button.
The properties are saved.
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3-3-3 Closing a Project File and Returning to the Start Page
When you close a project file, you will return to the Start page. Use the following procedure.
1 Select Close from the File Menu.
A dialog box is displayed to ask if you need to save the project.
2 Click the Yes Button in the following dialog box.
The project name is registered in the project properties and the Start page is displayed.
If you click the No Button, the Start page is displayed without saving the project. You can check the name of the registered project if you click Open Project on the Start page.
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3-3 Creating a Project
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3-3-4 Saving the Project File
This section describes how to save the project file.
1 Select Save from the File Menu. (Or press the Ctrl + S Keys.)
The current project file is saved. To use a project file on a different computer, export the project 3
file as described in 3-3-7 Exporting a Project File. Additional Information � Information on synchronization is updated in the project file when synchronization is per-
formed. After you perform synchronization, save the project file before you close it. If you do not save the project file, a message that says that the program execution IDs are different and that all data will be transferred is displayed the next time you perform synchronization. � If you register any EtherCAT slaves from other manufacturers in a project, the ESI for the slaves is saved in the project file. If you open or import any project that was created on Sysmac Studio version 1.08 or lower, save the project file.
3-3-4 Saving the Project File
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3-3-5 Saving a Project File Under a Different Name
This section describes how to save a project file under a different name.
1 Select Save As from the File Menu.
The Project Properties Dialog Box is displayed.
2 Change the project file name, and then click the Save Button.
The project file is saved.
Additional Information
Information on synchronization is updated in the project file when synchronization is performed. After you perform synchronization, save the project file before you close it. If you do not save the project file, a message that says that the program execution IDs are different and that all data will be transferred is displayed the next time you perform synchronization.
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3-3-6 Opening a Project File
Use the following procedure to open an existing project file.
1 Click Open Project on the Start page.
3 System Design
3-3 Creating a Project
3-3-6 Opening a Project File
The Project Screen is displayed.
3
(a)
(b) (c)
Item (a) Project Name Search
(b) Project list
(c) Property information*1
Project name Comment
Last Modified
Created Author
Description
Enter a text string. Then, the project list will be narrowed to display projects with names that contain the text string you enter.
The number of projects that are currently displayed in the project list is displayed to the right.
A list of projects is displayed.
The project names that were entered as a mandatory item when the projects were created are displayed.
The default name is NewProject.
The comment that was entered when the project was created is displayed.
The last date and time that the project was modified is displayed.
The date and time that the project was created is displayed.
The creator that was entered when the project was created is displayed.
*1 You can drag the column headings to change the order of the property items.
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2 Select a project from the list of project names and click the Open Button.
The project is opened. Additional Information If you open a project that was created with Sysmac Studio version 1.01 or lower with version 1.05 or higher, a dialog box will appear for you to select the model of the CPU Unit. Select the model of the CPU Unit that is actually connected.
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3-3-7 Exporting a Project File
You can use the following methods to export a project file. Method 1: Exporting from the Start page Method 2: Exporting from the Menu Bar of the Application Window Method 1: Exporting from the Start page
1 Select Close from the File Menu to return to the Start page. 2 Click Open Project on the Start page. 3 Select the project to export from the list of project names and click Export.
3
The Export Project Dialog Box is displayed.
4 Specify a directory, enter a file name, select the file type, and then click the Save Button.
3-3-7 Exporting a Project File
The project is exported to a file.
Extension smc2*1 or smc csm2*1 or csm*2
Description One file contains all of the project data.
One file contains all of the project data. The file is smaller than the smc file. However, the project is always built before the data is transferred to the Controller.
*1 Project files with this extension are supported by Sysmac Studio version 1.08 or higher. *2 Project files with this extension are supported by Sysmac Studio version 1.04 or higher.
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Precautions for Correct Use The trace data is not included in csm files exported from Sysmac Studio version 1.05 or higher or in csm2 export files. Export any required trace data separately.
Additional Information � The exported project file has the same contents as a project that was saved on the Sysmac
Studio. � An improved save algorithm in Sysmac Studio version 1.06 or higher exports smaller files than
those that are exported from version 1.05 or lower. � You can export the contents of a project file for which password protection is set. Refer to 3-3-
9 Password Protection for Project Files for the procedure to set password protection. Method 2: Exporting from the Menu Bar of the Application Window
1 Select Export from the File Menu in the Application Window.
The Export Project Dialog Box is displayed.
2 Specify a directory, enter a file name, and then click the Save Button.
The project is exported to a file. Precautions for Correct Use If any EtherCAT slaves from other manufacturers are registered in a project, first save the project file, and then select the smc2 or csm2 format and export the file. If you import an exported project file to Sysmac Studio version 1.08 and save the project file, the ESI for the slaves is lost.
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3-3-8 Importing a Project File
You can use the following methods to import a project file. Method 1: Importing from the Start page Method 2: Importing from the Menu Bar of the Application Window Method 1: Importing from the Start page
1 Click Import.
3
The Import file Dialog Box is displayed.
2 Select a project file with an .smc2, .csm2, .smc, or .csm file name extension, and then click the Open Button.
3-3-8 Importing a Project File
The project file is imported.
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Method 2: Importing from the Menu Bar of the Application Window
1 Select Import from the File Menu in the Application Window.
The Import file Dialog Box is displayed.
2 Select a project file and then click the Open Button.
The project file is imported. Additional Information If you import a project that was created with Sysmac Studio version 1.01 or lower with version 1.05 or higher, a dialog box will appear for you to select the model of the CPU Unit. Select the model of the CPU Unit that is actually connected.
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3-3-9 Password Protection for Project Files
You can set password protection for project files to protect your assets. If password protection is set, a password is required for the following operations. � Opening the project file � Changing the properties of the project file � Importing the contents of the project file
Setting and Clearing Password Protection for Project Files
The procedures to set and clear password protection are given below.
1 Select a project on the Start page. Then, click the Properties Button or click the Edit
Properties icon ( ).
3
The Project Properties Dialog Box is displayed.
2 Select the Enable password protection for the project file Check Box, enter the password, and click the Save Button. The file is saved.
3-3-9 Password Protection for Project Files
Password protection is now set. To clear the password protection, clear the selection of the Enable password protection for the project file Check Box and click the Save Button. The file is saved.
Precautions for Correct Use
� For the password, enter a string of 8 to 32 single-byte alphanumeric characters. The password is case sensitive.
� If you forget the password, you will no longer be able to open the project file, change the properties of the project file, or import the contents of the project file. Be sure to record the password in case you forget it.
� Password protection for project files does not apply to data that is transferred to the Controller. To prevent reading data from the Controller, set operation authorities or data protection.
Additional Information
If you place password protection on a project that has more than one version, the same password protection will be placed on all versions in the project.
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Opening a Project File for Which Password Protection Is Set
Use the following procedure to open a project file for which password protection is set.
1 Click Open Project on the Start page.
The Project Screen is displayed.
2 Select a project from the list of project names and click the Open Button.
The Enter a Password Dialog Box is displayed.
3 Enter the password, and click the OK Button.
The project is opened.
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Changing the Properties of a Project File for Which Password Protection Is Set
Use the following procedure to change the properties of a project file for which password protection is set.
1 Select the project file to edit on the Start page.
3
2 Click the Properties Button. Or click the Edit Properties icon ( the selected project file. The Enter a Password Dialog Box is displayed.
) that appears to the left of
3 Enter the password, and click the OK Button.
The Project Properties Dialog Box is displayed.
3-3-9 Password Protection for Project Files
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Importing a Project File for Which Password Protection is Set
Use the following procedure to import a project file for which a password was set when the project was exported.
1 Click Import.
The Import file Dialog Box is displayed.
2 Select a project file with an .smc2, .csm2, .smc, or .csm file name extension, and then click the Open Button.
The Enter a password Dialog Box is displayed.
3 Enter the password, and click the OK Button.
The project file is imported.
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3-3-10 Project Update History Management
You can assign numbers to projects to manage the project history. The project numbers are displayed in a hierarchy in the Project Screen. You can also compare the project between different project numbers offline.
(a) (b) (c)
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(d)
Number (a) (b)
Item
Newest project
Project with different project numbers
(c)
Properties
(d)
Compare
Description
This is the most recent project.
These are the project versions that were saved when the project number was changed. The project number is automatically added after the project name.
The properties of the selected project number are displayed.
This button compares the selected projects or different versions of the same project to show the differences. You can merge the differences. Refer to 4-9 Offline Comparison for the offline comparison and merging procedures.
3-3-10 Project Update History Management
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Saving a Project with a New Project Number
Use the following procedure to save a project with a new project number.
1 Select Save As New Number from the File Menu.
The Project Properties Dialog Box is displayed.
2 Edit the properties, and then click the Save Button.
The project is saved with the most recent project number.
The project number is automatically added to the project that was saved and the project is displayed in a hierarchy for the project.
Additional Information
� A hierarchy is not displayed for the project when a project is first created or when there is only one project number.
� The project numbers are displayed in order in the hierarchy with the newest project at the top. � A new number is automatically added for the project number. You cannot change the project
numbers. � Project properties are set for each project number.
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Opening a Project with a Specific Project Number
Use the following procedure to open a project with a specific project number.
1 Select the project with the desired project number from the project hierarchy and click the Open Button.
3
The selected project is opened. Additional Information You cannot overwrite a project that was opened for a specific project number. To make changes, either save the project under a different name or save it for the most recent project number.
3-3-10 Project Update History Management
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3-3-11 Creating a Project from an Online Connection
If you go online with the Controller when there is no project, a project is created automatically. You can go online with the Controller and upload the project even if there is no project file on the computer. Click Connect to Device.
Refer to 6-2-8 Going Online without a Project for the procedure.
3-3-12 Displaying and Registering Licenses
Use the following procedure to check and register licenses.
1 Click License on the Start page.
The licensed products that are currently registered are displayed. If you click the license in the product name column, detailed information is displayed in the product detailed information column. The number of days that remains for the trial edition is displayed under License.
2 To register a new license, click the Register License Button.
A License Registration Dialog Box is displayed.
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3 Enter the license number, and then click the Register Button.
If the license is registered normally, a message appears asking you to restart the software.
Restart the Sysmac Studio to complete registration.
3-3-13 Project Version Control
Use the following procedure to display the version-controlled project list of the Sysmac Studio.
3
You can use the project version control function to control the changes made to Sysmac Studio projects. To use the Sysmac Studio project version control function, you need to separately purchase a license of the Sysmac Studio Team Development Option. Refer to the Sysmac Studio Project Version Control Function Operation Manual (Cat. No. W589) for details on the Sysmac Studio project version control function.
3-3-13 Project Version Control
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3-4 Parts of the Window
This section gives the names, functions, and basic arrangement of the parts of the Sysmac Studio Window. You can change the display locations of the parts of the window. Refer to 3-4-5 Changing the Display Location of Window Parts for detailed procedures.
3-4-1 Application Window
This is the main Sysmac Studio window.
Menu bar
Toolbar
Configurations and Setup Header
Programming Header
Status Bar
Number
Name Multiview Explorer Filter Pane Edit Pane Toolbox Search and Replace Pane Controller Status Pane Simulation Pane Cross Reference Tab Page Output Tab Page Watch Tab Page Build Tab Page
Search and Replace Results Tab Page
Differential Monitor Tab Page
The functions of these parts are described starting on the next page.
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Hiding/Showing the Menu Bar, Toolbar, and Status Bar
You can hide or show the menu bar, toolbar, and status bar. Right-click the title bar in the main window and select the items to display from the menu. Checkmarks will appear by them. To hide the items, select them again. The checkmarks will disappear. You can also press the Alt Key to display the menu bar when it is hidden.
3-4-2 Multiview Explorer (1)
�
� This pane is your access point for all Sysmac Studio data. It is separated into Configurations and Setup and Programming. Each of these is displayed in a tree structure.
� Click the icons ( or ) in front of each item in the tree to expand or collapse the tree.
3
� A pop-up menu is displayed if you right-click any data items that can be set.
3-4-2 Multiview Explorer (1)
� Items in the Multiview Explorer
Configurations and Setup EtherCAT CPU/Expansion Racks
CPU Rack Expansion Racks I/O Map Controller Setup Operation Settings Built-in EtherNet/IP Port Settings Motion Control Setup Axis Settings Axes Group Settings Cam Data Settings Event Settings Task Settings Data Trace Settings
Programming POUs
Programs Functions Function Blocks Data Data Types Global Variables Tasks
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Device List and Device Icon for the Project
Use this list and icon to switch the device to edit and add/delete devices.
Device List
Devices that are registered in the project are displayed. Select the device to edit in the device list and configure the device or create a program.
You can display the device list in either of the following two ways. Right-click the device icon and select Switch Device Control Display from the pop-up menu, or click the device icon to toggle the display.
Device Icon
The icon for the device that is selected in the device list is displayed.
You can add or change devices, or switch the display method of the device list in the pop-up menu that appears when you right-click the device icon.
Color Codes
You can display marks in five colors on the categories and members of the Multiview Explorer.
You can define how you want to use these marks, e.g., to indicate data development status or developer assignments. You can also use them as filter conditions in the Filter Pane that is described later in this section.
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Error Icons
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The error icon indicates when there is an error in the edited data. Click this icon to display the item with the error in the Edit Pane.
3
Precautions for Correct Use You cannot download the data to the NJ/NX/NY-series Controller if an error icon is displayed.
Filter Pane (2)
The Filter Pane allows you to search for color codes and for items with an error icon. The results are displayed in a list. Click the Filter Pane Bar to display the Filter Pane. The Filter Pane is hidden automatically if the mouse is not placed in it for more than five seconds at a time. Automatically hiding the Filter Pane can be canceled by clicking the pin ( ) icon.
You can search for only items with a specific color code or items with error icons to display a list with only items that meet the search condition. This allows you to edit multiple items from a single list. Click any item in the search result to display the item in the Edit Pane.
3-4-2 Multiview Explorer (1)
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3-4-3 Edit Pane (3)
The Edit Pane is used to display and edit the data for any of the items. Double-click an item in the Multiview Explorer to display details of the selected item in the Edit Pane.
The Edit Pane is displayed as tab pages, and you can switch the tab page to display in the Edit Pane by clicking the corresponding tab.
You can undock the Edit Pane from the main window. Refer to 3-4-5 Changing the Display Location of Window Parts on page 3-44 for details.
Additional Information
� You can use an option setting to change the number of tab pages in the Edit Pane that can be displayed at a time. The default setting is 10, and the maximum display number is 20. Also, you can set so that an old tab page that has not been used is closed automatically when the maximum display number is exceeded. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details on the settings.
� When you perform any of the following operations, all of the tab pages that are not the target of operation are closed automatically.
� Online editing
� Synchronization
� Simulation
� Setting the Setting Change during RUN Mode parameter in the Controller Setup
� Uploading the results of data tracing
� Displaying the Troubleshooting Dialog Box
� Transferring all Controller data
� You can close the Edit Pane from the pop-up menu that appears when you right-click one of the tabs.
Menu command Close All But This
Close All Except Active Device Close All
Description
Select this command to close all tab pages and floating edit windows, except for the selected tab page.
Select this command to close all tab pages and floating edit windows for other devices, leaving those for the selected device.
Select this command to close all tab pages and floating edit windows, including the selected tab page.
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Display Color of Each Tab
The color of each tab in the Edit Pane indicates the selection status of both the tab page and the device.
Tab page
Device
Selected Selected
Display
Description
Both the tab page and the device are selected. A tab changes to this state when it is clicked.
Not selected
The tab page is selected and it is for a device that is not selected in the device list.
Not selected
Selected
The tab page is not selected and it is for the device that is selected in the device list.
Not selected
The tab page is not selected and it is for a device that is
not selected in the device list.
3
Creating a Tab Group
When more than one tab page exists in the Edit Pane, you can click any of the tabs to switch the tab page displayed in the Edit Pane. Such a group of tabs that you can click to switch the displayed tab page is called "tab group."
By creating tab groups, you can organize and manage more than one tab page.
To create a tab group, right-click any of the tabs to display the pop-up menu.
Menu command
Description
New Horizontal Tab Group
Select this command to divide the Edit Pane into upper and lower sections and move the selected tab page to the tab group that is newly created.
New Vertical Tab Group
Select this command to divide the Edit Pane into left and right sections and move the selected tab page to the newly created tab group.
Move to Next Tab Group
Select this command to move the selected tab page to the tab group below or to the right of the current tab group.
Move to Previous Tab Group
Select this command to move the selected tab page to the tab group above or to the left of the current tab group.
Remarks You can display the pop-up menu when the current tab group has more than one tab page.
You can display the pop-up menu when the current tab group has more than one tab page.
You can display the pop-up menu when there is a tab group below or to the right of the current tab group.
You can display the pop-up menu when there is a tab group above or to the left of the current tab group.
Additional Information
� You can group tab pages only when the Edit Pane has tab pages. � You can also move tab pages between tab groups by dragging the mouse. Refer to Docking
and Undocking on page 3-44 for the procedure.
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Smart Project Search
You can search the Multiview Explorer for the items you want to display. When there are a large number of programs or sections registered in the Multiview Explorer, you can quickly display the desired program or section by searching for it.
1 Select Smart Project Search from the View Menu. Or, press the Ctrl + Shift + F Keys.
The Smart Project Search Dialog Box is displayed.
2 Enter in the Search Box part of the name of the item to display in the Edit Pane.
The items in the Multiview Explorer or menus that contain the entered text string are displayed on the left side of the search result list.
The search results are displayed from the top in the order they are displayed in the Multiview Explorer. On the right side of the search result list, the level that is one higher than the item that resulted from the search is displayed.
3 Double-click the desired item in the search result list. Or, press the Enter Key.
The Search Dialog Box is closed and the selected item is displayed in the Edit Pane. To close the Search Dialog Box without selecting an item, click in a pane other than the Search Dialog Box or press the Esc Key.
Additional Information � You can enter English characters into the Search Box to search for item names that contain
words that start with the entered characters in capitals. Example: If you enter is0 in the Search Box, an item named InitialSetting0 is displayed in the search result list. � You can search for the items displayed in the Edit Pane when online only when the Sysmac Studio is online.
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Related Item List
If you search for a section or cam definition in the Search Dialog Box, any other sections or cam definitions that are in the same level as the sections and cam definitions in the search results are displayed. This allows you to quickly check the sections and cam definitions that are related to the item that you searched for. The following procedure uses a search for a section as an example. The procedure for searching for cam definitions is essentially the same.
1 Select a section that is displayed in the search result list.
If there are any other sections in the program to which the selected section belongs, a related item list is displayed to the right side of the search result list.
3
All of the other sections that are at the same level as the selected section are displayed.
2 Double-click the desired section in the related item list. Or, press the Ctrl + Up or Ctrl + Down Keys to select the section and then press the Enter Key. The related item list and Search Dialog Box are closed and the selected section is displayed in the Edit Pane.
Displaying Recently Closed Windows
For the currently selected device, you can display a thumbnail index of the windows that were previously displayed in the Edit Pane, and you can select a window from the thumbnail index to display it again.
1 Select Recently Closed Windows from the View Menu. Or, press the Ctrl + Shift + H Keys.
The windows previously displayed in the Edit Pane are displayed in the thumbnail index of recently closed windows.
3-4-3 Edit Pane (3)
The thumbnails of up to the 20 most recently closed windows are displayed in the order they were closed from the upper left to the bottom right. Select the window to display with the mouse or the Arrow Keys. You can select more than one window if you click the windows while you hold down the Shift or Ctrl Key or if you press the Arrow Keys while you hold down the Shift or Ctrl Key.
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2 Double-click the window to display. Or, press the Enter Key.
The thumbnail index is closed and the selected window is displayed in the Edit Pane. To close the thumbnail index without selecting a window, click in a pane other than the thumbnail index or press the Esc Key. Additional Information � The history of recently closed windows is retained for each device. � If data of a window is protected, a blank thumbnail is displayed for the window in the index of
windows. These windows are not displayed in the Edit Pane even if you double-click them. � If you upload data from a different device, the history of recently closed windows from the
device that was displayed before the upload is cleared.
Clearing the Histories of Recently Closed Windows
You can delete all of the histories of recently closed windows from a project. Select Clear Recently Closed Windows History from the View Menu, and then click the Yes Button in the confirmation dialog box that is displayed. All of the histories are deleted.
Jumping to the Multiview Explorer
From the selected tab page in the Edit Pane, you can jump to the relevant location in the Multiview Explorer.
1 Select the target tab page in the Edit Pane and right-click on it, and select Jump to Multiview Explorer from the pop-up menu, or select Jump to Multiview Explorer from the Edit Menu. Or, select the tab page in the Edit Pane and press the Shift + Alt + L Keys.
The focus moves to the relevant location in the Multiview Explorer.
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3-4-4 Toolbox (4)
The Toolbox shows the objects that you can use to edit the data that is displayed in the Edit Pane. The contents for the items displayed in the Edit Pane are displayed.
You can expand or omit the display of objects by selecting Expand All or Collapse All from the pop-up menu.
3
Search and Replace Pane (5)
In the Search and Replace Pane, you can search for and replace strings in the data under Programming in the Multiview Explorer.
3-4-4 Toolbox (4)
Controller Status Pane (6)
The Controller Status Pane shows the current operating status of the Controller. The Controller Status Pane is displayed only while the Sysmac Studio is online with the Controller.
Additional Information The Controller Status Pane is not displayed when the Sysmac Studio is offline.
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Simulation Pane (7)
The Simulation Pane is used to set up, start, and stop the Simulator for the Controller. Additional Information The Simulation Pane is not displayed when the Sysmac Studio is online with the Controller.
Cross Reference Tab Page (8)
A Cross Reference Tab Page displays a list of where variables, data types, I/O ports, functions, and function blocks are used in the Sysmac Studio. You can select a variable or other item in the Ladder Editor or a variable table to display a list of the locations where the item is used. You can click any of the items in the list to jump to the location where the item is used.
Output Tab Page (9)
The Output Tab Page shows the results of building.
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3-4 Parts of the Window
The Watch Tab Page shows the monitor results of the Simulator or online Controller. You can monitor the current values of variables by inputting the variables directly or by dragging them from a variable table or program rung.
Build Tab Page (11)
3
3-4-4 Toolbox (4)
The Build Tab Page shows the results of program checks and building. Double-click any of the results to display the location of the program check error, program check warning, or building error in the Edit Pane so that you can edit it.
Search and Replace Results Tab Page (12)
The Search and Replace Results Tab Page shows the results when Search All or Replace All is executed. Double-click any of the search/replace results to display the location in the Edit Pane so that you can edit it.
Differential Monitor Tab Page (13)
You can detect the number of times the specified BOOL variable or BOOL member changes to TRUE or FALSE and display the count in this tab page. You can check if bits turn ON and OFF and the number of times that they turn ON and OFF.
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3-4-5 Changing the Display Location of Window Parts
You can change the positions of the parts of the main Sysmac Studio window. You can also hide and display parts of the window.
Docking and Undocking
You can undock the Edit Pane, Watch Tab Pages, and other window parts from the main Sysmac Studio window and position them as desired. You can dock windows into tab groups. Undocking is when you separate a part of the main window. Docking is when you join a window as a part of the main window again. A window that was separated from the main window is called a floating window. A window that is docked with the main window is called a docked window.
Undocking Parts of the Window
1 Click and drag the title bar of a pane or the tab of a tab page.
Docking guides are displayed.
2 Release the mouse button when the pane or tab page is at any location other than the docking guides. The pane or tab page will become a floating window.
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Docking Windows
1 Click and drag the title bar of the window or the tab of a tab page.
Docking guides are displayed in the locations where you can dock the window or tab page.
The docking guide icons that are displayed depend on the position of the mouse cursor. The icons that are displayed are shown in the following table.
Icon
Description
The window or tab page that you drag is aligned vertically or horizontally with the object where the icon is displayed.
The window or tab page that you drag is placed in a tab group with the object where the icon is displayed.
When you align the mouse cursor with a docking guide icon, a blue shaded area is displayed in 3
the window docking position.
2 Align the mouse cursor with any of the docking guide icons and release the mouse button.
The window is positioned at the docking position with the blue shaded area.
3-4-5 Changing the Display Location of Window Parts
Windows are classified into the following two groups depending on where you can dock the windows.
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Window group Edit windows Tool windows
Target object Tab pages in the Edit Pane Multiview Explorer Toolbox Search and Replace Pane Watch Tab Page Controller Status Pane Simulation Pane Output Tab Page Build Tab Page Cross Reference Tab Page Search and Replace Results Tab Page Differential Monitor Tab Page
Dockable locations
Edit Pane
Any tool window or anywhere in the main window except for the Edit Pane
Here, "tool windows" refers to the window group of panes and tab pages that are not displayed in the Edit Pane.
You can place windows that are in the same group into tab groups.
Additional Information
� When you drag a tool window, you can horizontally or vertically align it or overlap it in a tab group with not only the main window, but also with other floating tool windows.
� You can group tab pages in the Edit Pane from the pop-up menu that appears when you rightclick one of the tabs.
� You can use the following methods to switch between a floating and docked window. � Double-click the title bar of the window/pane or the tab of the tab page. � Right-click the title bar or tab and select Float/Dock from the menu.
� For the currently selected pane, the upper part of the title bar is displayed in light blue.
Moving the Focus between Objects
You can use the Ctrl+Tab Keys to move the focus between windows, panes, and tab pages.
1 Press the Ctrl+Tab Keys when an edit window or a tool window is active.
The Change Display Dialog Box is displayed.
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2 Hold down the Ctrl Key and press the Tab Key or an Arrow Key to select the desired object name. When you release the key, the Change Display Dialog Box is hidden and the focus moves to the selected object.
Restoring the Default Window Layout
You can restore the window layout to the Sysmac Studio default layout. Select Reset Window Layout from the View Menu.
Displaying/Hiding Docked Windows
You can hide and display the tool windows in the main window.
The following procedure uses the Toolbox as an example.
3
1 Click the Pin Button on the Toolbox.
The Toolbox is hidden and a Show/Hide Tab is displayed on the closest adjacent edge of the main window.
If you move the mouse cursor over the Show/Hide Tab, the Toolbox is displayed. When you move the cursor off the Show/Hide Tab, the Toolbox is hidden again.
2 To display the Toolbox again, click the Show/Hide Tab and then click the horizontal Pin Button.
3-4-5 Changing the Display Location of Window Parts
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3-5 Menu Command Structure
The menu commands that are always displayed when a Controller is selected are listed below. For specific device menu commands, refer to the manual for the specific device.
Menu File
Edit
View
Submenu/command
Close
---
Save
Save As
Save As New Number
Import
Export
Offline Comparison
Page Settings
Print
Exit
Undo
---
Redo
Cut
Copy
Paste
Delete
Select All
Search and Replace
Jump
Multiview Explorer
---
Toolbox
3D Visualizer
Output Tab Page
Watch Tab Page
Watch Tab Page (Table)
Cross Reference Tab Page
Build Tab Page
Search and Replace Results Tab Page
Simulation Pane
Differential Monitor
Variable Table
Variable Manager
Smart Project Search
Recently Closed Windows
Clear Recently Closed Windows History
Zoom
Zoom In
Zoom Out
Zoom to Fit
Zoom Reset
Reset Window Layout
---
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3-5 Menu Command Structure
Menu Insert
Project
Circuit Parts
Controller
Application Manager Safety Network Controller Drive Slave Terminal Vision Sensor Measurement Sensor HMI Program
Function Function Block Debug Program
Axis Settings Axes Group Settings Cam Data Settings Data Trace Check All Programs Check Selected Programs Build Controller Rebuild Controller Abort Build Memory Usage
Submenu/command Line N.O. Input N.C. Input OR with N.O. Input OR with N.C. Input Output NOT Output Function Function Block NJ101 NJ301 NJ501 NX102 NX1P2 NX701 NY512 NY532 --NX --EtherNet/IP Coupler FH FQ-M ZW NA5 Ladder ST Section Ladder ST Ladder ST Ladder ST Section ---
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Menu Project
Controller
Online Edit
Library
Communications Setup Change Device Online Offline Synchronization Transfer Mode Monitor Stop Monitoring Set/Reset Forced Refreshing
MC Test Run MC Monitor Table SD Memory Card Controller Clock Release Access Right Update CPU Unit Name Security
Clear All Memory Reset Controller
Submenu/command Start Transfer Cancel Go to Edit Pane Show References Library Setting Create Library ---
--To Controller From Controller RUN Mode PROGRAM Mode ---
Set Reset TRUE FALSE Cancel Cancel All Start Stop ---
Setting of Operation Authority ID for User Program Execution CPU Unit Write Protection Set/Release Data Protection Temporary Release of Change Prohibition Finish Temporary Release of Change Prohibition Temporary Release of Display/Change Prohibition Finish Temporary Release of Display/Change Prohibition ---
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3-5 Menu Command Structure
3 System Design
Menu
Submenu/command
Simulation
Run
---
Run in PROGRAM mode
Pause
Stop
Step Execution
Step In
Step Out
Continuous Step Execution
Execute One Scan
Jump to Current Position
Breakpoint Window
Set/Clear Breakpoint
Enable/Disable Breakpoint
3
Clear All Breakpoints
Calibration
Run in Execution Time Estimation Mode
Transfer All Variable Present Values
Run with NA Simulator
Start NS Integrated Simulation
Tools
Troubleshooting
---
Event Log Viewer
---
EtherCAT Diagnosis/Statistics Information
---
Viewer
Backup
Backup Controller
Restore Controller
Compare with Backup File
Import Backup File
Export Backup File
Backup Variables and Memory
Restore Variables and Memory
Export Global Variables
Network Configurator
CX-Designer
Comments for Variables and Data Types
Import
Export
Import ST Program
---
Import Motor sizing tool Results
---
Update Configurations and Setup Transfer --Data
EtherNet/IP Connection Settings
---
Option
---
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Menu Window
Help
Submenu/command
Close
---
Float
Dock
New Horizontal Tab Group
New Vertical Tab Group
Move to Next Tab Group
Move to Previous Tab Group
Close All But This
Close All Except Active Device
Close All
Close Tab
Open Next Tab
Open Previous Tab
Help Contents
---
Instruction Reference
System Defined Variable Reference
Keyboard Mapping Reference
Manual Download
Online Registration
About Sysmac Studio
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3-6 Basic Editing Operations
3 System Design
3-6 Basic Editing Operations
The following table lists the basic operations that you can perform in the Multiview Explorer and Edit Pane. The operations that you can use depend on the item that you are editing.
Operation
Inserting Cutting
Button ---
Menu command
--Edit - Cut
Pop-up menu command
Insert
Cut
Mouse operation
---
Drag
Shortcut keys
R or Shift + R Ctrl + X
Copying Pasting Deleting
Edit - Copy
Copy
Press Ctrl and drag.
Ctrl + C
Edit - Paste
Paste
Drop
Ctrl + V
3
Edit - Delete
Delete
---
Delete
Deleting to the left
---
Changing a name
---
Selecting rows
---
Undoing
------Edit - Undo
--Rename Select All Undo
Redoing
Edit - Redo
Redo
Entering Edit Mode ---
---
Edit
Leaving Edit Mode
---
---
---
Moving the cursor
---
---
---
Moving the cursor to ---
---
---
next or previous item
Moving the cursor to ---
---
---
the beginning of the
row
Moving the cursor to ---
---
---
the end of the row
Moving to the next
---
---
---
page
Moving to previous
---
---
---
page
Finding and replacing ---
---
---
Go To Rung
---
---
---
Display Rung Com- ---
---
---
ment List
Note 1 The editing operation depends on the item/row. 2 Refer to A-5 Shortcut Keys for other shortcut keys.
----Enclose items. ---
BackSpace --Ctrl + Ctrl + Z
---
Ctrl + Y
Double-click Click -----
F2 Enter , , , or Tab or Shift + Tab
---
Home
---
End
---
PageDown
---
PageUp
---
Ctrl + F
---
G
---
L
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Pop-up Menus
Pop-up menus are provided to facilitate data editing in the panes. Right-click the data item and select the command (e.g., Add, Rename, Copy, or Paste) from the pop-up menu.
Entry Assistance
When you enter characters from the keyboard at the following times, the list of candidates that is displayed for selection is automatically narrowed.
Entering Variable Names and Data Types
� Entering Variables Names in the Ladder Editor or ST Editor � Entering Data Types in the Ladder Editor or ST Editor for Functions or Function Blocks � Entering Data Types in Variable Tables Example: When you enter a variable name in the Ladder Editor, the variable names that you can enter are displayed in a list when you click the mouse button.
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Entering Text in the ST Editor
� When you enter text in the ST Editor or in an Inline ST Box, the cursor moves to the first item in the list that starts with the character that you entered.
3
� When you press the Tab Key after entering the first keyword of a construct ("IF" in this example), the rest of the construct is automatically entered.
� When you drag an ST statement (here, an IF statement) from the Structured Text Tools in the Toolbox of the ST Editor, the keywords for the construct for the ST statement are automatically entered.
Drag
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3-7 Sysmac Studio Settings and Operations
This section lists the operations of the Sysmac Studio.
3-7-1 Setting Parameters
Item EtherCAT Configuration and Setup
Registering slaves
Changing the Coupler model
Changing the Servo Driver model
Setting master parameters Setting slave parameters Comparing and merging network configuration information Transferring the network configuration information
Installing and uninstalling ESI files
Description
You create a configuration in the Sysmac Studio of the EtherCAT slaves that are connected to the built-in EtherCAT port on the NJ/NX-series CPU Unit or NY-series Industrial PC, and set the parameters in the master and slaves in that configuration.
You can set up devices by dragging slaves from the device list displayed in the Toolbox Pane to the locations where you want to connect them.
You change the model number or unit version of a Coupler Unit. Use this function to change the model number and version of the Coupler Unit registered in the project to the new model number and version when replacing a Coupler Unit.
You can change the model number or the unit version of a Servo Driver registered in a project when replacing an actual Servo Driver.
You set the common parameters of the EtherCAT network (e.g., the fail-soft operation and wait time for slave startup settings).
You set the standard slave parameters and assign PDOs (process data objects).
The EtherCAT network configuration information in the NJ/NX-series CPU Unit or NY-series Industrial PC and in the Sysmac Studio are compared and the differences are displayed.
The EtherCAT network configuration information is transferred to the NJ/NX-series CPU Unit or NY-series Industrial PC. Or, the EtherCAT network configuration information in the CPU Unit or PC is transferred to the Sysmac Studio and displayed in the EtherCAT Editor.
ESI (EtherCAT slave information) files are installed and uninstalled.
Reference 5-2 EtherCAT Configuration and Setup
5-2-2 Registering Slaves Offline to Configure EtherCAT, 5-2-3 Registering Slaves Online to Configure EtherCAT 5-3-1 Creating the EtherCAT Slave Terminal Configuration
Refer to the Sysmac Studio Drive Functions Operation Manual (Cat. No. I589) for details on the function. 5-2-4 Setting Master Parameters
5-2-5 Setting Slave Parameters 5-2 EtherCAT Configuration and Setup
7-5-1 Transferring/Comparing Data to/from the Controller
5-2-7 Installing and Uninstalling ESI Files
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3-7 Sysmac Studio Settings and Operations
3-7-1 Setting Parameters
Item
Description
Reference
EtherCAT Slave Terminal Configuration and Setup
The configuration of any Slave Terminal that is connected to an EtherCAT network is created on the Sysmac Studio. The NX Units that compose the Slave Terminal are set in the configuration.
5-3 EtherCAT Slave Terminal Configuration and Setup
Registering NX Units
A Slave Terminal is built by dragging NX Units from the 5-3-1 Creating the
device list displayed in the Toolbox to the locations where EtherCAT Slave Ter-
you want to mount them.
minal Configuration
Setting NX Units
The I/O allocations, mounting settings, and Unit operation 5-3-1 Creating the
settings of the NX Units are edited.
EtherCAT Slave Ter-
minal Configuration
Displaying the width of a The width of the Slave Terminal configuration is displayed 5-3-1 Creating the
Slave Terminal configu- based on the Unit configuration information.
EtherCAT Slave Ter-
ration
minal Configuration
Comparing and merg- When online, you can compare the configuration informa- 5-3-1 Creating the
ing the Slave Terminal tion in the project with the physical configuration. You can EtherCAT Slave Terconfiguration informa- also select the missing Units and add them to the project. minal Configuration
3
tion
Transferring the Slave Terminal configuration information
The Unit configuration information is transferred to the NJ/NX-series CPU Unit or NY-series Industrial PC. The synchronize function is used.
5-3-1 Creating the EtherCAT Slave Terminal Configuration
CPU/Expansion Rack Configuration and Setup
You create the configuration in the Sysmac Studio of the Units mounted in the CPU Rack and Expansion Racks of NJ-series CPU Unit, NX102 and NX1P2 and set the Special Units.
5-5 CPU/Expansion Rack Configuration and Setup
Registering Units
A Rack is built by dragging Units from the device list displayed in the Toolbox Pane to the locations where you want to mount them.
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit, 5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
Creating Racks
An Expansion Rack (Power Supply Unit, I/O Interface Unit, and End Cover) is added.
5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
Switching Unit displays
For NJ-series CPU Units, model numbers, unit numbers, and slot numbers are displayed. For NX102 and NX1P2 CPU Units, model numbers and unit numbers are displayed.
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit, 5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
Setting Special Units
The input time constants are set for Input Units and parameters are set for Special Units.
5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
Displaying Rack widths, current consumption, and power consumption
For NJ-series CPU Units, rack width, current consumption, and power consumption are displayed based on the Unit configuration information. For NX102 and NX1P2 CPU Units, rack width is displayed based on the Unit configuration information.
5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
Comparing the CPU/Expansion Rack configuration information with the physical configuration
When online, you can compare the configuration information in the project with the physical configuration. You can also select the missing Units and add them.
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit, 5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
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Item
Description
Reference
Transferring the CPU/Expansion Rack configuration information
The Unit configuration information is transferred using the synchronization function.
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit, 7-5-1 Transferring/Comparing Data to/from the Controller
Printing the Unit config- The Unit configuration information is printed. uration information
8-5 Printing
Controller Setup
The Controller Setup is used to change settings related to the operation of the Controller. The Controller Setup contains PLC Function Module operation settings and built-in EtherNet/IP Function Module port settings.
5-6 Controller Setup
Operation Settings
The Startup Mode, SD Memory Card Diagnosis at Startup, 5-6-1 Operation Set-
Write Protection at Startup, Controller Error Level
tings
Changes, and other settings are made.
Transferring Operation Settings
The synchronization function is used to transfer the opera- 5-6-1 Operation Settion settings to the NJ/NX-series CPU Unit or NY-series tings Industrial PC.
Built-in EtherNet/IP Port These settings are made to perform communications
Settings
using the built-in EtherNet/IP port on the NJ/NX-series
CPU Unit or NY-series Industrial PC.
5-6-2 Built-in EtherNet/IP Port Settings
Transferring Built-in Eth- The synchronization function is used to transfer the built- 5-6-2 Built-in EthererNet/IP Port Settings in EtherNet/IP port settings to the NJ/NX-series CPU Unit Net/IP Port Settings
or NY-series Industrial PC.
Built-in I/O Settings
You make the settings related to built-in I/O of the NX1P2 5-6-3 Built-in I/O Set-
CPU Unit.
tings
Transferring Built-in I/O The synchronization function is used to transfer the built- 5-6-3 Built-in I/O Set-
Settings
in I/O settings to the NX1P2 CPU Unit.
tings
Option Board Settings
You make the settings related to the option boards mounted on the NX1P2 CPU Unit.
5-6-4 Option Board Settings
Transferring Option Board Settings
The synchronization function is used to transfer the option 5-6-4 Option Board
board settings to the NX1P2 CPU Unit.
Settings
Memory Settings
You make the settings related to the memory area for CJ- 5-6-5 Memory Setseries Units in the NX102, NX1P2 and NX701-120 CPU tings Units.
Transferring Memory Settings
The synchronization function is used to transfer the mem- 5-6-5 Memory Set-
ory settings to the CPU Unit.
tings
Motion Control Setup
The Motion Control Setup is used to create the axes to use in motion control instructions, assign those axes to Servo Drives and encoders, and set axis parameters.
5-6-2 Built-in EtherNet/IP Port Settings
Axis Settings
Axes are added to the project.
5-7 Motion Control Setup
Axis Setting Table
The Axis Setting Table is a table of all registered axis
5-7 Motion Control
parameters. You can edit any axis parameters here just as Setup
you can on the Axis Settings Tab Page.
Axes Group Settings
You can set up axes to perform interpolated motions as an 5-6 Controller Setup axes group.
Axes Group Basic Set- Set the axes group number, whether to use the axes
tings
group, the composition, and the composition axes.
Operation Settings
Set the interpolated velocity, the maximum interpolated acceleration and deceleration, and the interpolated operation settings.
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3-7-1 Setting Parameters
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Item
Description
Reference
Cam Data Settings
The cam data settings are used to create electronic cam 5-8 Cam Data Setdata. When you build the project for the Controller, a cam tings table is created according to the cam data settings.
Registering cam data settings
Cam data settings are added to the project.
5-8 Cam Data Settings
Editing cam data settings
You can set properties and node points for cam data set- 5-8 Cam Data Set-
tings.
tings
Transferring cam data settings
You can select to transfer all or part of the cam data.
5-8 Cam Data Settings
Importing cam data set- You can import cam data settings from a CSV file. tings
5-8 Cam Data Settings
Exporting cam data set- You can export cam data to a CSV file. tings
5-8 Cam Data Settings
Registering cam defini- You add new cam definitions to change a cam table in the 5-8-10 Registering
tions
program.
Cam Definitions
3
Editing cam definitions You set cam definitions.
5-8-10 Registering Cam Definitions
Transferring cam defini- You transfer cam definitions to the Controller. tions
5-8-11 Transferring Cam Definitions
Exporting cam tables You can export a cam table to a CSV file.
5-8 Cam Data Settings
Transferring cam tables You can save a cam table in the NJ/NX-series CPU Unit from the Controller to or NY-series Industrial PC to a CSV file. files
5-8 Cam Data Settings
Transferring cam tables You can transfer a cam table that is saved in a CSV file to 5-8 Cam Data Set-
from files to the Control- update the contents of a cam table that is already in the tings
ler
NJ/NX-series CPU Unit or NY-series Industrial PC.
Superimposing Cam Data
You can superimpose the cam table from a CSV file on the cam profile curve position graph that is currently displayed.
5-8 Cam Data Settings
Task Settings
Programs are executed in tasks in an NJ/NX-series CPU Unit or NY-series Industrial PC. The task settings define the execution period, the execution timing, the programs executed by the task, the I/O refreshing performed by the task, and which variables to share between tasks.
5-9 Task Settings
Registering tasks
The tasks, which are used to execute programs, are regis- 5-9-1 Registering
tered.
Tasks
Setting task I/O
The task I/O settings define what Units the task should perform I/O refreshing for.
5-9-3 Task I/O Settings
Assigning programs
Program assignments define what programs a task will execute.
5-9-4 Program Assignments
Setting exclusive control of variables in tasks
You can specify if a task can write to its own values
5-9-5 Settings for
(known as a refreshing task) or if it can only access them Exclusive Control of
(an accessing task) for global variables. This ensures con- Variables in Tasks
currency for global variable values from all tasks that ref-
erence them.
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Item I/O Map Settings
Displaying I/O ports Assigning variables Creating device variables Checking I/O assignments Setting Vision Sensors Displacement Sensor Settings
DB Connection Function Settings
EtherNet/IP Connection Settings EtherNet/IP Slave Terminal Settings
NA-series Programmable Terminal (PT) Settings
Description
The I/O ports that correspond to the registered EtherCAT slaves and to the registered Units on the CPU Rack and Expansion Racks are displayed. The I/O Map is edited to assign variables to I/O ports. The variables are used in the user program.
I/O ports are displayed based on the configuration information of the devices (slaves and Units).
Variables are assigned to I/O ports.
Device variables are created in the I/O Map. You can either automatically create a device variable or manually enter the device variable to create.
The assignments of external I/O devices and variables are checked.
Vision Sensor settings and calibration are set.
Displacement Sensor settings and calibration are set.
Reference 4-1 Variable Registration
7-5-4 Checking I/O Assignments 3-7-21 Vision Sensor Functions 3-7-22 Displacement Sensor Functions
You can set and transfer the DB connection function settings.
You can make settings related to tag data links (connections) in an EtherNet/IP network. You can make and transfer settings for EtherNet/IP Slave Terminals.
You can make settings and transfer projects for NA-series Programmable Terminals.
3-7-15 Function Specifications of DB Connection Function
3-7-17 EtherNet/IP Connection Settings
3-7-18 EtherNet/IP Slave Terminal Settings
3-7-20 Function Specifications of NA-series Programmable Terminals
3-7-2 Programming
Item Instruction list (Toolbox)
Programming ladder diagrams
Starting the Ladder Editor Adding and deleting sections
Inserting circuit parts
Inserting and deleting function blocks Inserting and deleting functions
Description
A hierarchy of the instructions that you can use is displayed in the Toolbox. You can drag the required instruction to a program in the Ladder Editor or ST Editor to insert the instruction.
Ladder diagram programming involves connecting circuit parts with connecting lines to build algorithms. Circuit parts and connecting lines are entered in the Ladder Editor.
The Ladder Editor for the program is started.
You can divide your ladder diagrams into smaller units for easier management. These units of division are called sections.
You insert circuit parts in the Ladder Editor to create an algorithm.
You can insert a function block instruction or user-defined function block into the Ladder Editor.
You can insert a function instruction or user-defined function into the Ladder Editor.
Page 3-4-4 Toolbox (4)
4-5-1 Programming Ladder Diagrams
4-5-1 Programming Ladder Diagrams 4-5-1 Programming Ladder Diagrams
4-5-1 Programming Ladder Diagrams 4-5-1 Programming Ladder Diagrams 4-5-1 Programming Ladder Diagrams
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3-7 Sysmac Studio Settings and Operations
3-7-2 Programming
Item
Description
Page
Inserting and deleting inline ST
You can insert a circuit part in a ladder diagram to enable 4-5-1 Programming programming in ST. This allows you to include ST in a lad- Ladder Diagrams der diagram.
Editing circuit parts
You can copy and paste circuit parts.
4-5-1 Programming Ladder Diagrams
Inserting and deleting You can insert a jump label in the rung to jump to and then 4-5-1 Programming
jump labels and jumps specify that jump label when you insert a jump.
Ladder Diagrams
Inserting and deleting bookmarks
You can add bookmarks to the beginning of rungs and move between them.
4-5-1 Programming Ladder Diagrams
Rung comments
You can add comments to rungs.
4-5-1 Programming Ladder Diagrams
Displaying rung errors When you enter a circuit part, the format is always
4-5-1 Programming
checked and any mistakes are displayed as errors. If
Ladder Diagrams
there are any errors, a red line is displayed between the
rung number and the left bus bar.
3
Entry assistance
When you enter instructions or parameters, each charac- 3-6 Basic Editing
ter that you enter from the keyboard narrows the list of Operations
candidates that is displayed for selection.
Displaying variables with comments
You can display variable comments along with the variables in the circuit parts of a ladder program. You can change the length of the displayed variable comments to make them easier to read.
8-23 Sysmac Studio Option Settings
Element comment
You can add an element comment on the ladder circuit parts.
4-5-1 Programming Ladder Diagrams
Rung comment list
Displays a list of rung comments for a ladder program. Double-click a comment in the list to go to the related rung.
4-5-1 Programming Ladder Diagrams
Programming structured text
You combine different ST statements to build algorithms. 4-5-2 Programming Structured Text
Starting the ST Editor
The ST Editor for programs or for functions/function blocks is started.
4-5-2 Programming Structured Text
Editing ST
You combine different ST statements to build algorithms. 4-5-2 Programming Structured Text
Entering calls to functions and function blocks
You can enter the first character of the instance name of the function or the function block in the ST Editor to call and enter a function or function block.
4-5-2 Programming Structured Text
Entering constants
You can enter constants in the ST Editor.
4-5-2 Programming Structured Text
Entering comments
Enter "(*" at the beginning and "*)" at the end of any text to be treated as a comment in the ST Editor. If you only want to comment out a single line, enter a double forward slash (//) at the beginning of the line.
4-5-2 Programming Structured Text
Copying, pasting, and deleting ST elements
You can copy, paste, and delete text strings.
4-5-2 Programming Structured Text
Indenting
You can indent nested statements to make them easier to 4-5-2 Programming
read.
Structured Text
Moving to a specified line
You can specify a line number to jump directly to that line. 4-5-2 Programming Structured Text
Bookmarks
You can add bookmarks to any lines and move between 4-5-2 Programming
them.
Structured Text
Entry assistance
When you enter instructions or parameters, each charac- 3-6 Basic Editing ter that you enter from the keyboard narrows the list of Operations candidates that is displayed for selection.
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Item Namespaces
Variable Manager
Changing variable comments and data type comments Exporting/importing variable comments
Sorting and filtering variables
Searching and replacing Retrace search
Jumping Building
Building
Rebuilding
Aborting a build operation Creating applications for NA-series PTs
Description
Page
Namespaces allow you to group and nest the names of functions, function block definitions, and data types so that you can manage them. This reduces the chance of duplicated names and makes the entities easier to access.
4-4 Namespaces
A list of the variables in the global and local variable tables is displayed in a separate window. You can display variable usage, sort and filter the variables, edit and delete variables, or move variables while displaying another editing view.
4-1 Variable Registration
You can globally change variable comments and data type 8-16 Changing Varicomments to other comments. You can change the com- able Comments and ments to different language for users in a different country. Data Type Comments
You can export/import variable comments, comments of structure members and union members, and variable element comments of array variables to an Office Open XML file (xlsx file).
4-1-9 Entering Variable Attributes
You can sort and filter the variables in each variable table. 4-1-1 Creating Global Variables, 4-1-3 Creating Local Variables
You can search for and replace strings in the data of a project.
4-6 Searching and Replacing
You can search for and jump to program inputs and input parameters that use the variable assigned to a program output or the output parameter of a function or function block. You can also search for and jump to program outputs and output parameters that use the variable assigned to a program input or the input parameter of a function or function block.
4-5-1 Programming Ladder Diagrams
You can jump to the specified rung number or line number 4-5-1 Programming
in the program.
Ladder Diagrams
The programs in the project are converted into a format that is executable in the NJ/NX-series CPU Unit or NYseries Industrial PC.
4-8 Building and Rebuilding
A rebuild is used to build project programs that have already been built.
4-8 Building and Rebuilding
You can abort a build operation.
4-8 Building and Rebuilding
You can create and transfer pages and subroutines for NA-series Programmable Terminals.
3-7-20 Function Specifications of NA-series Programmable Terminals
3-7-3 Library Functions
Libraries
Item
Creating libraries
Using libraries
Function
You can create programs, functions, function block definitions, and data types in a library file to reuse them as objects in other projects.
You can create library files to enable using programs, functions, function block definitions, and data types in other projects.
You can access and use objects from library files that were created in other projects.
Page 9-3 Creating and Using Libraries
9-3-1 Creating a Library
9-3-2 Using a Library
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3-7 Sysmac Studio Settings and Operations
3-7-4 Project Management
3-7-4 Project Management
Item
Description
Page
File opera- Creating a project file tions
A project file is created.
3-3-2 Creating a Project File
Opening a project file A project file is opened.
3-3-6 Opening a Project File
Saving the project file The project file is saved.
3-3-4 Saving the Project File
Saving a project file
A project file is saved under a different name.
under a different name
3-3-5 Saving a Project File Under a Different Name
Project update history You can assign numbers to projects to manage the project 3-3-10 Project Update
management Exporting a project file
history.
History Management
You can export a project to an .smc2 or .csm2 project file 3-3-7 Exporting a Proj-
3
(version 1.08 or higher). You can also export a project to a ect File
previous project file format, i.e., .smc or .csm.
Importing a project file
You can import a project from an .smc2 (version 1.08 or 3-3-8 Importing a Projhigher), .csm2 (version 1.08 or higher), .smc, or .csm proj- ect File ect file.
Importing ST programs
You can import ST program files that were created with
the Simulink� PLC CoderTM version R2013a or higher from MathWorks� Inc.
8-18 Importing ST Programs
IEC 61131-10 XML
You can import program/function/function block POUs of the IEC 61131-10 XML format, global variables and data types.
8-19 Importing IEC 61131-10 XML Files
Offline comparison
You can compare the data for an open project with the data for a project file and display the results. You can also compare the open project with an exported .smc2 (version 1.08 or higher) or .smc project file. Or, you can merge detailed comparison results.
4-9 Offline Comparison
Importing motor sizing You can import the EtherCAT configuration and motion
tool results
control settings created by the motor sizing tool.
8-20 Importing Motor Sizing Tool Results
Cutting, copying, and pasting
You can cut, copy, or paste items that are selected in the 3-6 Basic Editing
Multiview Explorer or any of the editors.
Operations
Printing
You can print various data. You can select the items to print.
8-5 Printing
Data sharing
Creating a derivative device.
You can copy a controller in a project. The copied
9-4 Program Sharing
controller program (POU, Data-type, global variables) are in Derived Devices
shared with the source controller.
Setting a shared program between devices
You can share a program (POU, Data-type, global variables) between controllers in a project.
9-4 Program Sharing in Derived Devices
3-7-5 Debugging
Monitoring
Item
Description
Variables are monitored during ladder program execution. You can monitor the TRUE/FALSE status of inputs and outputs and the present values of variables in the NJ/NXseries CPU Unit or NY-series Industrial PC. You can monitor operation on the Ladder Editor, ST Editor, Watch Tab Page, or I/O Map.
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Item Differential monitoring
Changing present values and TRUE/FALSE
Changing the present values of variables Forced refreshing
Online editing
Cross Reference Tab Page
Description
Page
You can detect the number of times the specified BOOL variable or BOOL member changes to TRUE or FALSE and display the count in the Differential Monitor Dialog Box. You can check if bits turn ON and OFF and the number of times that they turn ON and OFF.
7-2-2 Differential Monitor
You can change the values of variables that are used in the user program and settings to any desired value, and you can change program inputs and outputs to TRUE or FALSE. This allows you to check the operation of the user program and settings.
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
You can change the present values of user-defined variables, system-defined variables, and device variables as required. You can do this in the Ladder Editor, ST Editor, Watch Tab Page, or I/O Map.
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
Forced refreshing allows the user to refresh external inputs and outputs with user-specified values from the Sysmac Studio. The specified value is retained even if the value of the variable is overwritten from the user program. You can use forced refreshing to force BOOL variables to TRUE or FALSE in the Ladder Editor, Watch Tab Page, or I/O Map.
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
Online editing allows you to edit programs on systems that are currently in operation. Online editing can be used to edit only POUs and global variables. User-defined data types cannot be edited with online editing.
7-2-5 Online Editing
Cross references allow you to see the programs and loca- 7-2-4 Cross Refertions where program elements (variables, data types, I/O ences ports, functions, or function blocks) are used.
You can view all locations where an element is used from this list.
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Item
Description
Page
Data tracing
Data tracing allows you to sample the specified variables and store the values of the variables in trace memory without any programming. You can choose between two trace methods: a triggered trace, where you set a trigger condition and data is saved before and after that condition is met, or a continuous trace, in which continuous sampling is performed without any trigger and the results are stored in a file on your computer. However, you can still display data retrieved on the Sysmac Studio and save those results to a file even if you use a triggered trace. These same functions can be used with the Simulator as well.
7-2-11 Data Tracing
Setting sampling inter- The interval to perform sampling on the target data is set. 7-2-11 Data Tracing
vals
Sampling is performed for the specified task period, at the
specified time, or when a trace sampling instruction is
Setting triggers
executed. To perform a triggered trace, you set a condition to trigger 7-2-11 Data Tracing
3
sampling. A suitable trigger condition is set to record data
before and after an event.
Setting a continuous trace
The method to save the data traced during a continuous 7-2-11 Data Tracing trace is set.
Setting variables to sample
The variables to store in trace memory are registered. The 7-2-11 Data Tracing sampling intervals can also be set.
Starting and stopping tracing
The data trace settings are transferred to the NJ/NXseries CPU Unit or NY-series Industrial PC and the tracing starts. If you selected Single as the trace type, tracing waits for the trigger to begin sampling. If you selected Continuous, sampling begins immediately and all traced data is transferred to the computer as it is gathered and saved to a file.
7-2-11 Data Tracing
Displaying trace results
You view the results of the traced data in either a chart or in the 3D Motion Monitor. After sampling begins, sample data is immediately transferred and drawn on the graph. The trace target variable table shows the maximum, minimum, and average values for each variable.
7-2-11 Data Tracing
You can also change the colors of the lines on the graph.
Exporting/importing trace results
Trace results are saved within your project automatically when you save the project on the Sysmac Studio. If you want to save this data as a separate file, you can export the data to save it in a CSV file. You can import trace results that you have exported.
7-2-11 Data Tracing
Printing trace results
You can print out data trace settings along with digital and 7-2-11 Data Tracing analog charts.
Debugging a Vision Sensor
You can debug the Vision Sensor offline.
3-7-21 Vision Sensor Functions
Debugging a Displacement Sensor You can debug the Displacement Sensor offline.
3-7-22 Displacement Sensor Functions
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3-7-6 Simulation
Item Programs for debugging
Executing a simulation
Selecting what to simulate
Setting breakpoints
Executing and stopping simulations
Changing the simulation speed Task period simulation
Batch transfer of the present values of variables
Integrated NS-series PT simulation
Simultaneous simulation of Controller and NAseries PT
Setting the virtual equipment
Creating 3D equipment models*1
3D Motion Monitor Display Mode*1
Displaying 2D paths*1
Description You can create programs for debugging that are used only to execute simulations and specify virtual inputs for simulation. You can select the programs to simulate from all of the programs in the Sysmac Studio. Programs can be dragged to select them. You can set breakpoints to stop the simulation in the Program Editor. You can control simulation execution to monitor the user program or to check operation through data tracing. Step execution and pausing are also possible. You can perform a linked simulation between sequence control and continuous control (operations controlled by Simulink) to debug the sequence control program and continuous control program. MATLAB/� R2013a or higher is required. You can change the execution speed.
You can display the task periods.
You can save the values of variables at specific times during simulations in a file, or you can write the values of variables that were saved in a file back to the Simulator. This allows you to write the initial values of variables, e.g., for test applications, before you start a simulation. You can simulate the linked operation of a sequence program and an NS-series Programmable Terminal to debug the sequence program and screen data offline.
You can simultaneously simulate sequence control and NA-series PT operation, including displaying pages and subroutines created with Visual Basic and debugging the sequence programming.
You can create a 3D equipment model at the control target to monitor with 3D motion monitoring.
You set the axis variables for each element of the 3D equipment model, and then set the 3D equipment into motion according to those axis motions. You can display the 2D paths of the markers for the projections in the 3D display.
Page 7-3-1 Debugging with Program Simulation
7-3-1 Debugging with Program Simulation
7-3-1 Debugging with Program Simulation 7-3-1 Debugging with Program Simulation
---
7-3-1 Debugging with Program Simulation 7-3-1 Debugging with Program Simulation 7-3-1 Debugging with Program Simulation
7-3-6 Integrated NSseries PT Simulation for Offline Debugging of Sequence Control and NS-series PTs 7-3-5 Offline Debugging with Sequence Control and NA-series PT Simulator (Simultaneous Simulation of Controller with NAseries PT) 7-2-11 Data Tracing
7-2-11 Data Tracing
7-2-11 Data Tracing
*1 Not supported by the Sysmac Studio (64 bit).
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3-7-7 Monitoring Information
Item
Description
Page
Displaying unit production information You can display the production information of the NJ/NX- 8-8-1 Displaying CPU
series CPU Unit, NY-series Industrial PC, and Special
Unit Production Infor-
Units, including the models of the Units and unit versions. mation
Monitoring task execution times
You can monitor the execution time of each task when the user program is executed on an NJ/NX-series CPU Unit, NY-series Industrial PC, or in the Simulator. When the Simulator is connected, you can also monitor the real processing time of tasks. This allows you to perform a Controller performance test.
7-2-9 Task Execution Time Monitor
Troubleshooting Controller errors
You can use troubleshooting to check the errors that
8-15 Troubleshooting
occurred in the Controller, display corrections for the
errors, and clear the errors.
3
Any current Controller errors are displayed. (Observations 8-15-2 Controller
and information are not displayed.)
Errors
User-defined errors
Information is displayed on current errors.
8-15-4 User-defined Errors
Controller event log
You can display a log of Controller events (including Con- 8-15-3 Controller troller errors and Controller information). (You cannot dis- Event Log play logs from EtherCAT slaves.)
User-defined event log
The log of user-defined events that were stored for the Create User-defined Error (SetAlarm) instruction and the Create User-defined Information (SetInfo) instruction is displayed.
8-15-5 User-defined Event Log
Event Settings Table
The Event Setting Table is used to register the contents displayed on the Sysmac Studio and on HMIs for userdefined events that occur for execution of the Create User-defined Error (SetAlarm) instruction and the Create User-defined Information (SetInfo) instruction.
8-15-6 Event Setting Table
User memory usage monitor
An estimate of the space that is used by the user program that you are editing in the Sysmac Studio is displayed in relation to the size of the NJ/NX-series CPU Unit or NYseries Industrial PC's memory.
8-4 User Memory Usage Monitor
Setting clock information
You can read and set the NJ/NX-series CPU Unit or NYseries Industrial PC's clock. The computer's clock information is also displayed.
8-2 Clock Information Settings
DB connection function
You can monitor information for the database connection. 3-7-15 Function Specifications of DB Connection Function
3-7-7 Monitoring Information
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3-7-8 Communications
Item Going online with a Controller
Checking for forced refreshing Synchronize
Batch transfer
Description
Page
An online connection is established with the Controller.
You also can transfer a project from the connected Controller to the computer with a simple operation without creating a new project or opening an existing project.
6-2 Going Online with a Controller
When you go offline, any forced refreshing is cleared.
6-2-7 Checking for Forced Refreshing
The data (project file) in the computer is compared with the data in the NJ/NX-series CPU Unit and NY-series Industrial PC that are connected online, the difference is displayed in a list, and batch transfer can be performed for the individually-specified data.
7-5-1 Transferring/Comparing Data to/from the Controller
You transfer data between the computer and NJ/NXseries CPU Unit or NY-series Industrial PC that are connected online. You can select the same data to transfer as in the synchronization operation. Unlike the synchronization operation, the data is transferred in the specified direction without displaying the comparison results.
8-10 Transferring All Controller Data
3-7-9 Maintenance
Item Changing the operating mode of the Controller
Resetting the Controller
Clear All Memory
SD Memory Cards
Formatting the SD Memory Card Displaying properties
Copying files and folders in the SD Memory Card Copying files and folders between the SD Memory Card and the computer
Description
Page
There are two operating modes for NJ/NX/NY-series Con- 7-2-6 Changing the trollers, depending on if control programs are executed or Operating Mode not. These are RUN mode and PROGRAM mode.
The operations and status when the power supply to the Controller is cycled are emulated. This can be performed only in PROGRAM mode. You cannot reset the Controller in RUN mode.
7-5-5 Resetting the Controller
The Clear All Memory Menu command is used to initialize the user program, Controller Configurations and Setup, and variables in the CPU Unit to the defaults from the Sysmac Studio.
8-6 Clearing Memory
The following procedures are used to execute file operations for the SD Memory Card mounted in the NJ/NXseries CPU Unit or the Virtual SD Memory Card of the NYseries Industrial PC (hereafter called SD Memory Card), and to copy files between the SD Memory Card and computer.
8-1 SD Memory Card Operations
The SD Memory Card is formatted.
8-1 SD Memory Card Operations
The properties of the selected file or folder in the SD Memory Card are displayed.
8-1 SD Memory Card Operations
The selected file or folder in the SD Memory Card is cop- 8-1 SD Memory Card
ied to the SD Memory Card.
Operations
The selected file or folder in the SD Memory Card is copied to the computer. Or, the selected file or folder in the computer is copied to the SD Memory Card.
8-1 SD Memory Card Operations
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Item
Description
Page
Backup functions
You can back up, restore, and compare the user program and other data of the NJ/NX-series CPU Unit or NY-series Industrial PC to replace hardware, such as the CPU Unit, or to restore device data.
8-9 Backup Functions
Controller backup
You can back up data (user program and settings, variable values, memory values, Unit settings, and slave settings) from a Controller to a file or restore the backed up data from the file to the Controller.
8-9-1 Controller Backup Functions
SD Memory Card backup
You can backup the Controller data to an SD Memory Card mounted in the NJ/NX-series CPU Unit or to the Virtual SD Memory Card of the NY-series Industrial PC, or compare the Controller data to the data in these SD Memory Cards.
8-9-2 SD Memory Card Backup Functions
Variables and memory You can back up the contents of retained memory to a file 8-9-3 Backing Up
backup
and restore the contents of the backup file. You can indi- Variables and Memory
vidually select the Retain variables to restore.
3
Importing/exporting to/from backup files
You can import the data in a backup file created for a Con- 8-9-4 Import-
troller backup or SD Memory Card backup to a project. ing/Exporting Backup
Also, you can export project data to a backup file.
Files
3-7-10 Security Measures
Prevention of incorrect connections Prevention of incorrect operation
Prevention of the theft of assets
Item
Confirming CPU Unit names and serial IDs
Function
If the name or the serial ID is different between the project and the CPU Unit when an online connection is established, a confirmation dialog box is displayed.
Operation authority verification
You can set any of five levels of operation authority (Administrator, Designer, Maintainer, Operator, and Observer) for a Sysmac Studio project file, NJ/NX-series CPU Unit or NY-series Industrial PC to restrict the operations that can be performed according to the operation authority of the user.
Write protection of the CPU Unit
You can prevent the Sysmac Studio from overwriting data in the CPU Unit.
Authentication of user You can ensure that a user program cannot be operated program execution IDs on another CPU Unit even if copied.
User program transfer with no restoration information
The program source code is not transferred. If this option is selected, programs are not displayed even if uploaded from another computer. However, variables and settings are transferred even if this option is selected.
Password protection for You can set password protection for project files to protect
project files
your assets.
Data protection
You can set passwords for individual POUs (programs, functions, and function block definitions) to prohibit displaying, changing, and copying them.
Page 6-2-6 Confirming Serial IDs
8-3-1 Operation Authority Verification
8-3-3 Write Protection of the CPU Unit 8-3-2 Authentication of User Program Execution IDs 7-5-1 Transferring/Comparing Data to/from the Controller
3-3-9 Password Protection for Project Files 8-3-4 Data Protection
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3-7-11 Customizing Function
Item Option settings
Shortcut key allocation
Function
You can change the color theme, display of each program editor, and program check method as required.
You can change the shortcut keys allocated for the main menu and context menus of the ladder editor.
Page
8-23 Sysmac Studio Option Settings
A-5-7 Changing Shortcut Keys
3-7-12 Window Operation
Docking
Item
Description
You can dock and undock configuration tab pages, program editors, Watch Tab Pages, Cross Reference Tab Page, and other window parts to/from the main Sysmac Studio window.
Page
3-4-5 Changing the Display Location of Window Parts
3-7-13 Online Help
Item Sysmac Studio help system Instructions reference
System-defined Variable Reference Keyboard mapping reference Manual download
Description
You can access Sysmac Studio operating procedures.
Information is provided on how to use the instructions that are supported by the NJ/NX-series CPU Unit or NY-series Industrial PC.
You can display a list of descriptions of the systemdefined variables that you can use on the Sysmac Studio.
You can display a list of convenient shortcut keys that you can use on the Sysmac Studio.
You can access manual download page of the web site from the Sysmac Studio and download the latest related manuals.
Page A-4 Online Help
A-12 Downloading Manuals
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3-7-14 OPC UA Functions
Item
Description
Reference
Setting Parameters OPC UA Settings
OPC UA Server Settings
---
Settings for OPC UA.
Settings for OPC UA Server operation set from the OPC UA Server Settings tab.
Refer to the NJ-series CPU Unit OPC UA User's Manual (Cat. No. W588) for details on the function.
Settings and display for Certificate
Displays Server Certificate and allows uses to manipulate it.
Also displays Client and Issuer Authentication of Certificate List and Revocation List , and allows users to manipulate them.
Security Settings
Sets up user name or password to authenti-
cate, prohibits or permits anonymous login,
sets security policy to permit as a server and transfers the settings to the CPU Unit.
3
Programming function
---
Creation of variables for OPC UA communications
Creates variables to be used for OPC UA communications.
Publishing of global variables to OPC UA communications
To publish global variables to the OPC UA communications, the Network Publish attribute of the variables is set to Publish Only, Input, or Output.
Shutdown instruction
Requests termination of OPC UA Server and make the system power down safely.
Instruction name: OPCUA_Shutdown
Monitoring information
---
Server Status
Displays the operating status of the OPC UA Server and terminates (shutdown) the OPC UA Server.
Operation Log Window
Displays the list of operation logs and allows users to manipulate them.
3-7-14 OPC UA Functions
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3-7-15 Function Specifications of DB Connection Function
Item Setting parameters
DBMS settings Run mode setting of the DB connection service
Spooling settings
Operation log settings
DB connection function shutdown settings
Programming
DB connection instructions
Monitoring information Monitoring the DB connection service
Monitoring the DB connections Displaying the operation logs
Description
---
The database to connect is selected.
Operation Mode is selected to send SQL statements when DB connection instructions are executed or Test Mode is selected to not send SQL statements when DB connection instructions are executed.
You can set the service so that SQL statements are spooled when problems occur and resent when operation is restored.
Settings are made for the execution log for execution of the DB connection service, the debug log for execution of SQL statements for the DB connection service, and the SQL execution failure log for SQL execution failures.
Settings are made to control operation in order to end the DB connection service after automatically storing the operation log files on an SD Memory Card.
You can use the following DB connection instructions to write the user program for controlling the data in the database.
DB_Insert (Insert DB Record), DB_Select (Retrieve DB Record), DB_Update (Update DB Record), and DB_Delete (Delete DB Record)
---
The status of the DB connection service is monitored.
The status of each DB connection is monitored.
The contents of the execution log, debug log, and SQL execution failure log are displayed.
Reference
Refer to the NJ/NXseries Database Connection CPU Units User's Manual (Cat. No. W527) for detailed information.
3-7-16 CNC Functions
Item Setting Parameters
CNC Setup
Programming
CNC Coord Settings
CNC Motor Settings CNC Motor Compensation Table NC Programming
Description
---
You can register the CNC coordinate system and CNC motors to use with CNC instruction. You can also assign the Servo Drives to the CNC motors and configure the CNC motor parameters.
The coordinate system is added to the project and you can assign CNC motor to the coordinate system.
The CNC motor is assigned to the project and you can configure its parameters.
The CNC Motor Compensation Table is assigned to the project and you can set the CNC motor compensation data.
You can create the NC Program by using G Code language.
Reference
Refer to the NJ/NY-series NC Integrated Controller User's Manual (Cat. No. O030) for details on the function.
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3-7-17 EtherNet/IP Connection Settings
3-7-17 EtherNet/IP Connection Settings
Item
Description
Reference
EtherNet/IP Connection Settings
Setting Connections
Editing Tag Sets
Editing Target Devices Editing Connections
Adding EDS Files
Functions related to tag data link (connection) settings in the EtherNet/IP network are provided.
You create tags and tag sets using network variables.
You add target devices to connect to.
You select tag sets from a list and create connections.
You can add the types of EtherNet/IP devices that can be set as targets.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563) for details on functions.
Transferring Con- Synchronized Trans- All the connection settings in the Controller
nections
fer and Batch Transfer or the project are transferred at the same time.
3
Individual Transfer and You can transfer or compare the connection
Comparison
settings of each EtherNet/IP device individu-
ally.
Monitoring Connections
Status Monitor
The operating status of one or more connections is displayed. You can start or stop all the connections at the same time.
Tag/Tag Set Monitor
The detailed operation information of tags and tag sets, such as the presence or absence of tags and the connection times of tag sets, is displayed.
Ethernet Information Monitor
The detailed operation information of EtherNet/IP devices, such as bandwidth usage (pps), is displayed.
3-7-18 EtherNet/IP Slave Terminal Settings
Item EtherNet/IP Slave Terminal Configuration and Setup
Registering the NX Units
Setting the NX Units
Displaying the Width of a Slave Terminal Configuration Comparing and Merging Slave Terminal Configuration Information
Transferring the Slave Terminal Configuration Information
Description
You create the configuration of a Slave Terminal to be connected to the EtherNet/IP network on the Sysmac Studio and set the NX Units that compose the Slave Terminal.
You configure the Slave Terminal by dragging the NX Units from the device list displayed in the Toolbox to the positions where to mount the Units.
You edit the I/O allocation settings, mounting settings and Unit operation settings of the NX Units.
The width of the Slave Terminal configuration is displayed based on the Unit configuration information.
You can compare the configuration information on the project with actual configuration online, select the Units with different information to correct, and merge the information.
You transfer the Unit configuration information to the Slave Terminal.
Reference
Refer to the NX-series EtherNet/IP Coupler Units User's Manual (Cat. No. W536) for function details.
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3-7-19 Function Specifications of Safety Control Units
Item Setting Parameters
Safety I/O Settings
Safety Process Data Communications Settings Safety Device Allocation Settings SRA Parameter Settings
EtherNet/IP Safety Connection Settings
Standard I/O Settings
Exposed Variable Settings
Standard Process Data Communications
Safety Task Settings
Assigning Programs I/O Map Settings
Export/ Import
Description
Reference
---
Refer to the NX-series
You make a setting for safety process data com- Safety Control Unit
munications and connection with safety I/O
User's Manual (Z930).
devices.
You select Safety I/O Units to perform safety process data communications (FSoE communications) and make necessary settings.
You set the connection between Safety I/O Units and safety devices.
You can configure safety functions and parameter settings of 1S-series Servo Drive.
You can register target devices of EtherNet/IP Safety network and configure the connection settings.
You set whether to expose global variables of the Safety CPU Unit. The values of exposed variables can be referenced from NJ/NX-series CPU Units and NY-series Industrial PCs.
You set the devices and ports of the Standard I/O Units for the exposed variables of the Safety CPU Unit.
You define the execution cycle and timing of the safety task and programs to be executed in the task.
You assign safety programs to execute to the task.
The ports of Safety I/O Units used in safety process data communications are displayed. You assign device variables used in safety programs to the I/O ports.
I/O map settings can be exported to and imported from a CSV file.
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3-7-19 Function Specifications of Safety Control Units
Item
Description
Reference
Creating Safety Programs Instruction List (Toolbox)
---
A hierarchy of the functions and function blocks that you can use is displayed in the Toolbox. You can drag the required functions and function blocks onto the FBD editor to insert it to a safety program.
Refer to the NX-series Safety Control Unit User's Manual (Z930).
FBD Programming
You connect variables, functions, and function blocks with connecting lines to build networks. The FBD editor is used to enter them.
Adding FBD Networks
You create FBD networks on the FBD editor to create algorithms.
Inserting and Deleting Functions and Function blocks
You insert and delete functions and function blocks on the FBD editor.
Entry Assistance
When you enter functions, function blocks, or
parameters, each character that you enter from the keyboard narrows the list of candidates that
3
is displayed for selection.
Commenting Out FBD Networks
You can comment out each FBD network. When a network is commented out, it is no longer executed.
Program Pattern Copy
You can duplicate an FBD program with the same program pattern (logic part). The variable name of the program can be set automatically according to the variable name generation rules.
Converting Programs into Function Blocks
You can convert the safety program into userdefined function block.
Automatic Programming
A safety programs can be automatically generated from input and output signals and expected values of the program.
Creating Variables
You create variables used in safety programs in the global or local variable table.
User-defined Function Blocks
You create user-defined function blocks.
Help Reference
You can display the user-defined function block help with the popup menu or shortcut key.
Export/Import
POUs can be exported and imported.
Programs
You can export/import POUs.
User-defined Function Blocks
You can export/import user-defined function blocks.
IEC 61131-10 XML
You can import the IEC 61131-10-compliant XML programs, function block POUs, and global variables.
Searching and Replacing
You can search for and replace strings in the variable tables, programs, and function blocks of a Safety CPU Unit.
Retrace Search
If the selected variable is used as an output in the program, you can jump to the place where the selected variable is used as an input. If the selected variable is used as an input in the program, you can jump to the place where the selected variable is used as an output.
Deleting Unused Variables
You can delete all unused variables in a program at once.
Variable Comment Switching
Variable comments shown in safety programs and variable table can be collectively replaced to other comments. You can switch the language of comments for users in other countries.
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Debugging Monitoring
Item
Changing the Present Values of Variables Forced Refreshing
Cross References Offline Debugging
Initial Value Settings Feedback Settings Simple Automatic Test
User Memory Usage Monitor Online Functional Test
CIP Safety Monitor
Safety
Safety Validation
Changing Operating Mode
Maintenance
Generating Safety Data Logging Settings File
Generating Safety Unit Restore File
Description
---
Variables are monitored during safety program execution. You can monitor the present values of device variables assigned to Safety I/O Units and user-defined variables. The values can be monitored on the FBD editor or Watch Tab Page.
You can change the present values of userdefined variables and device variables as required. You can do this on the FBD editor or Watch Tab Page.
The inputs from external devices and outputs to external devices are refreshed with a specified value on the Sysmac Studio. The specified value is retained even if the value of the variable is overwritten from the user program.
You can use forced refreshing on the FBD editor or Watch Tab Page.
It is possible to see in which programs and in which place a safety program variable is used.
You can check if the control program logic works as designed in advance using a special debugging function for the Simulator without connecting online with the Safety CPU Unit.
You can set the initial values of variables when you start execution of simulation.
You can set input status that is linked to changes in output status when simulator is running.
You can check that expected values of the outputs to the inputs of the program are designed as intended using the Simulator functions of the Safety CPU Unit.
The memory usage of the safety control system and usage of safety network such as I/O data size are displayed.
This function helps you to check the safety functional operation of the safety system.
You can produce output device operation relative to the input and check whether the system operates as expected. It is possible to output the check results.
You can monitor device status of the CIP Safety target devices, connection status to the Safety CPU Unit, and parameter values.
You append the "safety-validated" information to a safety program when you can ensure safety of the program after you complete debugging.
There are four operating modes; PROGRAM mode, DEBUG mode (STOPPED), DEBUG mode (RUN), and RUN mode. The RUN mode can be selected only for the validated safety programs.
Settings to use the safety data logging function can be generated as a file.
A file of safety program and settings to be transferred to the Safety CPU Unit using an SD memory card is generated for Safety Unit Restore function.
Reference
Refer to the NX-series Safety Control Unit User's Manual (Z930).
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Security Measures Prevention of Incorrect Connections Prevention of Incorrect Operation
Prevention of the Theft of Assets
Item Setting the Node Name
Safety Password
Data Protection (Programs) Data Protection (Userdefined Function Blocks)
Description
---
You set a unique name for each Safety CPU Unit to confirm that you operate the correct Safety CPU Unit.
You can prevent unauthorized access to safety functions of Safety CPU Units by setting a safety password for online operations that affect the safety functions.
You can set passwords for individual programs to prohibit displaying or changing them.
You can set passwords for individual userdefined function blocks to prohibit displaying or changing them.
Reference
Refer to the NX-series Safety Control Unit User's Manual (Z930).
3
3-7-19 Function Specifications of Safety Control Units
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3-7-20 Function Specifications of NA-series Programmable Terminals
Item Parameter Settings
Device references
Displaying internal devices Registering external devices
Mapping variables
HMI settings
Device settings
Security settings
TCP/IP settings FTP settings NTP settings FINS settings VNC settings Print settings
User account settings
Troubleshooter Language settings
Permission and access level settings
Operation log settings
Function
Reference
---
Devices, such as Controllers, through which the NA-series PT can read and write information with communications are created on the Sysmac Studio and settings are made for them.
Refer to the NA-series Programmable Terminal Software User's Manual (V118) for details on functions.
Controllers that were created in the project are displayed.
Devices, such as Controllers, that were not created in the project are registered. The communications settings of the devices to communicate with the NA-series PT and information, such as variables and addresses within the devices that the NAseries PT will read and write, are also registered.
The information on the devices registered in the device references, such as variables and addresses, are mapped to the global variables of the NA-series PT.
Settings for NA-series PT operation are made.
Settings, such as the startup page, default language, layout of the USB keyboard, automatic logout, screen saver, screen brightness, and method to change to the System Menu, are made.
Settings for the Ethernet port that is built-in to the NA-series PT are made.
Settings to communicate with FTP clients using the Ethernet port are made.
Settings to communicate with an NTP server using the Ethernet port are made.
Settings to communicate with devices that support FINS are made.
Settings to communicate with VNC clients using the Ethernet port are made.
Print settings are made.
Settings, such as user registration and permissions to restrict NA-series PT operation and displays, are made.
The user names, login passwords, and permissions for each user to operate the NAseries PT are set.
The range of information that can be accessed for different permissions are set.
Troubleshooter settings are made.
Language settings to perform multi-language displays on the NA-series PT are made.
Settings to take operation logs in the NAseries PT are made.
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3-7-20 Function Specifications of NA-series Programmable Terminals
3 System Design
Item
Function
Reference
Creating Data and Programming Editing pages
Adding and deleting pages
---
The pages to display on the NA-series PT are edited.
Pages are added, deleted, or copied with the Multiview Explorer. Pages can also be copied to other projects.
Refer to the NA-series Programmable Terminal Software User's Manual (V118) for details on functions.
Adding and deleting page groups
Groups to organize and manage pages on the Multiview Explorer are added and deleted. Pages can be added to or moved to the groups.
Page properties settings
The page type, overlapping, background color, etc., are set in the Properties Window.
Changing the display If using multiple languages is set in the lan-
language
guage settings, the resources displayed on
the Page Editor are displayed in the lan-
guage set for each resource.
3
Changing the display You can check display status changes for
status of each object lamp and other objects on the Page Editor.
Displaying object con- The objects and groups that were added to
figuration
each page can be confirmed in a tree struc-
ture using the Page Explorer.
Adding objects
Objects, such as buttons or graphics, to display on a page are added by dragging them from the Toolbox to the Page Editor.
Grouping objects
Settings to operate multiple objects together as a group are made.
Aligning objects
Multiple objects are aligned.
Editing objects
Objects and groups can be copied within a page or to another page. Objects can also be deleted, and locations, sizes, rotations, and position relationships with other objects can be set. Also, labels can be edited.
Setting object entry order
Entry order of Data Edit objects can be set.
Object property settings
Properties, such as the colors and shapes of objects and the mapped variables, can be changed. Properties are displayed and changed in the Properties Window.
Duplicating objects
You can duplicate a specified number of objects. Offsets are set to the element numbers of the array set for the object.
Animation settings
Animation to modify dynamically the appearance of objects are set. Animation is displayed and changed in the Animation Window.
Event and action settings
The events that can be set for objects and the actions that can be executed when an event occurs are set.
Import and export
Text, variables and conditional expressions of some objects can be imported from or exported to an Excel file.
Page import and export
Pages can be imported and exported.
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Item
Creating Data and Programming
Programming with Visual Basic
Language specifications
Adding subroutine groups
Editing subroutines Bookmarks Data entry assistance
User alarms
Adding and deleting user alarm groups
Registering and deleting User Alarm
Copying user alarms
Event and action settings
Import and export
Controller events
User-defined event settings
Data logging
Adding and deleting data sets
Log condition setting
Broken-line graph
Adding and deleting data groups
Log condition setting
Function
Reference
---
Subroutines are created with Visual Basic.
Visual Basic 2008 and .NET Compact Framework 3.5 are supported.
Groups to organize and manage global subroutines on the Multiview Explorer are added or deleted. Subroutines can be added or moved to the groups.
Refer to the NA-series Programmable Terminal Software User's Manual (V118) for details on functions.
Subroutines are created using the Code Editor, which is optimized for Visual Basic.
Bookmark can be added to any code line and you can move between the bookmarks.
The characters that are entered from the keyboard are used to display candidates when entering source code.
Settings for detection conditions and displaying messages for user alarms are made.
Groups to organize and manage user alarms on the Multiview Explorer are added or deleted. User alarms can be created in the groups.
Settings for detection conditions for user alarms and displaying messages or popup pages are made for user alarm groups.
User alarms can be copied within a group or to another group.
Events and the actions that are executed when the events occur are set for the user alarms. Displaying and changing the settings for events and actions is performed in the Events and Actions Window.
User alarms and user-alarm text strings can be imported from or exported to an Excel file.
Settings for pages that can be changed from user-defined events' display in Troubleshooter
Data logging is set to log specified data in the NA-series PT at the specified times.
Data sets are added to perform data logging.
Conditions to perform data logging and target global variables are set for the data sets.
Settings for the data that is displayed in a broken-line graph.
Data groups for which a broken-line graph is drawn are added and deleted.
Conditions to display a broken-line graph and target global variables are set for data groups.
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3 System Design
Item
Function
Reference
Creating Data and Programming Recipes
Adding and deleting templates
---
Data groups that are retained in the NAseries PT and can be switched for user requests are set.
Data storage locations, value ranges, and data names are added or deleted.
Refer to the NA-series Programmable Terminal Software User's Manual (V118) for details on functions.
Recipe data settings The actual data is set for each recipe.
Keypad customization
Keypads can be customized.
Global events
The events that are detected on any page and the actions that are executed when the events occur are set.
Resource management
All of the character strings and graphics that
are displayed on pages are managed. Also,
registered resources can be indirectly
accessed.
Registering and delet- The character strings that are displayed on
3
ing general character pages are registered and deleted, except for
strings
character stings used for user alarms.
Registering and delet- The character strings used for user alarms ing character strings are added or deleted. for user alarms
Registering and delet- Document files that are displayed with the
ing document files
Document Viewer are set or deleted.
Registering and delet- Image files that are displayed for objects are
ing image files
set or deleted.
Registering and delet- Movie files that are displayed for Media
ing movies
Player objects are set or deleted.
Importing and exporting
The general character strings and alarm character strings can be imported and exported using Excel files.
Exporting Image files The registered image files can be exported.
Scaling
Values of variables and objects are converted by a specified scaling factor set for them.
Searching and replacing
You can search all strings in a project to find and replace a specified string.
Cross reference
Where a specified program element (variable, data type, page, or resource) is used in a project can be checked with a list.
You can access the use locations of the element from the list.
Building
The project is converted into a format that can be executed in the NA-series PT.
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Item Reusability
IAGs (intelligent application gadgets)
Creating IAGs
Creating IAG collection files Creating user-defined events Using IAGs
Custom objects
Registering custom objects
Using custom objects
File Operations
Import/Export
Synchronization
Transferring files via storage media
Clearing all memory
Simulation Executing simulations
Setting and clearing breakpoints Synchronized simulation with Controller Simulator
Monitoring Information Setting clock information
Function
---
Multiple objects and subroutines are combined to create a reusable object.
An IAG that consists of multiple objects and subroutines is created as a functional unit in an IAG project.
A created IAG is built and saved as a module that can be distributed and reused.
You can create user-defined events that can be used in an IAG.
IAG collection files are imported using the IAG Collection Manager. The imported IAGs are displayed in the Toolbox and can be used in the same way as other objects.
The selected objects are registered in a reusable format in the Toolbox.
Objects or grouped objects are dragged to the Toolbox to register them.
Custom objects are displayed on a page by dragging them from the Toolbox to the Page Editor.
The data in the NA-series PT can be exported and saved as a file and the data can be imported from the file to a project.
The data in the NA-series PT that is online is compared with the data in the Sysmac Studio. You can check the differences and then transfer the data after specifying the transfer direction.
The data in a storage media in the computer is compared with the data in the Sysmac Studio. You can check the differences and then transfer the data to the storage media. You can use the System Menu to transfer a saved project file to the NA-series PT.
All of the data except for the clock information is deleted from the NA-series PT.
---
A project file on the computer is virtually executed to debug it.
Breakpoints can be set at the specified positions in a subroutine.
Sequence control and NA-series PT operation, such as displaying pages and subroutine operation, is simulated together to debug the application in the NA-series PT.
The clock information in the NA-series PT can be checked and set.
Reference
Refer to the NA-series Programmable Terminal Software User's Manual (V118) for details on functions.
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3-7-21 Vision Sensor Functions
3 System Design
Item
Function
Reference
Communications
Going online with NAseries PT
Upgrading system program
The computer can be placed online with the NA-series PT. However, information in the NA-series PT, such as the values of variables, cannot be read.
When the Sysmac Studio is online with the NA-series PT, the system program in the NA-series PT can be upgraded as required.
Refer to the NA-series Programmable Terminal Software User's Manual (V118) for details on functions.
Print
Printing
Settings of each project can be printed out.
Security
Preventing malfunctions
If the name or serial ID of the project and the NA-series PT are different when the Sysmac Studio goes online, a confirmation dialog box is displayed.
Preventing incorrect operation
You can prevent data in the NA-series PT from being overwritten from the Sysmac Studio.
3
3-7-21 Vision Sensor Functions
FQ-M-series Vision Sensors
Item Setting Parameters
Main editing Basic Settings
Sensor connection
Online Sensor controls
Sensor error history
Tools
Editing scene data
Setting imaging conditions
Specifying calibration patterns
Registering inspection items
Setting calculations
Setting the items to log
Setting output data Settings for operation
Description
---
The basic information on the Sensor is displayed and set.
You can change the connection status between the computer and Sensor, and set the conditions for communications.
Various controls are performed for the online Sensor (e.g., changing the mode, transferring data, and starting monitoring).
You can display or clear the error history of the online Sensor.
You can restart the Sensor, initialize the Sensor, update the firmware of the Sensor, read Sensor data, save Sensor data, print the Sensor parameters, and display help.
You can adjust the imaging conditions.
You can select a registered calibration pattern.
You can register the inspection items to use in the measurements. You can select from the following inspection items: Edge Position, Search, Labeling, and Shape Search.
You can set basic arithmetic operations and function operations using inspection item judgment results and measurement data.
You can make the settings for logging, such as setting the measurement results of inspection items and calculation results.
You can set the data to output to external devices.
You can change the mode of the Sensor or start monitoring of measurement results.
Reference
Refer to the FQM-series Specialized Vision Sensor for Positioning User's Manual (Cat. No. Z314) for detailed descriptions of the functions.
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Item
Description
Setting Parameters
---
Editing sys- Setting trigger condi- You can set the trigger types and timing for imaging.
tem data
tions
Setting I/O
You can make settings for the output terminals. You can check the condition of I/O wiring for the online Sensor.
Setting the encoder
You can make settings for the encoder, such as the common encoder settings, ring counter settings, and encoder trigger settings.
Setting Ethernet communications
You can make settings for Ethernet communications. You can select any of the following for data I/O: no-protocol data, PLC link data, and programmable no-protocol data.
Setting EtherCAT communications
You can make settings for EtherCAT communications. Set the communications settings to match those of the EtherCAT master.
Setting logging con- You can set the conditions to log data to the internal
ditions
memory of the Sensor.
Sensor settings
You can set the startup scene control function, password setting function, and judgment condition adjustment function.
Setting calibration scene data
You can calculate, check, and edit the calibration parameters. Both general-purpose calibration and calibration for conveyor tracking are provided.
Debugging
Offline debugging of Sensor operation
Measurement operation is simulated offline (i.e., without a connection to a Sensor). Image data is prepared in an external file, measurements are preformed according to conditions that are set offline, and the results are displayed.
Offline debugging of Sensor control programs and Sensor operation
The linked operation of the sequence controls in the NJ/NX/NY-series Controller and the FQ-M Sensor operation is simulated for an EtherCAT system. This enables offline debugging of processing for measurements and outputting results when measurement triggers and other control signals are input to the Sensor.
Reference
Refer to the FQM-series Specialized Vision Sensor for Positioning User's Manual (Cat. No. Z314) for detailed descriptions of the functions.
Note Not supported by the Sysmac Studio (64 bit).
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3-7-21 Vision Sensor Functions
FH-series Vision Sensors
Item
Description
Reference
Setting Parameters Main editing Sensor information Online
Line editing Monitor Tab Page
---
The basic information on the Sensor is displayed and set.
You can change the connection status between the computer and Sensor and use various controls (e.g., restarting and initializing a Sensor).
You can monitor Sensor measurement images and detailed results from processing units.
Refer to the Vision System FH/FHV Series Operation Manual for Sysmac Studio (Cat. No. Z343) for details.
Scene Maintenance You can edit, manage, and save scenes and scene
Tab Page
groups.
Editing
Editing the flow
You can combine the required processing units to create
scene data
a processing flow.
Editing processing You can edit processing units.
3
units
Editing sys- Camera settings tem data
You can check Camera connection status, Camera image capture timing, and baud rates.
Controller settings You can set up the Sensor's system environment.
Parallel I/O settings You can make settings for output terminals.
RS-232C/422 settings
You can make settings for RS-232C/422 communications.
Ethernet communi- You can make settings for Ethernet communications. cations settings
EtherNet/IP settings You can make settings for EtherNet/IP communications.
EtherCAT communi- You can make settings for EtherCAT communications. cations settings
PROFINET Commu- You can make settings for PROFINET communications. nication Settings
Encoder settings
You can make settings for an encoder.
Tools
I/O command customize tool
You can set your own communications commands.
File saving tool
You can copy or transfer files that are in Sensor memory.
Calibration support You can check the calibration information. tool
User data tool
You can edit user data that is shared in the Sensor.
Security setting tool You can edit the security settings of the sensor.
Scene group save destination setting tool
You can set the destination to save the scene group data.
Image file save tool You can save the logging images and image files stored in the sensor memory.
Registered image management tool
You can save the images used for model registration and reference registration as registered images.
Reference position You can edit all reference positions of more than one
update tool
processing unit.
Scene group data conversion tool
You can create the scene group data with more than 128 scenes.
Scene control macro You can make a setting for complementing and expand-
tool
ing the measurement flow and scene control.
Conveyor calibration wizard tool
You can calibrate cameras, conveyors, and robots in a conveyor tracking application.
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Tools Debugging Security
Item Calibration plate print tool Conveyor panorama display tool Variable Assignment List Quick Access Setting Tool
Offline debugging of Sensor operation
Offline Debugging of Sensor Control Program and Sensor Operation
Preventing incorrect operation
Description
You can print out calibration patterns that are used in the Conveyor Calibration Wizard.
You can display a panoramic image in a conveyor tracking application.
Shows a list of system and scene variable assignments registered to FH/FHV Vision Sensors.
Defines identifier name, absolute path, and display name for Quick Access.
Quick Access settings allows you to select Quick Access when specifying a file or folder path.
Settings according to different environments enable path settings without considering environment-dependent drive configuration.
Measurement operation is simulated offline (i.e., without a connection to a Sensor). Image data is prepared in an external file, measurements are preformed according to conditions that are set offline, and the results are displayed.
The linked operation of the sequence controls in the NJ/NX/NY-series Controller and the FH Sensor operation is simulated for an EtherCAT system.
You can debug a series of operations offline to perform the measurement and other processing and output the results when a control signal such as measurement trigger is input to the Sensor.
You can prevent unauthorized access by setting an account password for online operations.
Reference
Refer to the Vision System FH/FHV Series Operation Manual for Sysmac Studio (Cat. No. Z343) for details.
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FHV-series Vision Sensors
Item
Description
Reference
Setting Parameters Main Edit
Sensor Information Online
---
The basic information on the Sensor is displayed and set.
You can change the connection status between the computer and Sensor and use various controls (e.g., restarting and initializing a Sensor).
Refer to the Vision System FH/FHV Series Operation Manual for Sysmac Studio (Cat. No. Z343) for details.
Line Edit
Operation View
You can monitor Sensor measurement images and detailed results from processing units.
Scene Maintenance You can edit, manage, and save scenes and
View
scene groups.
Scene Data Edit Flow Edit
You can combine the required processing
3
units to create a processing flow.
Process Unit Edit
You can edit processing units.
Sensor System Data Edit
Camera Settings
You can check Camera connection status, Camera image capture timing, and baud rates.
Controller Settings
You can set up the Sensor's system environment.
Parallel I/O Settings You can make settings for output terminals.
RS-232C/422 Settings You can make settings for RS-232C/422 communications.
Ethernet Communica- You can make settings for Ethernet commu-
tion Settings
nications.
EtherNet/IP Communi- You can make settings for EtherNet/IP com-
cation Settings
munications.
EtherCAT Communi- You can make settings for EtherCAT com-
cation Settings
munications.
PROFINET Communi- You can make settings for PROFINET com-
cation Settings
munications.
Encoder Settings
You can make settings for an encoder.
Tools
File Saving Tool
You can copy or transfer files that are in Sensor memory.
Calibration Support Tool
You can check the calibration information.
Security Setting Tool
You can edit the security settings of the sensor.
Registered Image Management Tool
You can save the images used for model registration and reference registration as registered images.
Scene Group Data Conversion Tool
You can create the scene group data with more than 128 scenes.
Variable Assignment List
Shows a list of system and scene variable assignments registered to FH/FHV Vision Sensors.
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Debugging Security
Item Offline Debugging of Sensor Operation
Offline Debugging of Sensor Control Program and Sensor Operation
Prevention of Incorrect Operation
Description
Reference
Measurement operation is simulated offline (i.e., without a connection to a Sensor). Image data is prepared in an external file, measurements are preformed according to conditions that are set offline, and the results are displayed.
Refer to the Vision System FH/FHV Series Operation Manual for Sysmac Studio (Cat. No. Z343) for details.
The linked operation of the sequence controls in the NJ/NX-series CPU Unit or NYseries Industrial PC and the FHV Sensor operation is simulated for an EtherCAT system.
You can debug a series of operations offline to perform the measurement and other processing and output the results when a control signal such as measurement trigger is input to the Sensor.
You can prevent unauthorized access by setting an account password for online operations.
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3-7-22 Displacement Sensor Functions
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3-7-22 Displacement Sensor Functions
Item
Description
Reference
Setting Parameters Main editing
Basic Settings Sensor connection
---
The basic information on the Sensor is displayed and set.
You can change the connection status between the computer and Sensor, and set the conditions for communications.
Refer to the ZW-series Confocal Fiber Type Displacement Sensor User's Manual (Cat. No. Z332) for detailed descriptions of the functions.
Online Sensor controls You can perform various controls for the Sensor online (e.g., changing the mode, controlling internal logging, and monitoring).
Tools
You can restart the Sensor, initialize the
Sensor, update the firmware of the Sensor,
recover ROM data, print the Sensor parame-
ters, and display help.
3
Editing bank data Setting sensing condi- You can adjust the light reception conditions
tions
for each measurement region.
Setting task conditions You can select the measurement items to use in measurements. You can select from the height, thickness, or calculations.
The following are set for the measurement items: scaling, filters, holding, zero-resetting, and judgement conditions.
Setting I/O conditions
You can set parameters for outputting judgements and analog values to external devices.
Editing system data
Sensor settings
You can set the following: ZW Sensor Controller's key lock, number of displayed digits below the decimal point, the bank mode, the analog output mode, and timing/reset key inputs.
Setting Ethernet com- You can set Ethernet communications and
munications
field bus parameters.
Setting RS-232C com- You can make settings for RS-232C commu-
munications
nications.
Data output settings
You can set serial output parameters for holding values.
Monitoring
Sensor monitoring
You can monitor the light-detection status and the measurement results of the sensor.
Trend monitoring
You can log and monitor the measurement results that meet the specific conditions of the sensor.
Debugging
Offline debugging of Sensor control programs and Sensor operation
The linked operation of the sequence controls in the NJ/NX/NY-series Controller and the ZW Sensor operation is simulated for an EtherCAT system.
This allows you to simulate the operation of signals when timing signals and other control signals are input to the Sensor to debug the control logic offline.
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3-7-23 Team Development Option
Item Project version control function
History management
Showing the project log
Comparing projects
Multiple-person development
Reverting a project
Developing a program concurrently
Derivative develop- Creating a branch ment
Merging
Description
You can control a project version in concert with the version control system (GitTM).
You can see the change history of project data in a branch, local repository, and remote repository.
You can compare specific revisions from the project change history.
You can restore a project to any revision.
You can develop controller programs per POU concurrently. The changes of concurrent development are merged automatically.
You can create and edit data derived from a master project.
Changes in a branch are automatically reflected in the master data.
Reference
Refer to the Sysmac Studio Project Version Control Function Operation Manual (Cat. No. W589) for details on the function.
3-7-24 3D Simulation Function
The function is supported by the Sysmac Studio (64 bit) only.
3D Simulation
Item
Adding 3D object Shape Script
3D CAD Data Cylinder Box Mechanical Component*1 Virtual Part Detection Sensor Adding a program
Executing 3D Simulation
Programming
Automatic generation of a virtual output program for a limit switch
Automatic program generation for Part Detection Sensor
Execution
Execution*1
Collision detection
Description
This function enables to check the followings visually on a PC: behaviors of the equipment controlled by NJ/NX/NY Controllers and conveyance of parts to be processed or assembled.
Adds 3D CAD data.
Adds a cylinder.
Adds a box.
Reference
Refer to the Sysmac Studio 3D Simulation Function Operation Manual (Cat. No. W618) for details on the function.
Adds a mechanical component controlled by I/O or motion axis.
Adds a virtual sensor to detect a part position.
Adds a program to replicate the part behavior on a 3D simulation.
Edit a program with Shape Script Editor.
Automatically generate the Shape Script to replicate the behavior of a limit switch in a specific mechanism.
Automatically generate the Shape Script to replicate the behavior of Part Detection Sensor detecting a virtual part.
Executes Shape Script
Executes 3D Simulation
Detects a contact between 3D objects (e.g. equipment components, part) during operation.
*1 3D Simulation Option is required to operate the mechanical components in a 3D simulation.
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3-7-25 Robot Function
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3-7-25 Robot Function
The function is supported by the Sysmac Studio (64 bit) only.
Item
Description
Reference
Robot Parameter Settings EtherCAT Settings
Robot Common Settings Robot Basic Settings Controller Settings
---
You can register an Omron robot as an EtherCAT node.
You can assign I/O that controlled with V+ program written in a robot control language.
You can assign robot numbers to robots.
You can configure common settings for robot controllers.
Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for details on the function.
Save Configuration
You can configure the setting to save V+
programs, V+ variables, and task settings at
startup to the Controller's non-volatile memory (SD memory card).
3
Monitor Window
You can issue a control command directly to a robot system.
Robot Settings
You can configure settings for each robot.
Programming
V+ Program Editor
You can register, edit, and debug V+ programs.
V+ Variables
You can register and edit V+ variables.
Search/Replace
Search/replace in V+ program.
Communication
Online Connection
You can establish an online connection between PC and Controller.
Synchronization
You can compare data in the PC (project file) with that in the online-connected Robot Integrated CPU Unit to see differences in a list. Also, you can transfer the specified data all at once, together with Robot Controller Common Settings and V+ programs.
Transfer All
You can transfer data between the onlineconnected Robot Integrated CPU Unit and PC. The data to be transferred is the same as that of Synchronization. Unlike Synchronization, data is transferred to the specified direction without showing comparison result.
Robot Controller Common Settings and V+ programs are also transferred at the same time.
V+ Program Synchronization
You can compare V+ programs and V+ variables in the PC (project file) with those in the online-connected Robot Integrated CPU Unit, and differences are shown in a list. You can specify data to transfer at once.
Push to V+ Memory
You can transfer all V+ programs and V+ variables in the PC (project file) and onlineconnected Robot Integrated CPU Unit from PC to Controller at the same time.
Pull from V+ Memory
You can transfer all V+ programs and V+ variables in the PC (project file) and onlineconnected Robot Integrated CPU Unit from Controller to PC at the same time.
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Item
Robot
Project Management
Open in Emulation Mode
Enable Emulation Mode
Disable Emulation Mode
Print
Application Sample
Debugging
3D Visualizer Task Status Control
Task Manager
IO Watcher Virtual Front Panel
V+ Jog Control
Information Moni- Troubleshoot-
toring
ing/Event Log
System Monitor
eV+ Log
Maintenance
Hardware Diagnostics Data Collection
Motor Tuning
Security Customization
Robot System Operation Authentication
V+ Program
Description
---
Select this option before opening the project to configure Robot Control Function Module, edit V+ program and do offline debugging.
You can enable the emulation mode and reopen the project.
You can disable the emulation mode and reopen the project.
You can print V+ programs, V+ variables, robot settings, and others.
You can create a sample of Pack manager or Robot Vision Manager as a project of Application Manager device, based on a robot configuration crated by EtherCAT Editor.
You can check or change the robot's position. During a simulation, you can check movements of the robot.
This user interface enables an online connection to Robot Control Function Module, robot's power state control, monitor speed setting, and activation of other debugging functions.
You can allocate V+ program to a task managed by Robot Control Function Module to control execution of the program.
You can monitor robot's digital I/O in a list.
You can monitor robot's mode, power state, and emergency stop button state. This function is available in the emulation mode.
You can determine a position of the selected robot checking the 3D Visualizer. Position of the robot's tip is to be registered to a location variable.
You can check errors in the Controller, instruct countermeasures, clear errors, or confirm it.
You can monitor robot's parameters in real time.
You can display processing history of Robot Control Function Modules.
You can check robot's motor status.
You can display or save the robot system data.
You can send a square wave signal positioning command to the specified motor to monitor its response.
This function prevents illegal changes in Robot Control Function Module settings or V+ program editing both online and offline.
You can define headers generated when creating a new V+ program, configure intellicences, etc.
Reference
Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for details on the function.
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3-7 Sysmac Studio Settings and Operations
3-7-26 Application Manager Function
3 System Design
3-7-26 Application Manager Function
The function is supported by the Sysmac Studio (64 bit) only.
Item
Description
Reference
Application Manager Setting
IP Address
Port Number
Add 3D Object
3D CAD Data
---
You can set Application Controller's IP address.
You can set the port numbers of Application Manager running on the Application Controller.
You can add 3D CAD data.
Refer to the Sysmac Studio Robot Integrated System Building Function with IPC Application Controller Operation Manual (Cat. No. W621) for details on the function.
Cylinder
You can add cylinders.
Box
You can add boxes.
Mechanical Compo- You can add mechanical components con-
nent*1
trolled by I/O or motion axes.
3
Virtual Part Detection You can add virtual sensors that detect posi-
Sensor
tion of the part.
Robot Vision Man- Belt Latch Calibration You can calibrate the positional relation
ager
between the robot and latch.
Belt Calibration
You can calibrate the positional relation between the robot and conveyor belt.
Camera Calibration
You can calibrate the positional relation between the robot and camera.
Gripper Offset Table
You can define where on the part the robot can pick it and flange-centered relationship among pick spot, part model, and robot.
Vision Sequence
You can display the order and dependency of vision tools to be executed.
Overlap Tool
This function makes the part moving on the conveyor belt processed only once, even if it appears in multiple images.
Communication Tool
You can configure settings for sending results of image sensing associated with the belt to the Controller's queue to make the robot process them.
Camera Settings Virtual Camera
You can set a virtual camera that vision tools reference. During simulation, the emulation camera is used, but in the real machine, it switches to the Basler camera.
Emulation Camera
You can emulate saved images as if taken by a camera.
Basler Camera
You can configure settings to use the Basler camera.
Sentech Camera
You can configure settings to use the Sen-
tech camera.
Custom Device
Using C# programs, you can acquire images from any camera device or external vision system.
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Item
Application Manager
Configuration
Controller Connection Startup
Data Mapper
Note OPC Container Program System Startup
Recipe Manager
Feeders Process
Recipe Manager Script AnyFeeder IO Feeder Part Buffer
Part Target
Part
Belt Process Manager
Allocation Script Pallet Vision Refinement Station
Description
---
You can connect Application Manager running on the Application Controller to the Robot Integrated CPU Unit and configure settings to instruct controls, at a startup of Application Manager.
Function that allows changes in the state of robot I/O or other to be assigned to other robot I/O or other process state changes.
You can create text documents.
You can set an OPC container to communicate data with an external PC.
You can specify C# program which run automatically when an Application Manager project running on the Application Controller is opened.
This function enables batch management of initial values of V+ variables, vision tools, cameras, and others, according to the objects handled by equipment.
You can manage recipes with C# script.
You can configure settings to use AnyFeeder.
You can configure settings to use a general feeder.
You can set a location where the part is temporarily stored if the target cannot be used to accept the part.
You can configure settings of a part that the robot places, which handled in Process Manager.
You can configure settings of a part that the robot picks, which handled in Process Manager.
You can configure a conveyor belt.
You can manage allocations and control queuing of multiple controllers, robots, conveyors, parts, and targets.
You can create Custom Part Allocation Program used in Process Manager with C#.
It is the base object to pick and place multiple parts.
With this function, you can configure position of upward-facing camera in order to adjust orientations of the part and gripper.
Reference
Refer to the Sysmac Studio Robot Integrated System Building Function with IPC Application Controller Operation Manual (Cat. No. W621) for details on the function.
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Item
Description
Reference
Application Manager Vision
Finder
Inspection
---
This function creates a vectorized depiction of an object or object function and usually returns a result by coordinate.
By identifying pixel information, you can check the various aspects of the detected objects or features, such as color deviations, defects, and product density.
Refer to the Sysmac Studio Robot Integrated System Building Function with IPC Application Controller Operation Manual (Cat. No. W621) for details on the function.
Reader
You can acquire character string data from characters in code or image.
Calculation
You can create new entity in an image based on user-defined or existing entities.
Image Process
This function provides helpful operations and features to analyze and process images.
Custom
You can directly control processing methods
3
for images and tools.
Programs
C# Program
You can reference and compute the data handled by Application Manager with C# program to create an application.
Variables
You can define a variable in the Variables section in Multiview Explorer when you need a variable shared with multiple C# programs.
Search/Replace
Search/replace in C# program.
Communication
Online Connection
You can establish an online connection between PC and Application Manager on the Application Controller.
Synchronization
You can compare data in the PC (project file) with that in the online-connected Application Manager to see differences in a list. Also, you can transfer the specified data all at once.
Project Management
Open in Emulation Mode
Select this option before opening the project to configure Application Manager, Robot Control Function Module, edit V+ program and do offline debugging.
Enable Emulation Mode
You can enable the emulation mode and reopen the project.
Disable Emulation Mode
You can disable the emulation mode and reopen the project.
Print
You can print settings of Application Manager and programs.
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Item
Application Manager
Debugging
3D Visualizer
Task Status Control
Task Manager
IO Watcher Virtual Front Panel
V+ Jog Control
Information Moni- System Monitor toring
Security
Robot System Operation Authentication
Description
Reference
---
Refer to the Sysmac Stu-
You can check or change position of the
dio Robot Integrated Sys-
robot, belt, or other objects. During a simula- tem Building Function with
tion, you can check movements of the robot IPC Application Controller
and parts.
Operation Manual (Cat.
You can monitor and control Process manager of Application Manager and execution
No. W621) for details on the function.
of C# program. This user interface enables
an online connection to Robot Control Func-
tion Module, robot's power state control,
monitor speed setting, and activation of
other debugging functions.
You can allocate V+ program to a task managed by Robot Control Function Module to control execution of the program.
You can monitor robot's digital I/O in a list.
You can monitor robot's mode, power state, and emergency stop button state. This function is available in the emulation mode.
You can determine a position of the selected robot checking the 3D Visualizer. Position of the robot's tip is to be registered to a location variable.
You can monitor Process Manager of Application Manager, execution status of C# program, and robot's parameters in real time.
This function prevents illegal changes in Application Manager Settings both online and offline.
*1 3D Simulation Option is required to operate mechanical components during 3D simulation.
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Programming
This section describes how to create programs with the Sysmac Studio.
4
4-1 Variable Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 4-1-1 Creating Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 4-1-2 Creating Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 4-1-3 Creating Local Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21 4-1-4 Creating Axis Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25 4-1-5 Creating Axes Group Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27 4-1-6 Creating Cam Data Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29 4-1-7 Creating Function Block Instance Variables . . . . . . . . . . . . . . . . . . . . . . . . . 4-31 4-1-8 System-defined Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32 4-1-9 Entering Variable Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33 4-1-10 Variable Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43
4-2 Registering POUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51 4-2-1 Displaying POUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51 4-2-2 Registering Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51 4-2-3 Registering Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54 4-2-4 Registering Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-56
4-3 Creating Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-58
4-4 Namespaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68 4-4-1 Data for Which You Can Use Namespaces . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68 4-4-2 Setting Namespaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68 4-4-3 Using Namespaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-71
4-5 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74 4-5-1 Programming Ladder Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74 4-5-2 Programming Structured Text . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-129 4-5-3 Comparison before Pasting Dependents . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-140
4-6 Searching and Replacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-142 4-6-1 Scope of Searching and Replacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-142 4-6-2 Search and Replace Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-142 4-6-3 Items to Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-143 4-6-4 Searching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-146 4-6-5 Replacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-147 4-6-6 Searching All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-148
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4-6-7 Replacing All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-148 4-6-8 Replacing All N.O. and N.C. Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-148 4-7 Program Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-149 4-7-1 Check All Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-149 4-7-2 Check Selected Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-149 4-8 Building and Rebuilding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-151 4-9 Offline Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-153 4-9-1 Procedure for Offline Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-153 4-9-2 Merging Detailed Comparison Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-159
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4-1 Variable Registration
4 Programming
4-1 Variable Registration
� Variable Registration You can create variables to hold the data that is used in the control algorithms in the NJ/NX/NY-series Controller. You can define the following types of variables.
Variable type
Description
Global variables
You can read and write global variables from any POU (program, function, or function block). You declare global variables in the global variable table. You use global variables to interface different POUs. You can read and write a global variable from any POU that is executed on the CPU Unit where the global variable was declared. However, a POU that runs on another CPU Unit cannot access these variables. Device variables that are automatically generated from the Unit configuration and slave configuration are automatically registered as global variables. The Axis Variables and Axes Group Variables that are automatically generated from the axes and axes groups are also automatically registered as global variables.
Device variables
A device variable is used to access data in a device (i.e., slave or Unit).
The data is accessed through logical interface ports that are called I/O
4
ports. You assign device variables to the I/O ports that are automatically
created when you create the EtherCAT slave configuration information or
the Unit configuration information in the I/O Map of the Sysmac Studio.
Local variables
A local variable can be used only within one POU. A local variable is declared in the local variable table for the POU. You cannot access the values of local variables from outside of the POU. Even if you declare a local variable with the same name in a different POU, those variables do not share the same memory space.
Axis Variables
Axis Variables are system-defined variables. They are structures that provide information on axes (such as physical quantities, status, and error information). They are used to access EtherCAT slaves that are assigned to an axis.
Axes Group Variables
Axes Group Variables are structures for axes groups. An axes group contains multiple axes that are interpolated. Axes Group Variables are used for interpolated motions in programs.
Cam data variables
You use these variables to access cam data. You create them in the Cam Data Settings in the Sysmac Studio. A cam data variable is a structure array variable that consists of phases and displacements.
Function block instance variables
Function block instance variables are names that are assigned to function block instances so that you can manage the function block instances individually. A function block that has a given name and can retain internal variables is called a function block instance. Instances of function blocks are automatically registered as local variables. Specify the instance variable name when you call a function block from another POU.
Derivative variables (structures, unions, and enumerations)
Derivative variables have user-defined data types. They group together variables of different data types into a single variable. You can give any name to the data type. You must specify the variable name that uses the user-defined data type and at least one member in that variable.
System-defined variables
System-defined variables are provided in advance in an NJ/NX/NY-series Controller. The variables and all attributes are defined by the system. They have specific functions. System-defined variables are supplied for each function module. You cannot change the variable names or any other attributes.
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4-1-1 Creating Global Variables
� Creating Global Variables You can create variables that you can access from different POUs (programs, functions, or function blocks). The device variables that are used to access slave and Unit data, such as EtherCAT slave and CJ-series Unit device variables, are also registered as global variables.
Opening the Global Variable Tab Page
Double-click Global Variables under Programming - Data in the Multiview Explorer. Or, right-click Global Variables under Programming - Data and select Edit from the menu.
The global variable table is displayed.
Creating Global Variables
1 Press the Insert Key in the global variable table, or right-click in the global variable table and select Create New from the menu.
2 Enter values for each item, and then press the Enter Key.
The variable is registered. Always set the variable name and the data type. Refer to Entering Variable Attributes on page 4-33 for information on entering values for attributes.
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4-1 Variable Registration
Editing Global Variables
1 Click the cell to edit for the variable.
4 Programming
For the Data Type cell, if you press the Ctrl + Space Keys or enter the first character of the data type, a drop-down list is displayed.
2 Change the setting, and then press the Enter Key.
The change is applied to the variable.
Deleting Variables
4
1 Click the header on the row of the variable to delete to select the entire row.
2 Press the Delete Key. Or, right-click a row and select Delete from the menu. To delete a global variable together with external variables that refer to the global variable, press the Ctrl + Shift + Delete Keys, or select Delete (including external variables) from the pop-up menu.
The variable is deleted.
If you select Delete (including external variables), all external variables that refer to the global variable will be deleted.
4-1-1 Creating Global Variables
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Copying and Pasting Cells
1 Click any cell. 2 Press the Ctrl + C Keys. Or, right-click and select Copy from the menu. 3 Press the Ctrl + V Keys for the cell to which you want to paste the data. Or, right-click and select
Paste from the menu. The copied data is pasted to the target cell.
Copying and Pasting Variables
There are the following menus to copy variables. � Copy: Only variables are copied. � Copy with Dependents: Not only variables but also data type definitions of the variables are cop-
ied.
1 Click the header on the row of the variable to copy to select the entire row.
2 Press the Ctrl + C Keys. Or, right-click the row and select Copy from the menu. If you want to copy data together with the data type definitions of variables, select Copy with Dependents.
The specified variable is copied.
3 Press the Ctrl + V Keys in the destination variable table. Or, right-click and select Paste from the menu.
� When Copy is selected A copy of the variable is registered with "_Copy" added to the name of the variable that was copied.
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� When Copy with Dependents is selected Not only variables but also data type definitions of the variables are pasted. If a data type definition with the same name and different attribute already exists in the destination, the Comparison before pasting dependents Dialog Box is displayed. For details on the Comparison before pasting dependents Dialog Box, refer to 4-5-3 Comparison before Pasting Dependents on page 4-140.
Precautions for Correct Use If you enter any invalid characters or out of range values, the cell is highlighted in red. An error will occur when the program is checked. For information on restrictions on variable names, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
4-1 Variable Registration
4-1-1 Creating Global Variables
4
Additional Information
� If no variables are registered, "There are no variables in the table. Click here to add." is displayed. Click to add a new variable.
� A global variable is registered automatically when you perform any of the following operations. � When you enter a new variable in the Variable Column of the I/O Map with Global Variable specified in the Variable Type Column. � When you create a new interface variable between tasks. � When you create a new axis, axes group, cam, or cam definition in the Multiview Explorer.
� You can register new variables that are entered into the Ladder Editor or ST Editor as global variables. Select the Select the local or global variable and register it Check Box in the option settings to select the location in which variables are registered. Then, specify Global as the variable type when you enter the variables. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details on the option settings.
� When you change the name of a registered global variable, you can also change at the same time the name of the same variable where it is used in programs or external variables. Set the Change the variable name used in programs Check Box in the option settings. Refer to 8-23 Sysmac Studio Option Settings for details.
� If the same variable names exist when variables are copied and pasted from other variable tables or spreadsheets, a dialog box that lists the source and destination variables is displayed. Select the variable to overwrite and execute the paste.
� If an NA-series PT is registered in the project, you can drag variables from the global variable table to the NA-series PT Page Editor to add them as objects. Refer to the NA-series Programmable Terminal Software User's Manual (Cat. No. V118) for details.
Selecting Rows
Click the header on the row, and the entire row is selected.
Hold down the Ctrl or Shift Key and click the headers of rows to select more than one row.
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Moving Rows
You can drag and drop the grip at the left end of the row to change the order of the rows.
Sorting Global Variables
You can sort the global variable table in ascending or descending order according to any column.
1 Click the title row cell for the column to use to sort the variable table.
A sort icon is displayed in the title row and the relative column is sorted in ascending order.
Click the cell in the title row again to sort the table in descending order.
2 To cancel sorting, right-click the title row cell for the column that you used to sort the variable table and select Clear Sorting. Additional Information The sorting results are lost when you close the global variable table.
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Filtering Global Variables
You can apply a filter to the variable table to display only specific variables.
1 Right-click the title row cell for the column to use to filter the variable table and select Filtering.
The Filtering Dialog Box is displayed. The contents of the dialog box depends on the column that is selected. The following example is for the variable name.
24 Enter the text string and condition to use for filtering in the Filtering Dialog Box, and click the OK Button. An icon that indicates filtering is active appears in the title row and only the variables that meet the specified condition are displayed.
3 To cancel filtering, right-click the title row cell for the column that you used to filter the variable list and select Clear Filtering - Selected Column or Clear Filtering - All Columns. Additional Information � You can apply filtering to more than one column to restrict the variables that are displayed even further. � The filtering results are lost when you close the global variable table. � If you copy variables while a filter is active, the variables that are hidden will not be copied.
4-1-1 Creating Global Variables
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Showing and Hiding Columns
You can show and hide columns in the variable table.
1 Right-click the title row cell for the desired column and select Display Columns.
A list of the displayed columns is displayed.
All columns are selected by default.
2 Clear the selections of the columns to hide.
The columns are hidden.
4-1-2 Creating Device Variables
� Device Variables A device variable is used to access data in a device (i.e., slave or Unit). This data is accessed through a port that acts as an interface to an external device. This logical port is called an I/O port.
Creating Variables
You can create device variables in the I/O Map. You can either automatically create a device variable or manually enter the device variable name to create it.
Manually Entering a Device Variable Name
You can enter a device variable name manually. You create device variables with this method in the following cases. � To assign your own name for a slave I/O Terminal or a Basic I/O Unit.
1 Create the slave configuration information or Unit configuration information. 2 Select an I/O port in the I/O Map and enter a variable in the Variable Column.
To specify a variable table for the variable type, specify the variable type in advance.
Device variables are automatically assigned to the I/O ports for each slave or Unit. These device variables are also automatically registered in the variable table specified in the Variable Type Column.
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Automatically Creating Device Variables
The device variables are named automatically from a combination of the device names or any strings and the I/O port names.
Menu
Create Device Variable
Create Device Variable with Prefix
Description
The variables are named automatically from a combination of the device names and the I/O port names.
The variables are named automatically from a combination of any prefixes or suffixes and the I/O port names. When None is selected, the variables with the I/O port names are generated automatically.
You create device variables with this method in the following cases.
� To eliminate the work that is involved in obtaining the device variable names.
� To automatically create device variables to use to access operating data and setup data for CJseries Special Units.
1 Create the slave configuration information or Unit configuration information. 2 For each device whose name you can change, set a device name in the Edit Pane.
4
The default device names are as follows:
� For NX Units, the default device names start with an N followed by a sequential number starting from 1.
� For slaves, the default device names start with an E followed by a sequential number starting from 001.
� For CJ-series Units, the default device names start with a J followed by a sequential number starting from 01.
3 Select a slave, Unit, or one or more I/O ports in the I/O Map, right-click, and then select Create Device Variable or Create Device Variable with Prefix from the menu.
To specify a variable table for the variable type, specify the variable type in advance.
When you select Create Device Variable with Prefix, specify Prefix, Suffix, or None in the next dialog box.
4-1-2 Creating Device Variables
Device variables are automatically assigned to the I/O ports for each slave or Unit. These device variables are also automatically registered in the variable table specified in the Variable Type Column.
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Precautions for Correct Use
When you use an instruction with a UnitProxy input variable for a Unit on an NX-series Slave Terminal, perform the following operation.
1. Right-click the Unit and select Display Node Location Port from the menu. The Node Location Information row is displayed in the table.
2. Set a device variable.
Additional Information
� We recommend that you set the device names. � If you do not specify anything in the Variable Type Column when you register a variable or cre-
ate device variables, the variables are automatically registered in the global variable table.
� Example of Creating Device Variables The variable is created from the user-defined slave or Unit name and the selected I/O port name.
Registered slave or Unit
NX-ID3344 GX-ID1611 GX-AD0471 CJ1W-ID212 CJ1WAD041-V1
Device variable notation
Slave or Unit name
I/O port name
N1
Input Bit 00
E001
Bit00
E002
CH0 input 16-bit
J01
Ch1_In00
J02
Ch1_PkHdCmd
Description
Variable name
---
N1_Input_Bit_00
---
E001_Bit00
---
E002_CH0_input_16-bit
Bit 00 on input word 1
J01_Ch1_In00
Holds peak value for input 1. J02_Ch1_PkHdCmd
Selecting from the Registered Variables
You can select variables that are already registered on the I/O Map. You create device variables with this method in the following cases.
� To program before you create the slave configuration information or Unit configuration information.
� To reuse programs from another project.
Use the following procedure.
1 Register the variables in advance in the global variable table. 2 Program using those variables. 3 Create the slave configuration information or Unit configuration information. 4 Select a variable from a pull-down list in the I/O Map View to assign it to an I/O port.
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Select a user-defined variable that has already been registered in the global variable table.
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4-1-2 Creating Device Variables
Additional Information
To remove the variable assigned to an I/O port, clear the Variable Column or right-click the variable and select Reset Assignment from the menu. The device variable assignment is removed. However, removing the assignment does not delete the variable from the variable table where it is registered.
Device Variable Attributes
Device variables are registered in the variable table specified in the Variable Type Column under the following conditions.
Attribute Name
Setting
Changes to settings
Automatically generated variables: [device_name] + [I/O_port_name] Possible.
The default device names are as follows:
� For NX Units, the device names start with an N followed by a
sequential number starting from 1.
4
� For CJ-series Units, the device names start with a J followed by a
sequential number starting from 01.
� For EtherCAT slaves, the device names start with an E followed by a sequential number starting from 001.
� For the built-in I/O port*1, the device names are fixed to BIO.
� For Option Boards*1, the device names are fixed to OP1 or OP2.
Refer to Creating Device Variables on page 4-10 for information on I/O port names.
Data Type Initial Value AT
Retain
If entered manually, the variable name is simply the string you enter.
The data type must have the same size as the data type of the I/O port.
None*
� Device variables for EtherCAT slaves: ECAT://node#[node_number]/[I/O_port_name]
� Device variables for NX Units on CPU Rack: IOBus://unit#[NX_Unit_number]/I/O_port_name
� Device variables for NX Units on EtherCAT Slave Terminal: ECAT://node#[EtherCAT_Coupler_node_address, NX_Unit_number]/I/O_port_name
� Device variables for CJ-series Units: IOBus://rack#[rack_number]/slot#[slot_number]/[I/O_port_name]
� Device variables for built-in I/O port*1: BuiltInIO://cpu/#[physical_port_number]/[I/O_port_name]
� Device variables for Option Boards*1: BuiltInIO://opt/#[physical_port_number]/[I/O_port_name]
� Device variables for NX Units: Not retained. � Device variables for EtherCAT slaves: Not retained. � Device variables for CJ-series Units assigned to the Operation
Data (CIO Area): Not retained. Device variables for CJ-series Units assigned to the Setup Data (DM Area): Retained.
� Device variables for built-in I/O port*1: Not retained.
� Device variables for Option Boards*1: Not retained.
Possible. Possible. Not possible.
Not possible.
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Attribute Constant
Network Publish Comment
Setting
Yes for variables assigned to Setup Data (DM Area) for an I/O port that is set to R (read-only). Other variables: None Do not publish. Enter a user-defined comment.
Changes to settings
Possible.
Possible. Possible.
*1 This is available only for an NX1P2 Controller.
* 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.
Display in Variable Table
Display in I/O Map
To access the I/O port by bit, set the initial value to TRUE.
Set the initial value for word access to None.
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4-1 Variable Registration
4-1-2 Creating Device Variables
Additional Information � You can select any of the following items in the I/O Map to create a group of device variables
at one time.
Network line Unit line
Parent I/O port line One I/O port line
Multiple I/O port lines
4
� The operation results are given in the following table. The variables are created based on the user-defined Unit name and the selected I/O port name.
User action Selected one I/O port line
Selected multiple I/O port lines
Selected a parent I/O port line Selected a Unit line Selected network line
Result
A variable for the selected I/O port is created. If the selected I/O port line contains other lower level I/O ports, variables for those lower level I/O ports are also created.
Variables for the selected I/O ports are created. If the selected I/O port line contains other lower level I/O ports, variables for those lower level I/O ports are also created.
Variables for all I/O ports under the selected I/O port are created.
Variables are created for all I/O ports of the selected Unit.
Variables are created for all I/O ports of the selected network.
Additional Information
� To register a variable in any other variable table besides the global variable table, change the variable table type in the Variable Type Column before selecting Create Device Variables. If you do not specify anything in the Variable Type Column, the variables are automatically registered in the global variable table. If a variable of the same name already exists when you create a device variable, a unique ID number is appended to the end of the variable.
� You can copy variables from the I/O Map and paste them into a spreadsheet (e.g., Excel). Or, you can copy variables from a spreadsheet and paste them into the I/O Map. Copy the variable name, variable comment, and variable type columns (including the title row) on the spreadsheet, and then select the first variable at which to paste the data on the I/O Map and paste the data. With Sysmac Studio version 1.05 or higher, you can paste the data on the I/O Map without copying the title row. You can also copy and paste just the variable name column or the variable name and variable comment columns. To do so, display the desired columns of the I/O Map. If pasting data to the I/O Map fails, the location where the paste failed is displayed on the Output Tab Page.
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Copying and Pasting Variables between I/O Map and Spreadsheet
You can copy data from the I/O Map and paste it into a spreadsheet (e.g. Excel). Or, you can copy data edited in a spreadsheet and paste it into the I/O Map.
You can configure the I/O Map by registering the name of variables and comments to be assigned to each port in a spreadsheet and pasting the data into the I/O Map.
Copying and Pasting Variables from the I/O Map into a Spreadsheet
If you paste the I/O Map data into a spreadsheet, the configuration is displayed as follows. Data pasted in a spreadsheet is classified into four items. (a)
(b)
(d) (c)
Name (a) Column header
(b) Device information
(c) Port information
Meaning
Displays the item for each column.
Displays information on each device.
Displays the port information on each device.
(d) Variable information Displays variable information that is assigned to each port.
Editing
Remarks
No The first row only
No Variable information is write-protected on the I/O Map.
No Consists of five data: Position (always blank), port name, port description, read/write attribute, and data type.
Yes Consists of three data: Variable, variable comment, and variable type.
If more than one device is registered in the I/O Map, (b) Device information, (c) Port information, and (d) Variable information are pasted by device.
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Copying and Pasting Variables from a Spreadsheet into the I/O Map
When you paste data edited in a spreadsheet into the I/O Map, you need to follow the rules for pasted data so that they are properly identified in the Sysmac Studio. Paste data according to the following rules. a) When all I/O Map data including (a) Column header is copied from a spreadsheet and pasted
into the I/O Map
1 Delete the row of (b) Device information for the first device under (a) Column header before copying data. If you copy data of multiple devices, copy the data without deleting rows of (b) Device information of the second and subsequent devices.
2 Select the top port of the top device on the I/O Map and paste the data.
The following shows an example of operation. � Creating variable data of a newly added device in a spreadsheet and pasting it into the I/O Map
1 If you create a device configuration on the Sysmac Studio, the I/O Map is automatically created. 4 Display and right-click the I/O Map and select Expand All/Collapse All. Ports for each device are displayed.
2 Select the overall I/O Map with the Ctrl + A Keys, copy it with the Ctrl + C Keys, select a cell on the upper left corner in a spreadsheet, and then paste the data.
4-1-2 Creating Device Variables
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3 Delete the line of (b) Device information under (a) Column header.
4 Register variables and variable comments on the spreadsheet.
5 Select all data with the Ctrl + A Keys on the spreadsheet and copy the data with the Ctrl + C Keys.
6 Paste the copied data into the I/O Map. Specify the top port of the top device as paste position.
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All variables are pasted as global variables.
4 Programming
4-1 Variable Registration
4-1-2 Creating Device Variables
7 If you change them to local variables, change the Variable Type to the (POU name) Internals.
4
b) When only (d) Variable information of some devices is copied from a spreadsheet and pasted into the I/O Map
1 Copy all (d) Variable information to apply to the I/O Map.
If you select all (d) Variable information of multiple devices at once, select it in a rectangle without separation.
2 Specify a port position to paste copied data on the I/O Map and paste the data.
The following shows an example of operation. � Changing some data of variables assigned to a port on a spreadsheet and pasting the data into
the I/O Map
1 Select a port to change the variable information on the I/O Map and copy the data with Ctrl + C Keys.
2 Paste it into a spreadsheet.
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3 Change the variable information, select the changed part, and copy it with the Ctrl + C Keys.
4 Select the target port on the I/O Map and paste the changed data.
If you change variable names in a spreadsheet, variables assigned to the port on the I/O Map are deleted when the data is pasted. If you want to retain the variables, right-click the device and select Reset Assignment from the pop-up menu.
The changed variable information is applied to the I/O Map.
Precautions for Correct Use Variable names and comments of ports whose data type is array cannot be properly pasted from a spreadsheet into the I/O Map. When you copy all I/O Map data including (a) Column header and paste the data into the I/O Map, data of ports whose data type is array may be included. Pasting the data may fail in that case.
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Additional Information Using the leftmost column in the figure below makes it easy to select a row of the port on the I/O Map.
4-1 Variable Registration
4-1-3 Creating Local Variables
Click the column to select a row.
4
4-1-3 Creating Local Variables
� Creating Local Variables You can register variables that are used only within one POU (program, function, or function block). The following variable groups exist for local variables.
Variable group for local variables
Internal variables
Input/output variables
External variables
Return values
Description
Program
Used to create local variables for use in programs and internal variables for use in functions or function blocks.
Supported.
Used to create input variables, --output variables, and in-out variables for use in functions or function blocks.
Used to register variables from the global variable table. You can create external variables to access external data from within a POU (program, function, or function block).
Supported.
Used to register return values of --functions.
POU type Function Supported. Supported. Supported.
Supported.
Function block
Supported.
Supported.
Supported.
---
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4 Programming Opening the Local Variable Tab Page
The following is an example that uses a registered ladder diagram program. Refer to 4-2-2 Registering Programs for information on creating programs, functions, and function blocks (POUs).
1 Double-click Section0 under Programming - POUs - Programs - Program0 in the Multiview Explorer. The section is displayed in the Edit Pane.
2 Click the Variables Bar. Or, press the Ctrl+Shift+V Keys.
The local variable table is displayed.
3 Select the variable group from the side tabs in the local variable table and register the local variable.
Additional Information You can change the display position for the local variable table in the option settings. Refer to 823 Sysmac Studio Option Settings on page 8-113 for details.
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4-1-3 Creating Local Variables
4 Programming
Creating Local Variables
Local variables are created in the same way as global variables. You can create them directly in the Ladder Editor.
1 Click a new input or new output instruction in the Ladder Editor.
2 Enter a new variable name.
The variable name that you entered is registered in the Internals Side Tab Page.
4
Additional Information You can also register new variables that are entered into the ST Editor as internal variables. Refer to 4-5-2 Programming Structured Text on page 4-129 for the procedure.
Editing, Deleting, and Copying and Pasting Local Variables, and Selecting and Moving Rows
You can edit, delete, copy, and paste local variables, and select and move rows with the same procedures as for global variables.
Additional Information If you change the name of a local variable in the variable table, you can also change the name of the variable in the program at the same time. Set the Change the variable name used in programs Check Box in the option settings. Refer to 8-23 Sysmac Studio Option Settings for details.
Sorting, Filtering, and Showing/Hiding Columns in Local Variable Tables
You can sort, filter, and show/hide columns in a local variable table with the same procedures as for the global variable table.
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Moving Internal Variables
You can move internal variables to the global variables.
1 Right-click the internal variable to move and select Move to Global from the pop-up menu.
The selected variable is registered in the global variable table and also moved from the internal variables to the external variables.
Moving External Variables
You can move external variables (global variables) to the internal variables.
1 Right-click the external variable to move and select Move to Internals from the pop-up menu.
The selected variable is moved from the external variables to the internal variables.
Precautions for Correct Use If you move an external variable to an internal variable, a dialog box is displayed to confirm whether to delete the global variable that corresponds to the external variable. Delete a global variable only after confirming that it is not used in any other POU.
Applying Change in In-Out Variables to a Ladder Program
When you change the in-out variables of a function or function block, you can apply the change to a called function or function block on a ladder program.
1 Right-click the in-out variable group and select Apply inputs and outputs to the ladder program from the pop-up menu.
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A message box appears to confirm whether you want to update all functions and function blocks called.
Applying Return Values to a Ladder Program
When you change the data type of return values and comments of a function, you can apply the change to the called function on a ladder program.
1 Right-click the return value variable group and select Apply return values to the ladder program from the pop-up menu.
4
A message box appears to confirm whether you want to update all functions called.
4-1 Variable Registration
4-1-4 Creating Axis Variables
Additional Information
If you right-click on a function or a function block called on a ladder program and select Update from the pop-up menu, change in in-out variables of functions or function blocks and return values of functions can be applied.
4-1-4 Creating Axis Variables
� Axis Variables An Axis Variable is a structure variable that is used to specify an axis in a program. An Axis Variable contains members used for axis control (axis settings) and members used to monitor the status of the axis in the programs or Sysmac Studio (axis monitor).
Creating Axis Variables
When you create an axis in the Axis Settings, the Axis Variable is automatically added as a global variable.
1 Right-click Axis Settings under Configurations and Setup - Motion Control Setup in the Multiview Explorer and select Add - Axis Settings from the menu.
MC_Axis000 is added to the tree.
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2 Double-click Global Variables under Programming - Data in the Multiview Explorer.
The MC_Axis000 Axis Variable is automatically added to the global variable table.
Changing Axis Variable Names
1 Right-click the Axis Variable to rename in the Multiview Explorer and select Rename from the menu.
2 Enter a new name for the Axis Variable.
Deleting Axis Variables
1 Right-click the Axis Variable to delete in the Multiview Explorer and select Delete from the menu.
A deletion confirmation dialog box is displayed.
2 Click the Yes Button. 3 Double-click Global Variables under Programming - Data in the Multiview Explorer.
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You can confirm that the Axis Variable was automatically deleted.
Copying Axis Variables
1 Right-click the Axis Variable to copy in the Multiview Explorer and select Copy from the menu.
4-1 Variable Registration
4-1-5 Creating Axes Group Variables
The specified Axis Variable is copied.
2 Right-click Axis Settings in the Multiview Explorer and select Paste from the menu.
4
A copy of the Axis Variable is registered with `Copy_1_of' added to the front of the name of the Axis Variable that was copied.
4-1-5 Creating Axes Group Variables
� Axes Group Variables An Axes Group Variable is a structure variable that is used to specify an axes group that represents axes linked for synchronization or interpolation in programs.
Creating Axes Group Variables
When you create an axes group, the Axes Group Variable is automatically added as a global variable.
1 Right-click Axes Group Settings under Configurations and Setup - Motion Control Setup in the Multiview Explorer and select Add - Axes Group Settings from the menu.
MC_Group000 is added to the tree.
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2 Double-click Global Variables under Programming - Data in the Multiview Explorer.
You can confirm that the MC_Group000 Axes Group Variable was automatically added.
Changing Axes Group Names
1 Right-click the Axes Group Variable to rename in the Multiview Explorer and select Rename from the menu.
2 Enter a new name for the axes group.
Deleting Axes Group Variables
1 Right-click the Axes Group Variable to delete in the Multiview Explorer and select Delete from the menu.
A deletion confirmation dialog box is displayed.
2 Click the Yes Button. 3 Double-click Global Variables under Programming - Data in the Multiview Explorer.
You can confirm that the Axes Group Variable was automatically deleted.
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Copying Axes Group Variables
1 Right-click the Axes Group Variable to copy in the Multiview Explorer and select Copy from the menu.
The specified Axes Group Variable is copied.
2 Right-click the Axes Group Variable in the Multiview Explorer and select Paste from the menu.
A copy of the Axes Group Variable is registered with `Copy_1_of' added to the front of the name of the Axes Group Variable that was copied.
4
4-1-6 Creating Cam Data Variables
� Cam Data Variables A cam data variable defines the motion of a slave axis in relation to a master axis for synchronization and interpolation motions for electronic gears and cams. This allows you to use variables in programs to define cam motions.
Creating Cam Data Variables
When you create cam data, the cam data variable is automatically added as a global variable.
1 Right-click Cam Data Settings under Configurations and Setup in the Multiview Explorer and select Add - CamProfile from the menu.
4-1-6 Creating Cam Data Variables
Cam profile 0 is added to the tree.
2 Double-click Global Variables under Programming - Data in the Multiview Explorer.
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You can confirm that the cam data variable was automatically added.
Changing Cam Data Variable Names
1 Right-click the cam data variable to rename in the Multiview Explorer and select Rename from the menu.
2 Enter a new cam data variable name.
Deleting Cam Data Variables
1 Right-click the cam data variable to delete in the Multiview Explorer and select Delete from the menu.
A deletion confirmation dialog box is displayed.
2 Click the Yes Button. 3 Double-click Global Variables under Programming - Data in the Multiview Explorer.
You can confirm that the cam data variable was automatically deleted.
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4-1-7 Creating Function Block Instance Variables
4 Programming
Copying Cam Data Variables
1 Right-click the cam data to copy in the Multiview Explorer and select Copy from the menu.
2 Right-click Cam Data Settings under Configurations and Setup in the Multiview Explorer and select Paste from the menu.
A copy of the cam data variable is registered with 'Copy_1_of' added to the front of the name of the cam data variable that was copied.
4
4-1-7 Creating Function Block Instance Variables
� Function Block Instance Variables When you create an instance of a function block, the function block instance is registered in the local variable table as a data type. Specify the instance name when you call a function block from another POU.
Creating Function Block Instance Variables
1 Click Enter Function Block for the instance of the function block instruction created in the Ladder Editor.
2 Enter an instance name and press the Enter Key.
When you set an instance name, the function block instance is registered as an instance variable in the local variable table.
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Editing, Deleting, Copying, and Pasting Function Block Instance Variables
You can edit, delete, copy, and paste function block instance variables with the same procedures as for global variables.
4-1-8 System-defined Variables
� System-defined Variables System-defined variables are pre-defined by the system. All system-defined variable attributes are fixed. The names and all other attributes of these variables are defined, and special functions are assigned to them. You cannot change the names or any other attributes.
� You can use system-defined variables as soon as you register the Controller on the Sysmac Studio. � System-defined variable names start with an underbar, as shown below.
� You can select them from lists in the Ladder Editor or ST Editor.
� There are system-defined variables for each of the four function modules, as listed in the following table.
Function module PLC Function Module Motion Control Function Module EtherNet/IP Function Module EtherCAT Master Function Module
Type of system-defined variable System-defined variables for PLC Function Module System-defined variables for motion control System-defined variables for EtherNet/IP System-defined variables for EtherCAT master
� For information on system-defined variables, refer to System Defined Variable Reference on the Help Menu, or to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
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4-1-9 Entering Variable Attributes
4-1-9 Entering Variable Attributes
This section describes how to enter variable attributes. The following table shows which attributes exist for different variable types and POUs (programs, functions, and function blocks).
Attributes Supported by Each Type of Variable
Type of variable
Global variables
Programs
Internal variables
External variables
Internal variables
Input variables
Function blocks
Output variables
In-out variables
External variables
Name
Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported.
Data Type Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported.
Initial Value Supported.
Supported.
Not supported.
Supported.
Supported.
Not supported.
Not supported.
Not supported.
AT Specifi- Supported. cation
Supported.
Not supported.
Supported.
Not supported.
Not supported.
Not supported.
Not supported.
Retain
Supported.
Supported.
Not supported.
Supported.
Supported.
Supported.
Not supported.
Not supported.
Constant
Supported.
Supported.
Supported.
Supported.
Supported.
Not sup-
Supported. Supported.
ported.
Network
Supported. Not sup-
Not sup-
Not sup-
Not sup-
Not sup-
Not sup-
Not sup-
4
Publish
ported.
ported.
ported.
ported.
ported.
ported.
ported.
Comment Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported.
In/Out
Not supported.
Not supported.
Not supported.
Not supported.
Supported.
Supported.
Supported.
Not supported.
Edge
Not supported.
Not supported.
Not supported.
Not supported.
Supported.
Not supported.
Not supported.
Not supported.
Type of variable
Name Data Type Initial Value
Internal variables
Supported. Supported. Supported.
Input variables
Supported. Supported. Supported.
AT Specification Retain
Constant
Not supported.
Not supported.
Supported.
Not supported.
Not supported.
Supported.
Network Publish Comment In/Out
Edge
Not supported.
Supported.
Not supported.
Not supported.
Not supported. Supported. Supported.
Not supported.
Functions
Output variables
In-out variables
Supported. Supported.
Supported. Supported.
Not supported.
Not supported.
Not supported.
Not supported.
Not supported.
Not supported.
Not supported.
Supported.
Not supported.
Not supported.
Supported. Supported.
Supported. Supported.
Not supported.
Not supported.
External variables
Supported.
Supported.
Not supported.
Not supported.
Not supported.
Supported.
Not supported.
Supported.
Not supported.
Not supported.
Return values
Supported.
Supported.
Not supported.
Not supported.
Not supported.
Not supported.
Not supported.
Supported.
Not supported.
Not supported.
For information on attributes, valid value ranges, and character restrictions, refer to the NJ/NXseries CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Name Attribute
Enter a string for the name.
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Enter a data type directly or select one from the list. You can select from the following data types.
Classification
Data type
Boolean
Bit strings
Integers
Signed Unsigned
Real numbers
Durations
Dates
Times
Date and times
Text strings
Basic data types
Data type name BOOL BYTE, WORD, DWORD, and LWORD SINT, INT, DINT, and LINT USINT, UINT, UDINT, and ULINT REAL and LREAL TIME DATE TIME_OF_DAY DATE_AND_TIME STRING[256] After you select STRING[256] as the data type, edit the value inside the brackets to specify the size of the string including the NULL character. ARRAY[?..?] OF ? After you select ARRAY[?..?] OF ? as the data type, edit the question marks as follows:
Variable table Data type
ARRAY[?..?] OF ?
Data type attributes
Array Fixedspecifi- length cation array
Array variable data type Array element last number Array element first number
Example: ARRAY[0..9] OF INT This specifies an array variable that contains 10 INT elements from 0 to 9.
Specifying Multi-dimensional Arrays:
Variable table Data type
ARRAY[1..9,0..9,0..5] OF BOOL
Gives the first number of the elements in the third dimension of the array.
Gives the first number of the elements in the second dimension of the array.
Gives the first number of the elements in the first dimension of the array.
If the first array element number is 0, you can enter the variable as follows:
Basic_data_type[Number_of_elements] Example: You can enter ARRAY[0..4,0..9] OF BOOL as BOOL[5,10].
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Classification
Data type
Data type name
A method for specifying an array with any number of array elements.
This array can be used only for in-out variables of a function/function block.*2
� Specifying method
Specify the data type as follows.
ARRAY[*] OF ?
Array specification
Variablelength array*1
Specify "*" where each of the array element first number and last number is entered, and specify the data type of the array elements in "?".
Basic data types
Data type attributes
Example: ARRAY[*] OF BOOL You can enter ARRAY[*] OF BOOL as BOOL[*].
For a multi-dimensional array, specify "*" for each dimension,
such as ARRAY[*,*,*] OF BOOL.
You cannot mix "*" and a numerical value to specify the ele-
4
ment first number/last number.
You can enter ARRAY[*,*,*] OF BOOL also as BOOL[*,*,*].
You can specify that an integer variable (INT, SINT, DINT, LINT, UINT, USINT, UDINT, and ULINT) contains only values within a certain range.
Range specification
Variable Table
Data type INT(10..100)
This means that the variable must have a value between 10 and 100, inclusive.
End point Start point
Structures
Specify a user-defined structure data type or a systemdefined structure data type in the Structure group of the Data Type Editor.
Derivative data types
Unions
Specify a user-defined union data type or a system-defined union data type in the Union group of the Data Type Editor.
Enumerations
Specify a user-defined enumerated data type or a systemdefined enumerated data type in the Enumerated group of the Data Type Editor.
POU instances
Specify a system-defined function block name, or a userdefined function block name.
*1 This setting is supported by CPU Units with unit version 1.18 or later.
*2 For details on how to use variable-length array variables, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
4-1-9 Entering Variable Attributes
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Initial Value Attribute
Specify a value for the variable for one of the following situations when the Retain attribute is not specified. � When the power supply is turned ON � When the operating mode is changed � When you specify to initialize the value when the program is transferred
Enter a value directly or select an item from the list (the values in the list depend on the data type). If you do not enter an initial value, 0 is used as the initial value. Select None for no initial value. � Initial Values for Union Members: The initial values for union members cannot be edited and are always 0. � Enter the initial values for the elements of the array variable or the members of the structure variable in the Initial Value Settings Dialog Box.
1 Click the Display Initial Value Settings Dialog Box Button in the initial value entry cell.
The Initial Value Setting Dialog Box is displayed.
Example: Two-dimensional Structure Array
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No. 1 2
3 4
Item Horizontal subscript display area Vertical subscript display area
Array display direction selection list Array element jump settings
Description
The subscripts of the specified dimension are displayed horizontally in order from 0. The array elements of the structure members are all expanded on the display.
The subscripts for the dimension that is not displayed in the horizontal subscript display area are displayed vertically in order from 0. For a three-dimensional array, the subscripts for the two dimensions that are not displayed in the horizontal subscript display area are displayed in combinations in order.
Used to select the directions in which to display the array dimensions from a list.
Used to jump to a specified element. Enter the array subscripts and click the Go to Button to move to the specified element.
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No.
Item
5
Change Page
6
Go to Error Button
Description
You can scroll the page either vertically or horizontally. Each page displays 26 items vertically and 20 items horizontally. You can scroll the page by half pages or whole pages.
Jumps to the first initial value error.
In this example, the initial value of the member Struct1[0,0].BoolMem1 is displayed at the intersection of the [0,*] row and [*,0].BoolMem1 column.
2 Enter the initial values of the members, and then click the OK Button.
The initial values are set.
Additional Information
� You can change the display format of the Initial Value Settings Dialog Box in the option settings to the format used in Sysmac Studio version 1.06 or lower.
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4-1 Variable Registration
4-1-9 Entering Variable Attributes
For details on changing the display format, refer to 8-23 Sysmac Studio Option Settings.
AT Specification Attribute
� When Specifying an Address in Memory Used for CJ-series Units with an NJ-series Controller: Add a % character to the beginning of the addresses when specifying memory used for CJ-series Units. This is shown in the following table.
Area CIO Area Work Area Holding Area DM Area EM Area
Setting range CIO 0 to CIO 6143 W000 to W511 H0 to H1535 D0 to D32767 E0_0 to E18_32767
Format to enter %0 to %6143 %W0 to %W511 %H0 to %H1535 %D0 to %D32767 %E0_0 to %E18_32767
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� For Device Variables Specified in the I/O Map: The contents of the AT Fields of the device variables are displayed automatically.
� When an AT address is specified for axis variables or axes group variables: When _sAXIS_REF or _sGROUP_REF is input in the Data Type input area, the button to show AT Setting Dialog Box is displayed in the AT input area.
1 Click the button to show AT Setting Dialog Box.
2 Select one variable from the list of axis variable or axes group variable group in the AT Setting Dialog Box. Example for axis variables:
(a)
(b)
Item
Description
(a) Current AT specification Displays a variable name corresponds to the input AT.
(b) Variable list
3 Click the OK Button.
Displays all axis variables that are registered in the axis settings.
The AT specification for axis variables or axes group variables is set.
Retain Attribute
Specify whether to retain the value of the variable in the following cases. � When power is turned ON after a power interruption � When the operating mode changes to RUN mode � When programs are transferred from the computer to the Controller
Select the check box when you want to retain the values.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on the conditions for retention of the retained variables.
Constant Attribute
If you set the Constant attribute, you can set the initial value of the variable when it is downloaded, but you cannot overwrite the value afterward.
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Network Publish Attribute (Global Variables Only)
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4-1 Variable Registration
4-1-9 Entering Variable Attributes
Select the setting for the Network Publish attribute from the list. You can select from the following.
Network Publish attribute setting
Description
Do not publish
The variable cannot be accessed from external devices. However, Support Software can still access the variable regardless of this setting.
Publish
Publish Only
You can access a variable with this attribute from external devices through CIP 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 Controller to the local Controller).
Output
You can access a variable with this attribute from external devices through CIP
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communications or a tag data link. For tag data links, this will be a variable for
data output (from the local Controller to another Controller).
In/Out Attribute (Input/Output Variable Group Only)
For the input/output variable group used in functions or function blocks, specify either an input variable, output variable, or in-out variable from the list.
Edge (Input/Output Variable Group Only)
The Edge 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. This attribute is for function block input variables only. Select an attribute setting from the list. You can select from the following.
Edge attribute setting No edge Up Down
Description No edge FALSE to TRUE TRUE to FALSE
Comment Attribute
Enter a comment.
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� Use the following procedure to enter the comments for the elements of an array variable or the comments for structure variable members in the Comment Settings Dialog Box. (The array variable can be a member of a union.)
1 Click the Display Comment Settings Dialog Box Button in the comment entry cell.
The Comment Settings Dialog Box is displayed.
2 Enter the comments for the elements and then click the OK Button.
This completes entering the comments.
Precautions for Correct Use
� If you select the Use global variable comment Check Box in the option settings, you cannot edit the comments for the corresponding variables that are registered as external variables in the local variable tables.
� You can register comments for union variables or for array elements in union array variables with Sysmac Studio version 1.07 or higher. However, if you open a project in which such comments are registered on Sysmac Studio version 1.06 or lower and then open the Comment Settings Dialog Box for the union variable or union array variable, the comments for the array elements will be lost.
� You can register comments for structure variable members and for array elements of structure array variables with Sysmac Studio version 1.09 or higher. However, if you open a project with such comments on Sysmac Studio version 1.08 or lower, you cannot edit the variable comments. Also, if you open a project in which such comments are registered on Sysmac Studio version 1.06 or lower and then open the Comment Settings Dialog Box for the structure variable or structure array variable, the comments for the structure variable members or array elements will be lost.
� If you register a comment for a structure variable member and then change the name of the member, the variable comment is cleared.
� For a variable-length array variable, you cannot enter a comment for an array element.
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Additional Information
� You can globally switch the comments that are displayed. Refer to 8-16 Changing Variable Comments and Data Type Comments for the actual procedures.
� You can expand and close more than one level of elements and members displayed for array variables and structure variables. Right-click a variable, element, or member and select Expand All under the Selected Item or Collapse All under the Selected Item.
� You can also display the Comment Settings Dialog Box online. Select a variable from the variable table and right-click to select Show Comment Setting Dialog from the pop-up menu.
Exporting/Importing Variable Comments
Export variable comments into an Office Open XML format file (xlsx format file). The comments to be exported include structure variable member comments, union variable member comments, and array variable element comments (hereinafter called "element comments"). You can edit a file with exported comments in spreadsheet software that supports the Office Open XML format such as Excel.
You can import an edited file and change the variable comments at a time. This is useful when you register comments, in addition to definitions, for structure variable members and for union variable and
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array variable elements.
Comments are exported to a file in units of the following variables. � Global variable � Internal variable � In-out variable � External variable
Exporting Comments
1 Right-click in the view of the variable table that has the variable element comments you want to edit, and select Export comment - All variables in this view (including element comments) or Selected variables (including element comments) from the pop-up menu.
4-1-9 Entering Variable Attributes
The Save File Dialog Box is displayed.
2 Enter the file name, and then click the Save Button.
The comments for the target variables are saved in an xlsx format file.
Additional Information
� The maximum number of rows is 65,536 for comments to be output to an xlsx format file. If the number of rows is 65,536 or greater, comments are divided and exported into multiple files that are serial-numbered automatically.
� Variable comments that are not displayed on screen due to the filtering function are not exported.
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Editing Comments
Use the following procedure to edit the xlsx format file that you exported.
1 Open the xlsx file in a spreadsheet software application. 2 Edit a comment.
You can add comments to variables and elements without comments. To delete an existing comment, make the cell containing it blank.
A
B
C
1 Sysmac Studio Element Comments File Name
Comment
2
max_elements_array
root
3
max_elements_array[0]
comment of 0
4
max_elements_array[1]
comment of 1
5
max_elements_array[2]
6
max_elements_array[3]
7
max_elements_array[4]
8
max_elements_array[5]
Do not change the first row (header row) or data in the name column.
3 Save the file.
Additional Information
You can edit an xlsx format file with spreadsheet software that supports the Office Open XML format such as Excel 2007 or later.
Importing Comments
Use the following procedure to import the xlsx format file that you edited to the original variable table.
1 Right-click the target variable table and select Import comment from the pop-up menu.
The Select File Dialog Box is displayed.
2 Select the xlsx format file to import, and then click the Open Button. When comments were divided and exported into multiple files, select all the files. The import operation starts.
Precautions for Correct Use You cannot import the data while the filtering function is used. Cancel the filtering function, and then execute the import operation.
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4-1-10 Variable Manager
� The Variable Manager displays a list of the variables in the global or in a local variable table in a separate window.
� You can display variable usage, sort and filter the variables, edit and delete variables, or move variables while displaying another editing view.
Starting the Variable Manager
1 Select Variable Manager from the View Menu.
4-1 Variable Registration
4-1-10 Variable Manager
The Variable Manager Window is displayed.
4
(1) (2)
(3)
(4)
Parts of the Window
(6)
(5) (7)
No
Part
1 Variable table selection box
Description Use this box to select the variable table to display.
2 Show Usage Check Box
3 Assigned variable list
4 Always on Top Check Box 5 Update Button 6 Delete Unused Variables Button 7 Close Button
Select this check box to display columns of the usage of the variables in the variable list. Clear the selection to hide the usage columns.
This list displays the variables from the variable table that is selected in the variable table selection box. You can display and hide columns from the pop-up menu.
Select this check box to always display the Variable Manager Window on top of other windows and dialog boxes.
Click this button update the display to reflect any changes that have been made to the source variable table.
Click this button to delete all variables that are not used in any program from all of the variable tables in the Controller.
Click this button to close the Variable Manager Window.
2 Select the variable table to display in the variable table selection box.
The current contents of the variable table are displayed in the variable list.
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Displaying Variable Usage
You can display the number of locations in which each variable is used. You can also search for the variables that are not used at all as unused variables.
1 Select the Show Usage Check Box in the Variable Manager Window.
The usage columns are displayed in the variable list.
Displayed Columns
Column
Description
Use
The number of locations in which each variable is used is displayed.
Using POUs
The number of POUs in which each variable is used is displayed. (This is displayed for global variables.)
I/O Mapping
If a variable is assigned to I/O, the I/O name is displayed.
(This is displayed for global variables and internal variables.)
2 Clear the Show Usage Check Box to hide the usage columns.
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Sorting Variables
You can sort the variable table in ascending or descending order according to any column.
1 Click the title row cell for the column to use to sort the variable list.
The variable list will be sorted in ascending order of the column.
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4-1 Variable Registration
4-1-10 Variable Manager
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You can apply a filter to the variable list to display only specific variables.
1 Right-click the title row cell for the column to use to filter the variable list and select Filtering.
The Filtering Dialog Box is displayed.
2 Enter a text string to use for filtering in the text box, specify the condition, and click the OK Button. The variables that meet the specified condition are displayed in the variable list.
3 To cancel filtering, right-click the title row cell for the column that you used to filter the variable list and select Clear Filtering.
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4-1 Variable Registration
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Editing, Copying, and Deleting Variables
For any variable that can be edited on the Variable Manager, you can change the variable name or comment or you can delete the variable. � Editing Variables
1 In the variable list, double-click the name or comment of a variable that can be edited or press the F2 + Tab Keys to select the item to edit.
After you change the name or comment, press the Enter Key to apply the change. The change is also applied to the source variable table.
If you change the name of a variable, a confirmation dialog box is displayed that asks whether to
change the name of the variable in the programs.
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Click the Yes Button to change the name in the programs.
� Copying Variables
1 Right-click the variable to copy in the variable list and select Copy from the pop-up menu.
Select the variable table into which to paste the variable and paste the variable. The variable is pasted.
� Deleting Variables
1 Right-click the variable to delete in the variable list and select Delete from the pop-up menu.
The selected variable is deleted. The variable is also deleted from the source variable table.
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Precautions for Correct Use � When you change or delete a variable in the Variable Manager, the change is applied directly
to the global variable table and local variable tables. You cannot undo this operation. � If the results of editing a variable causes an error for that variable, the error is detected in the
source variable table. Error checking is not performed in the Variable Manager. � Even if the contents of the global variable table or the local variable table that is displayed in
the Variable Manager is changed, the change is not shown in the Variable Manager. If you attempt to change, copy, or delete a variable that no longer exists, an error message is displayed. � To apply any changes that have been made in the global variable table or the local variable table, click the Update Button in the Variable Manager.
Moving Variables
You can move a global variable or local variable to a local variable table or to the global variable table. By moving a variable to the appropriate variable table according to the usage conditions of the variable, you can make POUs easier to reuse. � Moving a Global Variable to a Local Variable Table
1 If a variable is used only in one POU, right-click the variable in the variable list and select Move Variable to Local from the pop-up menu.
The selected variable is moved to the internal variables of the POU and it is deleted from the global variable table. The corresponding variable that is registered in the external variables of the POU is also deleted.
� Moving a Local Variable to the Global Variable Table
1 Right-click the variable to move in the variable list and select Move Variable to Global from the pop-up menu.
The selected variable is moved to the global variable table and it is deleted from the local variable table. The variable that was moved is automatically registered as an external variable in the local variable table.
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Precautions for Correct Use � If the POU does not exist or if there are two or more POUs when you attempt to move a global
variable to a local variable table, an error will occur and you cannot move it. � To update the display in the Variable Manager for the results of moving a variable, select the
variable table in the variable table selection box or click the Update Button.
Searching Variables
You can search for variables in the variable list.
1 Right-click anywhere in the variable list and select Search from the menu.
The Search Dialog Box is displayed.
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2 Enter the search string and click the Search Previous or Search Next Button.
The display will move to the location in the variable list that matches the search condition.
4-1-10 Variable Manager
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Deleting Unused Variables
You can delete all variables that are not used in any program (i.e., unused variables) from all of the variable tables in the Controller.
1 Click the Delete Unused Variables Button in the Variable Manager Window.
The following confirmation message is displayed.
If you do not want to delete unused variables that are allocated to a port on the I/O Map, clear the selection of the check box.
2 Click the Yes Button.
The unused variables are deleted.
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4-2 Registering POUs
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4-2 Registering POUs
� POUs (Program Organization Units) A POU is a unit used to build a program. A POU can be a program, function, or function block. Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for more information. You begin by first registering a program, function, or function block under Programming - POUs in the Multiview Explorer, and then coding the POU.
4-2-1 Displaying POUs
Click POUs under Programming in the Multiview Explorer.
Programs, Functions, and Function Blocks are displayed under POUs.
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4-2-2 Registering Programs
� Registering Programs You must create programs that define the control operations. You can design programs as ladder diagrams or ST, and then assign them to tasks for execution. You can use functions and function blocks in programs. For a detailed explanation of programs, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
4-2-1 Displaying POUs
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Registering Ladder Diagram Programs
1 Right-click Programs under Programming - POUs and select Add - Ladder from the menu.
A program with the name Program1 is added (along with a section) under the Programs Layer. Program0 is registered in advance.
2 Double-click the section.
The variable table and Ladder Editor are displayed in the Edit Pane. From here you can create local variables and create ladder diagram rungs.
Variable table
Ladder Editor
Additional Information To add a new section, right-click the ladder diagram program and select Add - Section from the menu.
Registering ST Programs
1 Right-click Programs under Programming - POUs and select Add - ST from the menu.
Program1 is added under Programs. (ST programs do not have sections.) Program0 for a ladder diagram is registered in advance.
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2 Double-click the ST program.
The variable table and ST Editor are displayed in the Edit Pane. From here you can create local variables and create ST statements.
Variable table
ST Editor
Deleting Programs
Right-click the program to delete in the Multiview Explorer and select Delete from the menu.
4
A deletion confirmation dialog box is displayed.
Click the Yes Button.
The program is deleted.
Copying and Pasting Programs
There are the following ways to copy programs. � Copy: Only data under the selected program is copied. � Copy with Dependents: Not only the data under the selected program but also variables that are
referenced by the program and the data types of the variables are also copied.
1 Select the program to copy in the Multiview Explorer and press the Ctrl+C Keys. Or, right-click the program and select Copy from the menu. If you want to copy data together with variables that are referenced by the program and the data types of the variables, select Copy with Dependents.
4-2-2 Registering Programs
The program is copied.
2 Select Programs in the Multiview Explorer and press the Ctrl+V Keys. Or, right-click Programs and select Paste from the menu.
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� When Copy is selected The copied program is registered with the name "Copy_1_of_Program Name". Local variables and data in the program are also registered at the same time.
� When Copy with Dependents is selected Not only the data that are copied with Copy but also referenced global variables and their data types are pasted. If a variable or data type with the same name and different attribute already exists, the Comparison before pasting dependents Dialog Box is displayed. For details on the Comparison before pasting dependents Dialog Box, refer to 4-5-3 Comparison before Pasting Dependents on page 4-140.
Precautions for Correct Use � When you delete a program, all local variables in that program and section data are deleted
with it. � After you paste a program, check to be sure that the variables and data types are used cor-
rectly.
Additional Information � You can change the name of a program or section. Right-click the section or program to
rename and select Rename from the menu. � If you copy and paste a program from a different project when the same name already exists,
you can select whether to overwrite or copy. � You can insert a program between two programs. Right-click the program just after the loca-
tion where you want to insert the program and select Insert Above - Ladder or Insert Above - ST.
4-2-3 Registering Function Blocks
� Function Blocks Function blocks are instructions that define operations. Function blocks are written as ladder diagrams or ST. You can call them from programs as required. You can use functions inside function blocks. For a detailed explanation of function blocks, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
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Registering Function Blocks
The following procedure shows how to register a user-defined function block. A ladder function block is used as an example. Function block instructions are registered in the Sysmac Studio in advance. You do not need to register function block instructions to use them. You can register ST function blocks in the same way.
1 Right-click Function Blocks under Programming - POUs in the Multiview Explorer and select Add - Ladder from the menu.
4-2 Registering POUs
4-2-3 Registering Function Blocks
A function block named FunctionBlock0 is added under Function Blocks.
4
2 Double-click the new function block.
The variable table for the function block and Ladder Editor are displayed in the Edit Pane. From here you can create local variables and create ladder diagram rungs.
Local variable table for function block
Ladder Editor
Deleting, Copying, and Pasting Function Blocks
You can delete, copy, and paste function blocks with the same procedures as for programs.
Precautions for Correct Use
� To use a user-created function block definition in a ladder program, register at least one BOOL input variable and one BOOL output variable in the function block definition. An error will occur if you use a function block definition that does not have BOOL input and output variables in a ladder program.
� When you delete a function block, all local variables and data in that function block are deleted with it.
Additional Information
� You can also insert a function block between two function blocks. Right-click the function block just after the location where you want to insert the function block and select Insert Above Ladder or Insert Above - ST.
� After you use a function block in a program (that is, after you have created an instance), you can use that function block as a local variable data type for that program.
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4-2-4 Registering Functions
� Functions A function is an instruction that performs a single function. Functions are written as ladder diagrams or ST. You can call them from programs or function blocks as required. For a detailed explanation of functions, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Registering Functions
The following procedure shows how to register a user-defined function. A ladder function is used as an example. Function instructions are registered in the Sysmac Studio in advance. You do not need to register function instructions to use them. You can register ST functions in the same way as described in this example.
1 Right-click Functions under Programming - POUs in the Multiview Explorer and select Add Ladder from the menu.
A function named Function0 is added under Functions.
2 Double-click the new function.
The variable table for the function and Ladder Editor are displayed in the Edit Pane. From here you can create local variables and create ladder diagram rungs.
Local variable table for function
Ladder Editor
Deleting, Copying, and Pasting Functions
You can delete, copy, and paste functions with the same procedures as for programs.
Precautions for Correct Use
� To use a user-created function definition in a ladder program, register at least one BOOL input variable and one BOOL output variable in the function definition. An error will occur if you use a function definition that does not have BOOL input and output variables in a ladder program.
� When you delete a function, all local variables and data in that function are deleted with it.
Additional Information
You can also insert a function between two functions. Right-click the function just after the location where you want to insert the function and select Insert Above - Ladder or Insert Above ST.
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Displaying Properties
The properties of the POU are displayed. Use the following procedure to set the POU name, namespace, version, and other POU properties.
1 Right-click the POU and select Properties from the menu.
The Properties Dialog Box for the POU is displayed.
4
You can change the following items.
Item Name Namespace *1
Version*2 Author*2
Comment*2
Description
Displays the name that is currently set for the POU.
Displays the namespace that is currently set. If this field is blank, the name is set as a global namespace.
Displays the major and minor versions of the POU.
Displays the name of the person that created the POU. If this is the first time you are creating a POU after installing the Sysmac Studio, the user name that you entered when you logged onto Windows is displayed.*3
Displays the comment for the POU.
*1 Refer to 4-4 Namespaces for information on namespaces.
*2 The items that you enter here are displayed at the bottom of the Toolbox to describe the library object when the function or function block is reused as a library object. Refer to 9-3 Creating and Using Libraries for information on library objects.
*3 You can change the author name that is displayed when you create a POU. Change it in the option settings. For details, refer to 8-23 Sysmac Studio Option Settings on page 8-113.
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4-3 Creating Data Types
� Creating Data Types Creating a data type involves defining a new data type by combining existing data types. Data types registered using the Data Type Editor can be selected from the list of data types in the Variable Editor and used like any other data type. You can define data types that are structures, unions, or enumerations. For information on data types, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Opening the Data Types Tab Page
1 Double-click Data Types under Programming - Data in the Multiview Explorer. Or, right-click Data Types under Programming - Data and select Edit from the menu.
The Data Type Editor is displayed.
Creating Structure Data Types
After you register the data type, add members.
1 Click the Structures Side Tab in the Data Type Editor.
The Structure Data Type Editor is displayed.
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4-3 Creating Data Types
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2 If, as in this example, no data types are registered, click the Data Type Editor. A data type registration line is displayed.
If you have already registered at least one data type, but you want to add more, press the Insert Key with the cursor inside the Data Type Editor. Or, right-click inside the Data Type Editor and select Create New Data Type from the menu.
4
3 Enter values for each item, and then press the Enter Key.
The data type is registered. Refer to Entering Data Type Attributes on page 4-66 for information on entering values for attributes.
4 Next, add a member. Right-click the data type you just registered and select Create New Member from the menu.
The member is created.
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5 Enter values for each item, and then press the Enter Key.
The new member is added to the structure data type.
Refer to Entering Data Type Attributes on page 4-66 for information on entering values for attributes.
6 Repeat steps 4 and 5 to add additional members as required.
Creating Unions
After you register the data type, add members.
1 Click the Union Side Tab in the Data Type Editor.
The Union Data Type Editor is displayed.
2 If, as in this example, no data types are registered, click the Data Types Editor. A data type registration line is displayed. If you have already registered at least one data type, but you want to add more, press the Insert Key with the cursor inside the Data Type Editor. Or, right-click inside the Data Type Editor and select Create New Data Type from the menu.
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3 Enter values for each item, and then press the Enter Key.
4 Programming
The data type is registered. Refer to Entering Data Type Attributes on page 4-66 for information on entering values for attributes.
4 Next, add a member. Right-click the data type you just registered and select Create New Member from the menu.
4-3 Creating Data Types
4
5 Enter values for each item, and then press the Enter Key.
The new member is added to the union data type. Refer to Entering Data Type Attributes on page 4-66 for information on entering values for attributes.
6 Repeat steps 4 and 5 to add additional members as required.
Creating Enumerations
After you register the data type, add members.
1 Click the Enumerated Side Tab in the Data Type Editor.
The Enumeration Data Type Editor is displayed.
2 If, as in this example, no data types are registered, click the Data Type Editor. A data type registration line is displayed. If you have already registered at least one data type, but you want to add more, press the Insert Key with the cursor inside the Data Type Editor. Or, right-click inside the Data Type Editor and select Create New Data Type from the menu.
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3 Enter values for each item, and then press the Enter Key.
The data type is registered. Refer to Entering Data Type Attributes on page 4-66 for information on entering values for attributes.
4 Next, add a member (i.e., an enumerator). Right-click the data type you just registered and select Create New Member from the menu.
The new member (enumerator) is added to the enumeration data type.
5 Enter values for each item, and then press the Enter Key.
Refer to Entering Data Type Attributes on page 4-66 for information on entering values for attributes.
6 Repeat steps 4 and 5 to add additional members as required.
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Changing Data Types and Members
1 Click the cell to edit in the data type or member.
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2 Change the setting, and then press the Enter Key.
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The change is applied to the data type or member.
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1 Click any cell on the line of the data type or member to delete to select the entire line. 2 Press the Delete Key. Or, right-click a row and select Delete from the menu.
The data type or member is deleted.
Copying and Pasting Data Types and Members
1 Click any cell on the line of the data type or member to copy.
2 Press the Ctrl + C Keys. Or, right-click the row and select Copy from the menu.
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3 Press the Ctrl + V Keys. Or, right-click and select Paste from the menu.
4-3 Creating Data Types
The data type or member is copied with "_Copy" added to the name of the data type or member
that was copied.
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Precautions for Correct Use If you use another structure as a member of a structure, you cannot specify a structure that results in recursion or a loop. An error is detected during the program check.
Additional Information
If the same data type names or member names already exist when you copy and paste data types or members from spreadsheets or other sources, a dialog box that shows a list of the source and destination data types and members is displayed. Select the data types and members to overwrite and execute the paste.
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Entering Data Type Attributes
This section describes how to enter data type attributes. For information on attributes, valid value ranges, and character restrictions, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Name
Data type attribute
Description Enter a text string for the name.
Base Type Offset Type Offset Byte Offset Bit Enum Value Comment
Enter a data type directly or select one from the list. However, structures must be STRUCT and unions must be UNION.
Select the type of offsets to use for structure members. Refer to Specifying Offsets for Structure Members on page 4-66, below, for details.
Set the offset of the member from the start of the structure variable. The current setting is displayed. You can enter a byte offset when the offset type is set to User.
Set the offset of the member from bit 0 at the specified byte position. The current setting is displayed. You can enter a bit offset when the offset type is set to User.
Enter the integer value that corresponds to the enumerator.
Enter a comment.
Specifying Offsets for Structure Members
You can specify offsets for structure members to set the memory configuration of the members. You can align the memory configuration of the members of a structure when you use tag data links with CJ-series CPU Units or with other external devices that have different memory structures. For details, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Set the offset type according to your purpose.
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Offset Type NJ
CJ
User
Description
The optimum memory configuration for an NJ/NX/NY-series Controller is used for the fastest operation. Normally it is not necessary to make any changes.
The memory configuration of the CJ-series CPU Units is used. Suitable values are set for the byte and bit offsets.
This offset type allows you to set suitable values for the byte and bit offsets. You can set the byte and bit offsets that are necessary to match the memory structure of the external device.
Version Information
A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to set offsets for structure members.
Precautions for Correct Use
You cannot set initial values for variables that use structures for which member offsets are set. If
you specify initial values, an error will occur.
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Additional Information
You can globally switch the comments that are displayed. Refer to 8-16 Changing Variable Comments and Data Type Comments for the actual procedures.
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4-4 Namespaces
Namespaces
Namespaces allow you to group and nest the names of data types, functions, and function block definitions so that you can manage them. This reduces the chance of duplicated names and makes the entities easier to access. Use the following notation for names that use namespaces.
Device_A\Read_recipe Name of Short name namespace
Fully qualified name Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on namespaces.
Version Information With Sysmac Studio version 1.14 or higher, you cannot create namespaces that start with OmronLib. If you open a project that was created with Sysmac Studio version 1.13 or lower on Sysmac Studio version 1.14 or higher and the project contains a namespace that starts with OmronLib, an error will not occur, but you cannot create new namespaces that start with OmronLib.
Additional Information � The root of a namespace is called the global namespace. � Namespaces can be nested to up to three levels.
4-4-1 Data for Which You Can Use Namespaces
You can use namespaces for the following data. � Data types � Functions and function block definitions
4-4-2 Setting Namespaces
Data Types
Set the namespace and create the data type under it.
Displaying Namespace Settings
1 Display the Data Type Editor and then click the Namespace Tree Button on the left edge of the table. The namespace tree is displayed.
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4-4 Namespaces
4-4-2 Setting Namespaces
2 Select the namespace from the namespace tree.
All of the data types that belong to the selected namespace are displayed in the Data Type Editor.
Adding Namespaces
1 Right-click a namespace and select Create new child namespace from the menu.
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A namespace is added in the level below the selected namespace.
Additional Information You can change the names of the namespaces. Right-click a namespace and select Rename from the menu or press the F2 Key.
Deleting Namespaces
1 Right-click the namespace to delete and select Delete from the menu.
The namespace is deleted.
Precautions for Correct Use When you delete a namespace, all of the namespaces at the levels below it and all data types that belong to it are also deleted.
Additional Information You can delete all namespaces except for global namespaces at the same time. Right-click a global namespace and select Delete from the menu.
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Adding Data Types to Namespaces
1 Click the namespace to which to add a data type.
All of the data types that belong to the selected namespace are displayed in the Data Type Editor.
2 Register a data type using the normal data type registration procedure.
The data type is registered under the selected namespace.
Additional Information You can delete, move, copy, and paste data types in the Data Type Editor for a namespace.
Functions and Function Block Definitions
Use the following procedure to set a namespace in the properties of a function or function block definition.
1 Right-click the function or function block definition and select Properties from the menu.
The properties of the function or function block definition are displayed.
2 Enter the namespace as text for the Namespace Field in the properties.
The fully qualified name of the function or function block definition is displayed in the Multiview Explorer.
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Additional Information You can set the name of the namespace in the editor for the function or function block definition. Click the Namespace-Using Declaration Bar in the editor, and then enter the name of the namespace in the Namespace Field.
4-4-3 Using Namespaces
You can use the names of data types, functions, and function block definitions that use namespaces in the same way as you use names that do not use namespaces.
When you enter them, enter the fully qualified name. For functions that display candidates during 4
text entry, the fully qualified names are displayed.
Examples of Entering Fully Qualified Names
Item Data type Functions and function block definitions
Examples of fully qualified names
Namespace1\StructType1
� Entry Example for Variable Table Namespace1\NamespaceSub1\FB1
� Entry Example for Ladder or ST Editor \\Namespace1\NamespaceSub1\FN1
The following section describes a special method for that you can use for namespaces.
4-4-3 Using Namespaces
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When programming a ladder diagram or ST, you can declare a namespace for the POU in advance. This allows you to use the short names for function names and function block names.
1 Display the variable table in the Ladder Editor or ST Editor and click the Namespace - Using Bar.
The Namespace and Using setting areas are displayed.
Note Refer to 4-5-1 Programming Ladder Diagrams and 4-5-2 Programming Structured Text for the procedures to display the Ladder Editor and ST Editor.
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2 Enter the namespaces for the functions or function blocks to use in ladder programming or ST programming. Example: The Namespace1\NamespaceSub1\FN1 namespace for the function is declared in the ST Editor.
This allows you to enter the short name in the ladder diagram or ST. Example:
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Precautions for Correct Use � An error will occur during the program check if all of the names of namespaces are not unique
when you enter the short names of function names and function block names after you declare the use of more than one namespace. If that occurs, enter the fully qualified names. � When you specify a data type in a variable table, you must enter the fully qualified name even if you have declared a namespace.
Additional Information � You can enter the fully qualified names even if the use of a namespace is declared. � When you use functions or function block definitions that are in the same namespace, you can
enter the short names even if you do not declare them. � Backslashes (\) in names that use namespaces in the ST Editor may be displayed as Yen
symbols depending on the font that you use for the display. You can change the font in the option settings. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
4-4-3 Using Namespaces
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4-5 Programming
The following sections describe how to enter programming code. You can use either ladder diagrams (LD) or ST (structured text) to code the algorithms used in POUs (programs, functions, or function blocks).
4-5-1 Programming Ladder Diagrams
� Programming Ladder Diagram Programming a ladder diagram involves connecting circuit parts with connecting lines to build algorithms. You can enter circuit parts and connecting lines in the Ladder Editor.
Opening and Using the Ladder Editor
Programs
Double-click a section of a ladder diagram program under Programming - POUs - Programs in the Multiview Explorer. Or, right-click the section and select Edit from the menu.
The Ladder Editor for the program is displayed.
Refer to Registering Programs on page 4-51 for the procedure to register a ladder diagram program.
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Functions and Function Blocks
Double-click a ladder diagram function under Programming - POUs - Functions or a ladder diagram function block under Programming - POUs - Function Blocks in the Multiview Explorer. Or, right-click a ladder diagram function or function block and select Edit from the menu.
The Ladder Editor for the function or function block is displayed.
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For information on registering ladder diagram functions or function blocks, refer to Registering Function Blocks on page 4-54 or Registering Functions on page 4-56.
Adding and Deleting Sections
� Sections You can divide ladder diagrams into smaller units for easier management. These units of division are called sections.
Adding Sections
1 Select a ladder diagram program under Programming - POUs - Programs in the Multiview Explorer.
2 Right-click the ladder diagram program and select Add - Section from the menu.
A section is added under the selected ladder diagram program.
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Changing the Order of Sections
Programs are executed from top to bottom in the order that the sections are displayed in the Multiview Explorer. To change the order of execution, you must change the order of the sections.
1 Select the section to change the order of under Programming - POUs - Programs in the Multiview Explorer.
2 Right-click the section and select Move Up from the menu to move the section up, or select Move Down from the menu to move the section down. You can also drag the sections to change the order.
The selected section is moved up or down.
Right-click an existing section and select Insert Above - Section. A new section is inserted above the selected section.
Deleting Sections
1 Select the section to delete from a ladder diagram program under Programming - POUs - Programs in the Multiview Explorer.
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2 Right-click the section and select Delete from the menu. Or, select Delete from the Edit menu. You can also press the Delete Key to delete the section.
The selected section is deleted.
Copying and Pasting Sections
There are the following ways to copy sections.
� Copy: Only circuit data in the section is copied.
� Copy with Dependents: Not only the circuit data of the section but also variables that are referenced by the section and the data types of the variables are copied.
1 Select the section to copy from a ladder diagram program under Programming - POUs - Programs in the Multiview Explorer.
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2 Press the Ctrl + C Keys. Or, right-click the section and select Copy from the menu. If you want to copy data together with referenced variables and their data types, select Copy with Dependents.
4-5-1 Programming Ladder Diagrams
3 Press the Ctrl + V Keys. Or, right-click and select Paste from the menu.
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� When Copy is selected The copied section is added. If a section with the same name already exists, a message box appears to confirm whether you want to overwrite the section. Click the Yes Button to overwrite the section. If you click the No Button, the section is added with the name "Copy_1_of_Section Name".
� When Copy with Dependents is selected Not only the data that are copied with Copy but also global variables and their data types used in the section are pasted to the destination program. If a variable or data type with the same name and different attribute already exists in the destination program, the Comparison before pasting dependents Dialog Box is displayed. For details on the Comparison before pasting dependents Dialog Box, refer to 4-5-3 Comparison before Pasting Dependents on page 4-140.
Precautions for Correct Use � You cannot undo or redo actions performed on sections in the Multiview Explorer. After you
delete a section, you cannot restore it. � Changes that you make to a program affect all sections under that program as well. � After you paste a section, check to be sure that the variables and data types are used cor-
rectly.
Additional Information � To switch the display between different sections, click the tab for the desired section name.
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Basic Circuit Part Operations
� Inserting Circuit Parts You insert circuit parts in the Ladder Editor to create an algorithm. The following circuit parts are supported.
Input
Circuit Part
Description A program input.
Output
A program output.
Function block Function Inline ST
An instruction that defines an operation.
An instruction to perform a single function.
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An ST program that is entered in a ladder program.
Jump Jump label
A jump starting point to another rung. A label that designates a jump destination.
Methods for Inserting Circuit Parts
There are four basic ways to insert circuit parts. Method (1) Drag a circuit part from the Toolbox. Method (2) Right-click a connecting line and select Insert Circuit Part from the menu. Method (3) Select a connecting line and press the shortcut key to insert a circuit part. Method (4) Select a connecting line and then select a circuit parts from Insert - Circuit Parts on
the Main Menu.
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Inserting and Deleting Program Inputs and Outputs
Inserting a Program Input in an AND Structure
There are four methods to insert an input in an AND structure. Method (1) Drag an input from the Toolbox. Method (2) Right-click a connecting line and select Insert Input from the Menu. Method (3) Select a connecting line and press the C Key. Method (4) Select the location at which to insert the input and select Insert - Circuit Parts - N.O.
Input. The procedures to insert the input that is shown in the following figure are given below.
Method (1) Dragging an Input from the Toolbox Select Input in the Ladder Tools in the Toolbox and drag it to the location where you want to insert it in the Ladder Editor.
Drag
The input is inserted.
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Method (2) Right-clicking a Connecting Line and Selecting Insert Input from the Menu Right-click the connecting line where you want to insert the input and select Insert Input from the menu.
The input is inserted.
Method (3) Selecting a Connecting Line and Pressing the C Key Select a connecting line and then press the C Key.
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The input is inserted.
Method (4) Selecting the Location at Which to Insert the Input and Selecting Insert - Circuit Parts - N.O. Input. Select the location at which to insert the input and then select Insert - Circuit Parts - N.O. Input.
The input is inserted.
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Inserting a Program Input in an OR Structure
There are five ways to insert an input in an OR structure. Method (1) Drag an input from the Toolbox to the input that is above where you want to insert the
input. Method (2) Right-click the input where you want to insert the OR input and select Insert Parallel
Input Above or Insert Parallel Input Below from the menu. Method (3) Drag the connecting line from the start point to insert the input to the connecting line at
the end point. Method (4) Select an input and press the W Key. For a NOT input, press the X Key. Method (5) Select the location at which to insert the input and select Insert - Circuit Parts - OR
with N.O. Input. The procedures to insert the input that is shown in the following figure are given below.
Method (1) Dragging an Input from the Toolbox to the Input that Is Above Where You Want to Insert the Input Select Input in the Ladder Tools in the Toolbox and drag the input to the input that is above the location where you want to insert it in the Ladder Editor.
Drag
The input is inserted in an OR structure.
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Method (2) Right-clicking the Input Where You Want to Insert the OR Input and Selecting Insert Parallel Input Above or Insert Parallel Input Below from the Menu Right-click the input where you want to insert the OR input and select Insert parallel input below from the menu.
The input is inserted in an OR structure.
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Method (3) Dragging the Connecting Line from the Start Point to Insert the Input to the Connecting Line at the End Point Drag the connecting line from the start point where you want to insert the input to the end point.
Drag
The pop-up menu is displayed.
Select N.O. Input. Or, press the Enter Key. The input is inserted in an OR structure.
If you drag a connecting line to connect across the rung without a program input, a program input is inserted automatically. Insertion Example:
Drag
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Select Add Vertical Line from the pop-up menu or press the Enter Key.
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Method (4) Selecting an Input and Pressing the W Key For a NOT input, press the X Key. Select the input above the location where you want to insert the input and press the W Key.
The input is inserted in an OR structure.
Method (5) Selecting the Location at Which to Insert the Input and Selecting Insert - Circuit Parts - OR with N.O. Input Select the input above the location at which to insert the input and then select Insert - Circuit Parts - OR with N.O. Input
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The input is inserted in an OR structure.
Inserting Program Outputs in Series in an AND Structure
There are four ways to insert outputs in series. Method (1) Drag an output from the Toolbox. Method (2) Right-click a connecting line and select Insert Output from the menu. Method (3) Select a connecting line and then press the O Key. For a NOT output, press the Q Key. Method (4) Select the location at which to insert the output and select Insert - Circuit Parts - Out-
put. The procedures to insert the output that is shown in the following figure are given below.
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Method (1) Dragging an Output from the Toolbox Select Output in the Ladder Tools in the Toolbox and drag it to the location where you want to insert it in the Ladder Editor.
Drag
The output is inserted.
If you drop the output on a connecting line, the output is inserted in series. Method (2) Right-clicking a Connecting Line and Selecting Insert Output from the Menu
1 Right-click the connecting line where you want to insert the output and select Insert Output from the menu.
The output is inserted.
Method (3) Selecting a Connecting Line and Pressing the O Key For a NOT output, press the Q Key. Select the output above the location where you want to insert the output and press the O Key.
The output is inserted.
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Method (4) Selecting the Location at Which to Insert the Output and Selecting Insert - Circuit Parts - Output. Select the location at which to insert the output and then select Insert - Circuit Parts - Output.
The output is inserted.
Inserting Program Outputs in an OR Structure
There are three ways to insert outputs. Method (1) Drag an output from the Toolbox to the location above the coil with which an OR struc-
ture is required. Method (2) Drag the connecting line from the start point to insert the output to the end point at the
right bus bar.
Method (3) Right-click the output where you want to create the OR structure in the Ladder Editor 4
and select Insert Parallel Output from the menu. The procedures to insert the output that is shown in the following figure are given below.
Method (1) Dragging an Output from the Toolbox Select Output in the Ladder Tools in the Toolbox and drag it to the location where you want to insert it in the Ladder Editor.
4-5-1 Programming Ladder Diagrams
Drag
The output is inserted. If you drop the output on a connecting line, the output is inserted in series.
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Method (2) Dragging the Connecting Line from the Start Point to Insert the Output to the End Point at the Right Bus Bar Drag the connecting line from the start point where you want to insert the output to the right bus bar at the end point.
Drag
The pop-up menu is displayed.
Select Output. Or, press the Enter Key. The output is inserted.
Method (3) Right-clicking the Output Where You Want To Create the OR Structure in the Ladder Editor and Selecting Insert Parallel Output from the Menu Right-click the output where you want to insert the OR output and select Insert parallel output above or Insert parallel output below from the menu.
The output is inserted in an OR structure.
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Procedures for Changing Circuit Parts Editing Program Inputs and Outputs
Negating Inputs and Outputs Select an input or an output, and then press the / Key. Or, right-click the input or output and select Invert from the menu.
The N.O./N.C. state of the input or output is reversed.
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Setting Differentiation To set upward differentiation, right-click the input or output and select Diff Up from the menu. To set downward differentiation, select Diff Down from the menu.
Upward differentiation or downward differentiation is set.
Editing Function Blocks
Entering Parameters
1 Click the parameter you want to edit in the function block.
Click
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2 Enter the variable name to use. If there are variable names with a usable data type, you can also select from the variables displayed in the list.
Reversing Inputs Right-click a BOOL input variable name in the function block and select Toggle Negate from the menu.
The input for the selected parameter is inverted.
A small circle is displayed for reversed parameters.
Editing Functions
Entering Parameters Parameters are entered in the same way as for function blocks.
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Deleting Program Inputs
Right-click the input you want to delete and select Delete from the menu. Or, select the input and press the Delete Key.
The selected input is deleted.
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In this case, any variables assigned to the input are not deleted from the local variable table or global variable table.
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Deleting Outputs
Right-click the output you want to delete and select Delete from the menu. Or, select the output and press the Delete Key.
The selected output is deleted.
]
In this case, any variables assigned to the output are not deleted from the local variable table or global variable table.
Additional Information You can specify the rung display width to align the positions of the right bus bars of rungs. Specify the rung display width in the option settings. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
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Entering Variables in Circuit Parts
Use the following method to enter variables into a program input or output that you have inserted. All variables with the correct data type are displayed in the list.
Entering Global Variables
Method (1) Select a variable that is already registered in the global variable table from the list in the Ladder Editor.
Local Variables
Method (1) Select a variable that is registered in the local variable table from the list in the Ladder Editor.
Method (2) Drag a variable from the local variable table of the POUs to the Ladder Editor.
Method (3) Enter a variable in the Ladder Editor (or the ST Editor) before you register the variable in the local variable table.
The procedures to enter the variables that are shown in the following figure are given below.
4
Method (1) Selecting a Variable in the Ladder Editor
1 Select the input, click Enter Variable or press the Ctrl + Space Keys, and then select a variable from the list. The variables of the same type as the input are displayed as candidates in the list.
The variable is entered.
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Method (2) Dragging a Variable from the Local Variable Table of the POUs Drag the variable you want from the local variable table to the input.
Drag
The variable is entered.
Method (3) Enter a variable in the Ladder Editor (or the ST Editor) before you register the variable in the local variable table.
Select a program input, click Enter Variable, and enter the variable directly.
The variable is entered.
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Additional Information
� Members of derivative variables also appear in the list as long as they have the correct data type.
� You cannot view addresses in memory for CJ-series Units or I/O ports in the Ladder Editor, only the variable names. You also cannot see if a variable has an AT specification.
� The variable names of any new variables that you enter in the Ladder Editor are automatically registered in the local variable table. You can select the Select local or global variable and register it Check Box in the option settings to specify the variable table in which the variable names are registered. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
� You can identify the following types of variables in the Ladder Editor by their color. � Global variables: Red-purple � Local variables: Black You can change the color of the global variables in the option settings.
� If you select the Show comment Check Box for variable comments in the option settings, you can enter a variable comment when you enter a variable.
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� You can change the display width for variable names in the option settings. � If an NA-series PT is registered in the project, you can drag program inputs and program out-
puts from the Ladder Editor to the NA-series PT Page Editor to add them as buttons and lamps. Refer to the NA-series Programmable Terminal Software User's Manual (Cat. No. V118) for details. � If you move the mouse over a circuit part or select Show Tooltip, supplemental information on the variable that you entered is displayed in the tooltip. Refer to Show Tooltip on page 4-120 for detail.
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Inserting Rungs
You can use the following procedures to insert rungs. Method (1) Select Rung under Ladder Tools in the Toolbox and then drag the rung to the beginning
of the rung in front of the location where you want to insert the rung.
Drag
Method (2) Select the start of a rung and press the R Key. (Press the Shift + R Keys to insert a rung above the selected rung.)
Method (3) Right-click a rung and select Insert rung above or Insert rung below.
A rung is inserted above or below the selected rung.
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Inserting and Deleting Function Block Instructions and User-defined Function Blocks
Inserting Function Blocks
You can use the following methods to insert function block instructions and user-defined function blocks (collectively called "function blocks" below). Inserting Function Block Instructions Method (1) Drag a function block instruction from the Toolbox. Inserting User-defined Function Blocks and Function Block Instructions Method (1) Drag a function block from the Toolbox. Method (2) Right-click the desired location and select Insert Function Block from the menu. Method (3) Move the cursor to the insertion position and press the F Key. The procedures to insert the function block that is shown in the following figure are given below.
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Inserting Function Block Instructions
The following example is for a communications instruction. Method (1) Dragging a Function Block Instruction from the Toolbox
1 Select SendCmd under Communications in the Toolbox and then drag it to the location where you want to insert it.
Drag
A rung for the SendCmd function block is inserted.
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2 Click Enter Function Block at the top of the function block you inserted and enter an instance name for the function block. If the function block instance is registered in the local variable table, you can also select this instance.
The instance name is registered in the local variable table.
This completes the insertion of the function block. If you entered a new instance name, it is registered in the local variable table.
Inserting User-defined Function Blocks and Function Block Instructions
Method (1) Dragging a Function Block from the Toolbox
1 Select Function Block under Ladder Tools in the Toolbox and then drag it to the location where you want to insert it.
Drag
The function block is added to the rung.
2 Click Enter Type Name inside the function block you inserted, press the Ctrl + Space Keys or enter the first character, and then select a function block or function block instruction from the drop-down list.
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The selected function block is displayed.
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3 Click Enter Function Block in the function block you inserted and enter an instance name for the function block. If the function block instance is registered in the local variable table, you can also select this instance.
The instance name is registered in the local variable table.
This completes the insertion of the function block. If you entered a new instance name, it is registered in the local variable table. For the following methods 2 and 3, you first must register a function block definition as a data type in the local variable table.
Method (2) Right-clicking the Desired Location and Selecting Insert Function Block from the Menu 4
1 Right-click a connecting line and select Insert Function Block from the menu.
The function block is added.
2 Click Enter Function Block at the top of the function block you inserted and enter an instance name for the function block. If the function block instance is registered in the local variable table, you can also select this instance.
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This completes the insertion of the function block. If you entered a new instance name, it is registered in the local variable table. Method (3) Moving the Cursor to the Insertion Position and Pressing the F Key Select the connecting line at the insertion location and press the F Key. An empty function block is added. The rest of the procedure is the same as for method 2.
Additional Information
You can insert a function block by dragging the mouse between two connecting lines. Select Function Block from the pop-up menu that is displayed when you release the mouse button.
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Right-click the function block instance to delete and select Delete from the menu. Or, select the function block instance and press the Delete Key.
The selected function block instance is deleted. However, the variables used for parameters are not deleted.
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Entering Parameters in Function Blocks
Use the following method to enter parameters into a function block that you have inserted. All variables with the correct data type are displayed in the list.
Global Variables Method (1) Select a variable that is registered in the global variable table from the list in the Ladder
Editor. Local Variables Method (1) Select a variable that is registered in the local variable table from the list in the Ladder
Editor. Method (2) Drag a variable from the local variable table of the POUs to the Ladder Editor. Method (3) Enter a variable in the Ladder Editor (or the ST Editor) before you register the variable in
the local variable table. The procedures to enter the variables that are shown in the following figure are given below.
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Method (1) Selecting a Variable in the Ladder Editor Select the function block, click Enter Variable or press the Ctrl + Space Keys, and select a variable from the list.
All variables with the correct data type are displayed in the list. The selected variable is entered into the function block.
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Method (2) Dragging a Variable from the Local Variable Table of the POUs Drag the variable you want from the local variable table to the function block parameter.
The variable is entered. Method (3) Entering Variable Names Directly in the Ladder Editor or ST Editor Enter a variable name directly before you register the variable in the local variable table.
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The variable is entered and registered in the local variable table.
Additional Information
� Members of derivative variables also appear in the list as long as they have the correct data type.
� You cannot view addresses in the Ladder Editor, only the variable names. You also cannot see if a variable has an AT specification.
� The variable names of any new variables that you enter in the Ladder Editor are automatically registered in the local variable table. You can select the Select the internal or global variable Check Box in the option settings and specify registering the variable in the global variable table. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
� If you enter a new variable on the Ladder Editor, the data type for the parameter where you enter the variable is automatically entered. If the data type cannot be determined, a dialog box is displayed for you to enter the data type.
� Examples are given below of the notation to use to enter constants (literals) for the parameters of function blocks that you insert in a program. � data_type_name#base#numeric_value Examples: Entering a hexadecimal number: INT#16#001A Entering a decimal number: INT#10#26 Entering an octal number: INT#8#32 Entering a binary number: INT#2#00011010 � data_type_name#numeric_value Example: INT#26
Note In this case, the base is treated as a decimal number.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on the notation of constants (literals).
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� If you select and right-click a function block instruction and select Update from the pop-up menu, differences between parameters of the function block definition and selected function block called are solved. For a user-defined function block, a message box appears to confirm whether to update all other function blocks called. The following conditions may cause differences between parameters of a function block definition and selected caller.
� A user-defined instruction is used in a ladder program and then an in-out variable or return variable of the instruction is changed.
� A system-defined instruction is used in a ladder program and then the Controller version is changed, which causes instruction parameter to change.
� If you move the mouse over a variable that you entered or select Show Tooltip, supplemental information on the variable is displayed in the tooltip. Refer to Show Tooltip on page 4-120 for detail.
Inserting and Deleting Function Instructions and User-defined Functions
Inserting Functions
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You can use the following methods to insert function instructions and user-defined functions (collectively called "functions" below).
Inserting Function Instructions Method (1) Drag a function instruction from the Toolbox.
Inserting User-defined Functions and Function Instructions Method (1) Drag a function from the Toolbox. Method (2) Right-click the desired location and select Insert Function from the menu. Method (3) Move the cursor to the insertion position and press the I Key. The procedures to insert the function that is shown in the following figure are given below.
Inserting Function Instructions
Method (1) Dragging a Function Instruction from the Toolbox
The following example is for the SINT_TO_DWORD instruction.
Select SINT_TO_DWORD under Data Type Conversion in the Toolbox and then drag it to the location where you want to insert it. Or, right-click the desired location and select Insert Function from the menu. The function is inserted.
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Drag
The selected function is inserted.
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Inserting User-defined Functions and Function Instructions
Method (1) Dragging a Function from the Toolbox
1 Select Function from Ladder Tools in the Toolbox and then drag it to the location where you want to insert it. The function is inserted.
Drag
2 Click Enter Function in the function you inserted, press the Ctrl + Space Keys or enter the first character, and then select a function or function instruction from the drop-down list.
The selected function is inserted. Additional Information You can connect multiple functions or function blocks together with connecting lines. For information on the possible connection forms, refer to information on ladder diagrams in the NJ/NXseries CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558). Method (2) Right-clicking the Desired Location and Selecting Insert Function from the Menu
1 Right-click a connecting line in the Ladder Editor and select Insert Function from the menu.
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2 Enter the function name and select the specific function to use.
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If you enter characters, registered functions that start with those characters are displayed.
Method (3) Moving the Cursor to the Insertion Position and Pressing the I Key
1 Select the connecting line at the insertion location and press the I Key
An empty function is added.
The rest of the procedure is the same as for method 2.
Additional Information
You can insert a function by dragging the mouse between two connecting lines. Select Function from the pop-up menu that is displayed when you release the mouse button.
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Deleting Functions
Right-click the function to delete and select Delete from the menu. Or, select the function and press the Delete Key.
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The selected function is deleted. Variables used as parameters are not deleted.
Additional Information
When you insert or delete circuit parts, connecting lines are automatically created to connect the circuit parts together.
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Entering Parameters in Functions
Use the following method to enter parameters into a function that you have inserted. All variables with the correct data type are displayed in the list.
Global Variables Method (1) Select a variable that is registered in the global variable table from the list in the Ladder
Editor. Local Variables Method (1) Select a variable that is registered in the local variable table from the list in the Ladder
Editor. Method (2) Drag a variable from the local variable table of the POUs to the Ladder Editor. Method (3) Enter a variable in the Ladder Editor (or the ST Editor) before you register the variable
in the local variable table. The procedures to enter the variables that are shown in the following figure are given below.
Method (1) Selecting a Variable in the Ladder Editor Select the function, click Enter Variable or press the Ctrl + Space Keys, and select a variable from the list.
All variables with the correct data type are displayed in the list. The selected variable is entered into the function.
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Method (2) Dragging a Variable from the Local Variable Table of the POUs Drag the variable you want from the local variable table to the function parameter.
Drag
The variable is entered. Method (3) Entering Variable Names Directly in the Ladder Editor or ST Editor Enter a variable name directly before you register the variable in the local variable table.
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The variable is entered and registered in the local variable table.
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Additional Information
� Members of derivative variables also appear in the list as long as they have the correct data type.
� You cannot view addresses in the Ladder Editor, only the variable names. You also cannot see if a variable has an AT specification.
� The variable names of any new variables that you enter in the Ladder Editor are automatically registered in the local variable table. You can select the Select the internal or global variable Check Box in the option settings and specify registering the variable in the global variable table. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
� If you enter a new variable on the Ladder Editor, the data type for the parameter where you enter the variable is automatically entered. If the data type cannot be determined, a dialog box is displayed for you to enter the data type.
� Examples are given below of the notation to use to enter constants (literals) for the parameters of functions that you insert in a program. � data_type_name#base#numeric_value Examples: Entering a hexadecimal number: INT#16#001A Entering a decimal number: INT#10#26 Entering an octal number: INT#8#32 Entering a binary number: INT#2#00011010 � data_type_name#numeric_value Example: INT#26
Note In this case, the base is treated as a decimal number.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on the notation of constants (literals). � If you select and right-click a function instruction and select Update from the pop-up menu, differences between parameters of the function definition and selected function called are solved. For a user-defined function, a message box appears to confirm whether to update all other functions called. The following conditions may cause differences between parameters of a function definition and selected caller. � A user-defined instruction is used in a ladder program and then an in-out variable or return variable of the instruction is changed. � A system-defined instruction is used in a ladder program and then the Controller version is changed, which causes instruction parameter to change. � If you move the mouse over a variable that you entered or select Show Tooltip, supplemental information on the variable is displayed in the tooltip. Refer to Show Tooltip on page 4-120 for detail.
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Displaying the Contents of User-defined Functions and Function Blocks
You can display the contents of a user-defined function or function block from a ladder program.
1 Right-click the user-defined function or function block name in the ladder program and select To Lower Layer. You can also double-click the name.
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The contents of the function or the definition of the function block is displayed.
2 To return from the displayed function or function block definition to the original ladder program, right-click on the function or function block definition and select To Upper Layer.
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The original ladder program is displayed.
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Additional Information
� You cannot use the To Lower Layer menu command to display the contents of a function or the definition of a function block in the following cases. � The function or function block is defined in a library that is set so that you cannot display the source. � The maximum number of tabs are already displayed in the Edit Pane.
� You can select the To Upper Layer menu command only from a function or function block definition that you displayed with the To Lower Layer menu command. The To Upper Layer menu command is valid only while the tab page for the contents of the function or the definition of the function block is displayed. However, in the following cases, the contents of the original program is not displayed even if you select the To Upper Layer menu command. � The original program is defined in a library that is set so that you cannot display the source. � The maximum number of tabs are already displayed in the Edit Pane.
� If you display the same function block definition from more than one program and then select the To Upper Layer menu command from the function block definition, the program where you last selected the To Lower Layer menu command is displayed.
� If you select the To Lower Layer menu command while online, the contents of the function block instance are displayed instead of the function block definition. If you then display the same function block definition from a different instance, the display is overwritten. In that case, you can select the To Upper Layer menu command only from the function block instance where you last selected the To Lower Layer menu command.
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Inserting and Deleting Inline ST
� Inserting Inline ST You can insert a box in a ladder diagram to enable programming in ST. This allows you to include ST in a ladder diagram.
Precautions for Correct Use
� You can write up to 1,000 lines of code in an inline ST box. If you write more than 1,000 lines, an error is detected during the program check or when the user program is built.
� You can insert only one inline ST box per rung. If you insert more than one, an error is detected during the program check or when the user program is built.
� You cannot insert any circuit parts between an inline ST box and the right bus bar. If you insert one, an error is detected during the program check or when the user program is built.
Inserting Inline ST
1 Right-click the connecting line where you want to insert the inline ST and select Insert Inline ST
from the menu. Or, drag Inline ST under Ladder Tools in the Toolbox.
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An inline ST box is inserted.
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2 If there are any circuit parts between the inline ST box and the right bus bar, delete them.
Refer to Editing ST on page 4-129 for information on programming in ST.
Deleting an Inline ST Box
Right-click the inline ST box to delete and select Delete from the menu. Or, select the inline ST box and press the Delete Key.
The inline ST box is deleted.
Copying and Pasting Inline ST Boxes
1 Right-click the inline ST box to copy and select Copy from the menu. 2 Right-click the connecting line where you want to paste the inline ST box and select Paste from
the menu. The inline ST box is pasted.
Additional Information
You can drag an inline ST box in the Ladder Editor to move it. Drag the inline ST box to the connecting line where you want to move it.
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Copying and Pasting Circuit Parts
There are the following ways to copy circuit parts. � Copy: Only circuit part data is copied. � Copy with Dependents: Not only the circuit part data but also variables that are referenced by the
circuit part and the data types of the variables are also copied. If you paste the circuit part into another program, not only the circuit part data but also variables used in the circuit part and the data types of the variables are added to the program. If a variable or data type with the same name and different attribute already exists in the destination program, the Comparison before pasting dependents Dialog Box is displayed. For details on the Comparison before pasting dependents Dialog Box, refer to 4-5-3 Comparison before Pasting Dependents on page 4-140.
Copying and Pasting Program Inputs
1 Right-click the input to copy and select Copy from the menu. Or, select the input and press the Ctrl + C Keys. If you want to copy data together with referenced variables and their data types, select Copy with Dependents. 4
2 Right-click the connecting line where you want to paste the input and select Paste from the menu. To paste the input in an OR structure, right-click the input above the location where you want the OR structure and select Paste from the menu.
The input is pasted.
If an input is selected, the input is pasted under that input.
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Copying and Pasting Outputs
1 Right-click the output to copy and select Copy from the menu. Or, select the output and press the Ctrl + C Keys. If you want to copy data together with referenced variables and their data types, select Copy with Dependents.
2 Right-click the connecting line where you want to paste the output and select Paste from the menu. To paste the output in an OR structure, right-click the output above the location where you want the OR structure and select Paste from the menu.
The output is pasted. If an output is selected, the output is pasted under that output.
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Copying and Pasting Function Blocks
1 Right-click the function block instance to copy and select Copy from the menu. Or, select the function block instance and press the Ctrl + C Keys. If you want to copy data together with referenced variables and their data types, select Copy with Dependents.
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2 Right-click the connecting line where you want to paste the function block instance and select Paste from the menu. To paste the function block instance in an OR structure, right-click the circuit part above the location where you want the OR structure and select Paste from the menu.
The function block instance is pasted. Any variables assigned to parameters for the function block instance are also pasted.
If a circuit part is selected, the function block instance is pasted under that circuit part.
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Copying and Pasting Functions
1 Right-click the function to copy and select Copy from the menu. Or, select the function and press the Ctrl + C Keys. If you want to copy data together with referenced variables and their data types, select Copy with Dependents.
2 Right-click the connecting line where you want to paste the function and select Paste from the menu. To paste the function in an OR structure, right-click the circuit part above the location where you want the OR structure and select Paste from the menu.
The function is pasted. Any variables assigned to parameters for the function are also pasted.
If a circuit part is selected, the function is pasted under that circuit part.
Precautions for Correct Use After you paste a circuit part, check to be sure that the variables and their data types are used correctly. Additional Information You can select more than one circuit part at the same time. Either drag the cursor around the circuit parts to select, or click the circuit parts while holding down the Shift Key.
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Moving Vertical Lines
Use the following procedure to change where a connecting line is connected.
1 Drag the connecting line to move as shown in the following figure.
2 Release the mouse button at the new position for the connecting line. A pop-up menu is displayed.
3 Select Move Vertical Line.
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The ladder diagram changes.
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Editing Data Types
If you perform editing offline, you can change the data types of variables on the Ladder Editor.
1 Right-click a variable and select Edit Data Type from the pop-up menu.
A dialog box is displayed for you to enter the data type.
2 Enter the new data type and press the Enter Key.
The data type of the variable is changed.
Editing Variables
Changing Variables
You can change the variables that are entered for program inputs, program outputs, and parameters to other variables. Right-click a program input, program output, or parameter, and select Edit from the pop-up menu.
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Registering Variables in Variable Table
You can register variables that are entered for program inputs, program outputs, and parameters in a variable table.
1 Right-click a variable that is not registered and select Register in Variable Table from the menu.
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The Select the variable type Dialog Box is displayed.
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2 Select a variable type you want to register on the Select the variable type Dialog Box.
If you entered a variable for a parameter, the Enter the data type Dialog Box is displayed. Enter a data type and press the Enter Key. This completes the registration of a new variable in a local or global variable table.
Jumping to a Variable Table
You can display the variable table where a selected variable is registered and jump to the line for that variable. Right-click a variable and select Go To Variable Table from the pop-up menu. Or, select the variable and press the Ctrl + Alt + J Keys.
Displaying and Editing Variable Comments
You can display and edit variable comments on the Ladder Editor.
Displaying Variable Comments
To display variable comments, select Option from the Tools Menu and select the Show comment Check Box for variable comments before you display the Ladder Editor. Refer to 8-23 Sysmac Studio Option Settings for the procedure. You can edit comments that can be edited by clicking them.
Additional Information
� You can display the comments for the global variables instead of the comments for the external variables. In the option settings, select the Use global variable comment Check Box under the variable comments in the ladder information. If you select the above check box, you cannot edit the comments of the external variables.
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� You can display variable comments on more than one line. Specify the number of display lines for the variable comments in the ladder information in the option settings. When a comment does not fit in the display area, a part of comment that cannot be displayed will be omitted. You can select the omitted part from beginning, middle, or end of the comment in the option settings.
Displaying Structure Variable Member Comments
Variable comments for structure variable members are displayed in the following form: Structure_variable_comment Member_variable_comment (with a space between the two comments). If the member variable comment is empty, the data type comment for that member is displayed instead of the member variable comment. If both the member variable comment and the data type comment are empty, only the structure variable comment is displayed.
Displaying Union Variable Member Comments
Variable comments for union variable members are displayed. If the member variable comment is empty, the data type comment for that member is displayed. If both the member variable comment and the data type comment are empty, the union variable comment is displayed.
Show Tooltip
If you move the mouse over a variable that you entered or execute the Show Tooltip menu, supplemental information on the variable is displayed in the tooltip.
Attributes of variables
Name Data type AT
Initial value
Retain Constant Network Publish Edge Comment
Displayed information
The variable name is displayed. The data type is displayed. Entered is displayed if an address is allocated to the variable. Refer to the variable table for details on the AT specification. The set initial value is displayed. Entered is displayed if the variable cannot be identified because the data type is the derivative data type. Refer to the variable table for details on the initial value. The Retain attribute setting is displayed. The Constant attribute setting is displayed. The Network Publish setting is displayed. The differential type is displayed. The comment is displayed.
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Inserting and Deleting Jump Labels and Jumps
You can insert a jump label in the rung to jump to and then specify the jump label when you insert a jump.
Inserting Jump Labels
1 Right-click the beginning of the rung to jump to and select Insert Jump Label from the menu.
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Or, drag a Label under Ladder Tools in the Toolbox to the beginning of the rung. A jump label entry field is inserted.
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2 Enter the name of the jump label.
Inserting Jumps
1 Right-click the connecting line immediately before or after the output for the rung to jump from and select Insert Jump from the menu. Or, drag a Jump under Ladder Tools in the Toolbox to the connecting line.
A jump circuit part is displayed.
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Precautions for Correct Use All circuit parts to the right of where you insert a jump are deleted.
2 Click Enter Jump Label for the jump circuit part and enter the name of the label to jump to.
Deleting Jump Labels and Jumps
Deleting Jumps
1 Right-click the jump you want to delete and select Delete from the menu. Or, select the jump and press the Delete Key. The jump is deleted. The right bus bar is displayed where the jump was deleted.
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2 Select the connecting line to the left of the right bus bar and insert an output, function, or function block to construct the rung.
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Deleting Jump Labels
1 Right-click the jump label you want to delete and select Delete from the menu. Or, select the jump label and press the Delete Key.
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The jump label is deleted.
Entering Element Comments
Element comments can be set in the following circuit parts. Inputs, coils, functions, function blocks, and jumps
Example:
Version Information Element comments can be used in projects for the NX102 CPU Unit with unit version 1.31 or later and the NJ/NX/NY-series CPU Unit with unit version 1.19 or later.
Adding and Changing Element Comments
To add or change element comments, select a circuit part to set an element comment and perform one of the following operations. � Right-click the circuit part and select Edit Element Comment. � Press the Alt + Enter Keys.
Additional Information You can show or hide element comments and specify the number of lines to display in the option settings. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
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Inserting and Deleting Bookmarks
You can add bookmarks to the beginning of rungs and move between them.
1 Right-click the beginning of a rung and select Bookmarks - Toggle Bookmark from the menu.
A bookmark is displayed at the beginning of the rung.
2 To delete a bookmark for a rung, right-click the beginning of a rung where you have set a bookmark and select Bookmarks - Toggle Bookmark from the menu just as you did to insert a new bookmark. The bookmark for the selected rung is deleted.
3 To delete all bookmarks at once, right-click the beginning of a rung and select Bookmarks Clear All Bookmarks from the menu. All bookmarks are deleted.
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Entering Rung Comments
You can add element comments to each rung.
1 Select the rung header and display the entry field with one of the following methods.
� Right-click and select Edit Rung Comment. � Press the Enter Key. � Double-click the left mouse button.
2 Enter a comment.
Additional Information
� You can change the Rung comment background color in the option settings. Refer to 8-23
Sysmac Studio Option Settings on page 8-113 for details.
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� You can start a new line by pressing the Ctrl + Enter Keys.
Displaying Rung Comment List
Rung Comment List is a list to display only rung comments in a Ladder Editor diagram. Rung comments enable you to understand the processing flow of ladder rungs and to identify a rung where you want to go. It can also display the rung comments hierarchically if you set a title.
1 Click the Rung Comment List Bar.
Or, right-click on the rung header and select Display Rung Comment List.
The rung comment list is displayed.
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2 Double-click a comment.
Or, right-click and select Jump from the menu.
The target rungs are displayed on Ladder Editor.
Setting Titles in Rung Comment List
1 Enter # in the beginning of a rung comment.
It is displayed as a title in Rung Comment List. You can collapse the rung comments between the titles as the child elements of the title.
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Displaying Rung Errors
When you enter a circuit part, the format is always checked and any mistakes are displayed as errors. If there are any errors, a red line is displayed between the rung number and the left bus bar.
Error Rung
Place the mouse over the red line to view information on the rung error.
Searching for and Jumping to Variables in Ladder POUs
You can sequentially search for inputs, outputs, and instructions in ladder POUs that use a specified variable and sequentially jump to the locations where the variable is used.
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1 Right-click a program input, program output, or variable, and select the destination to jump to
from the menu.
2 The display will jump to the location of the relevant variable.
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Menu command Go to Next Variable Go to Next Input Go to Next Output Retrace Search*
Back Go to Rung
Description
The display will jump to the next location where the selected variable is used.
The display will jump to the next program input or function/function block input parameter where the selected variable is used.
The display will jump to the next program output or function/function block output parameter where the selected variable is used.
If the selected variable is used as a program output or as the output parameter of a function or function block, this command searches for the program inputs and the input parameters to functions or function blocks that use the selected variable. The display jumps sequentially to the locations where the variable was found starting from the first rung.
If the selected variable is used as a program input or as the input parameter of a function or function block, this command searches for the program outputs and the output parameters to functions or function blocks that use the selected variable. The display jumps sequentially to the locations where the variable was found.
The display returns to the last location that was jumped to for the Next Variable, Next Input, Next Output, or Retrace Search command.
The display will jump to the start of the specified rung.
* This command is not displayed on the menu. Use the shortcut key (the Space Key). Shortcut keys are also convenient for other menu commands. Refer to A-5 Shortcut Keys on page A-20.
Splitting the View
You can drag the split bar on the vertical scroll bar of the Ladder Editor to split the view vertically.
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4-5-2 Programming Structured Text
� Programming Structured Text ST (structured text) programming involves using the ST language to build algorithms. To do this, you enter data processing in the ST Editor.
Starting the ST Editor
Programs
Double-click an ST program under Programming - POUs - Programs in the Multiview Explorer. Or, right-click the ST program and select Edit from the menu. Refer to Registering Programs on page 451 for the procedure to register a program. The ST Editor for the program is displayed.
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Functions and Function Blocks
1 Double-click an ST function under Programming - POUs - Functions or an ST function block under Programming - POUs - Function Blocks in the Multiview Explorer. Or, right-click the ST function or function block and select Edit from the menu. For information on registering ST functions or function blocks, refer to Registering Function Blocks on page 4-54 or Registering Functions on page 4-56. The ST Editor for the function or function block is displayed.
4-5-2 Programming Structured Text
Editing ST
� Editing ST You combine different ST statements to build algorithms. For information on statement structures and expressions, refer to information on the structured text language in the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Entering Assignment Statements
The following example shows how to assign the sum of variables aaa and bbb into variable ccc.
ccc := aaa + bbb ;
The aaa, bbb, and ccc variables are registered in the variable table in advance. You can also register new variables in a variable table when you enter unregistered variable names on the ST Editor. Refer to Registering Variables on the ST Editor on page 4-134 for details.
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1 Enter the first letter of the variable ccc into the ST Editor.
A list of possible variable candidates is displayed in a list.
2 Select the variable ccc and press the Enter Key.
The variable ccc is entered.
3 Enter a space and a : (colon) character.
The assignment keyword := is entered automatically.
4 Enter the first letter of the variable aaa. 5 Select the variable aaa from the list of variable candidates and press the Enter Key. The vari-
able aaa is entered.
6 Enter a space and a + (plus) character and then enter the first letter of the variable bbb. 7 Select the variable bbb from the list of variable candidates, enter a semi-colon (;), and press the
Enter Key. This completes the assignment statement.
Additional Information You can use an option setting to prevent the automatic display of the candidate list when entering text in the ST Editor. Refer to 8-23 Sysmac Studio Option Settings for the setting procedure. Even if you prevent the automatic display, you can display the candidate list by pressing the Ctrl + Space Keys.
Entering Control Statements
The following example shows how to enter an IF construct. IF aaa = bbb THEN ccc := aaa; END_IF
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1 Enter the first letter of the IF statement (i) into the ST Editor.
A list of possible candidates is displayed in a list.
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2 Select the IF keyword and press the Enter Key.
The IF keyword is entered.
3 Press the Tab Key.
The other keywords that make up an IF construct are entered automatically.
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4 Enter the statement aaa = bbb.
5 Delete ELSIF, THEN, and ELSE and then enter ccc := aaa ;.
This completes the IF construct.
Additional Information
� Press the Tab Key after entering the first keyword of a construct to automatically complete the rest of the construct.
� If there is a problem with the format of a construct, a red wavy line is displayed to the right of the statement keywords.
� You can also drag the control statements from the Structured Text Tools in the Toolbox to enter them.
Entering Calls to Functions and Function Blocks
Use the following method. � Enter the function name or instance name of the function block directly into the ST Editor. � Drag a function or function block from the Toolbox.
Entering the Function Name or Instance Name of the Function Block Directly into the ST Editor
1 Enter the first letter of the instance name of the function or the function block into the ST Editor.
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2 Select the function name or the function block instance name from the list and press the Enter Key.
The selected function or function block instance is displayed. When you enter a left parenthesis, a description of the parameters is displayed.
3 Either click a parameter marker that is displayed for the function or function block instance that you entered, or press the Tab Key while the mark is still displayed.
A parameter is added.
4 Enter the required parameters and complete the statement.
Dragging a Function or Function Block from the Toolbox
1 Drag the required function or function block from the Toolbox to the insertion location on the ST Editor.
The function or function block is inserted with temporary variables. Function Example
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Function Block Example
2 Click the variable registration mark and register new variables for the temporary variables or replace the temporary variables with registered variables to complete the statement.
Displaying the Contents of User-defined Functions and Function Blocks
You can display the contents of a user-defined function or function block from an ST program.
1 Right-click the user-defined function or function block name in the ST program and select To Lower Layer. 4
The contents of the function or the definition of the function block is displayed.
2 To return from the displayed function or function block definition to the original ST program, right-click on the function or function block definition and select To Upper Layer.
4-5-2 Programming Structured Text
The original ST program is displayed.
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Additional Information
� You cannot use the To Lower Layer menu command to display the contents of a function or the definition of a function block in the following cases. � The function or function block is defined in a library that is set so that you cannot display the source. � The maximum number of tabs are already displayed in the Edit Pane.
� You can select the To Upper Layer menu command only from a function or function block definition that you displayed with the To Lower Layer menu command. The To Upper Layer menu command is valid only while the tab page for the contents of the function or the definition of the function block is displayed. However, in the following cases, the contents of the original program is not displayed even if you select the To Upper Layer menu command. � The original program is defined in a library that is set so that you cannot display the source. � The maximum number of tabs are already displayed in the Edit Pane.
� If you display the same function block definition from more than one program and then select the To Upper Layer menu command from the function block definitions, the program where you last selected the To Lower Layer menu command is displayed.
� If you select the To Lower Layer menu command while online, the contents of the function block instance are displayed instead of the function block definition. If you then display the same function block definition from a different instance, the display is overwritten. In that case, you can select the To Upper Layer menu command only from the function block instance where you last selected the To Lower Layer menu command.
Registering Variables on the ST Editor
You can register new variables in a variable table when you enter unregistered variable names on the ST Editor. � Adding title
Adding variables using variable registration mark
1 Enter an unregistered variable name.
A variable registration mark is displayed under the variable name.
2 Click the variable registration mark.
A dialog box is displayed for you to enter the data type.
3 Enter a data type and press the Enter Key.
The new variable is registered in the local variable table.
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Additional Information You can select the Select local or global variable and register it Check Box in the option settings to specify the variable table in which the variable names are registered. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
Adding Variables Using Pop-up Menu
1 Enter an unregistered variable name. 2 Right-click an entered variable name and select Register in Variable Table from the menu.
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4-5-2 Programming Structured Text
The Select the variable type Dialog Box is displayed.
3 Select a variable type you want to register on the Select the variable type Dialog Box. 4 Then, the Enter the data type Dialog Box is displayed. Enter a data type and press the Enter
Key. This completes the registration of a new variable in a local or global variable table.
Additional Information
You can right-click in the ST Editor and select Generate All Pou Variables As Internals from the pop-up menu to register all of the unregistered variables in the ST Editor as internal variables at a time. The variable is registered in the variable table and the data type is left blank. Even if you select the Specify the data type Check Box in the option settings, a text box to enter the data type is not displayed.
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Editing Data Types
If you perform editing offline, you can change the data types of variables on the ST Editor.
1 Right-click a variable and select Edit Data Type from the pop-up menu.
A dialog box is displayed for you to enter the data type.
2 Enter the new data type and press the Enter Key.
The data type of the variable is changed.
Jumping to a Variable Table
You can display the variable table where a selected variable is registered and jump to the line for that variable.
Right-click a variable and select Go To Variable Table from the pop-up menu. Or, select the variable and press the Ctrl + Alt + J Keys.
Entering Constants
The following example shows how to assign the hexadecimal value FFFF to variable aaa.
1 Enter aaa := into the ST Editor. 2 Enter the constant as WORD#16#FFFF.
For information on the formats for entering other constants, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
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Entering Comments
Enter "(*" at the beginning and "*)" the end of any text to be treated as a comment in the ST Editor. If you only want to comment out a single line, enter a double forward slash (//) at the beginning of the line.
Deleting ST Elements
1 Select the text to delete. 2 Press the Delete Key or the Backspace Key to delete the text.
Copying and Pasting ST Elements
There are the following ways to copy ST elements.
� Copy: Only selected text strings are copied.
� Copy with Dependents: Not only the selected text string but also variables that are referenced in
the text string and the data types of the variables are copied.
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1 Select the text to copy.
2 Right-click the text and select Copy from the menu. Or, select the text and press the Ctrl + C Keys. If you want to copy data together with referenced variables and their data types, select Copy with Dependents.
3 Right-click at the location where you want to paste and select Paste from the menu. Or, press the Ctrl + V Keys.
The copied text string is pasted.
If you select Copy with Dependents and paste the text string into another ST program, not only the text string but also variables that are referenced in the text string and the data types of the variables are also added to the destination ST program.
If a variable or data type with the same name and different attribute already exists in the destination program, the Comparison before pasting dependents Dialog Box is displayed.
For details on the Comparison before pasting dependents Dialog Box, refer to 4-5-3 Comparison before Pasting Dependents on page 4-140.
Indenting
You can indent nested statements to make them easier to read.
1 Right-click at the beginning of the line to indent and select Increase Line Indent from the menu. Or, press the Tab Key. The indent moves the starting position of the characters on that line to the right.
2 To bring the indent back, right-click the text and select Decrease Line Indent from the menu or press the Delete Key.
Moving to a Specified Line
You can specify a line number to jump directly to that line.
1 Right-click in the ST Editor and select Go To from the menu.
A Jump Dialog Box is displayed.
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2 Enter a line number and press the Enter Key.
The cursor moves to the beginning of the line you entered.
Bookmarks
You can add bookmarks to any lines and move between them.
Toggle Bookmarks
Right-click a line number in the ST Editor and select Toggle Bookmark from the menu. A bookmark is displayed at the beginning of the line.
Moving to the Next Bookmark
Right-click a line number in the ST Editor and select Next Bookmark from the menu. The cursor moves to the next bookmarked line.
Moving to the Previous Bookmark
Right-click a line number in the ST Editor and select Previous Bookmark from the menu. The cursor moves to the previous bookmarked line.
Deleting a Specific Bookmark
Right-click a line number with the bookmark and select Toggle Bookmark from the menu. The bookmark is deleted.
Deleting All Bookmarks
Right-click in the ST Editor and select Clear Bookmarks from the menu. All bookmarks are deleted.
Statement Error Displays
When you enter a statement, the format is always checked and any mistakes are displayed as errors.
A wavy line is displayed under any line where an error is detected. Error: Red wavy line
Warning: Blue wavy line Place the mouse over the wavy line to view information on the error.
Refer to 11-2 Error Messages for Structured Text Checks for information on errors.
Splitting the View
You can drag the split bar on the vertical scroll bar of the ST Editor to split the view vertically.
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Displaying Variable Comments
Variable comments are displayed in tooltips when you move the mouse over variables in the ST Editor. The display rules for comments are the same as those for the Ladder Editor. Refer to Displaying and Editing Variable Comments on page 4-119 for the comment display rules.
Precautions for Correct Use � For information on ST input restrictions (restrictions on the number of operators, the number of
nested POU calls, and the number of nested conditional/iterative statements), refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558). � A single POU (program, function, or function block) can contain up to 10,000 lines of code. � When you use a function block in the ST Editor, register the function block instance in the variable table in advance. You cannot register a function block instance in the ST Editor. � After you paste an ST element, check to be sure that the variables and their data types are used correctly.
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4-5-2 Programming Structured Text
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4-5-3 Comparison before Pasting Dependents
When you paste data that was copied by selecting Copy with Dependents from the pop-up menu in the Multiview Explorer, Ladder Editor or ST Editor, there may already be a variable or data type with the same name and different attribute in the paste destination. In such a case, the Comparison before pasting dependents Dialog Box is displayed to confirm whether you want to overwrite the data.
You can check the differences between data before overwriting.
Comparison before Pasting Dependents Dialog Box
(a)
(b)
(c)
Item (a) Data before pasting
(b) Data to paste (c) Detailed Comparison Button (d) Overwrite all difference Button
(e) Overwrite selected data Button (f) Close Button
(d)
(e)
(f)
Description Displays existing data if any difference is detected. The lines which contain any data differences are displayed in red. Displays data to be pasted if any difference is detected. Displays the Detailed Comparison Window that contains difference details. Overwrites all existing data that contain any differences with the data to be pasted. Overwrites the existing data in the selected line with the data to be pasted. The Dialog Box is closed.
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Detailed Comparison Window
(a)
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(b)
(c)
(d) (e)
Item
Description
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(a) Data before pasting
Displays data that already exists.
The lines which contain any data differences are displayed in red.
(b) Data to paste
Displays data that is to be pasted.
(c) Copy Selected Right to Left Button
Overwrites the existing data in the selected line with the data to be pasted.
(d) Copy All Right to Left Button
Overwrites all existing data that contain any differences with the data to be pasted.
(e) Back Button
Returns to the Comparison before pasting dependents Dialog Box.
4-5-3 Comparison before Pasting Dependents
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4-6 Searching and Replacing
Searching and Replacing
You can search and replace strings in the data of the currently selected device.
WARNING
When you search and replace a string in a project that includes more than one device, check the device on which to perform the search and replace before you replace it. If you replace data of an unintended device, the controlled system may cause an unexpected operation.
4-6-1 Scope of Searching and Replacing
You can search and replace text strings in the following items.
Variable tables Variable names Variable comments
Ladder diagrams Rung comments Variable names Function names Function block definition names Function block instance names Element comments Variable comments
ST Text strings Variable names Function names Function block instance names
4-6-2 Search and Replace Pane
Use the following procedure to display the Search and Replace Pane.
1 Select Search and Replace from the Edit Menu.
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The Search and Replace Pane is displayed.
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4-6 Searching and Replacing
4-6-3 Items to Set
4-6-3 Items to Set
The settings in the Search and Replace Pane are explained below.
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Setting Search what Replace with Look in
Look at
Description
� Enter a search string. � You can select from previous search strings in the list. � If you select All or Variable name in the Look at Box, and enter the letters that are
included in the variable name or press the Ctrl + Space Keys, variable names are displayed as candidates in the list.
� Enter the string to replace the search string with. � You can select from previous replacement strings in the list. You cannot use wildcard characters. (If you try to use them, they are treated as normal text strings.)
Specify the range to search. You can select from the following. Programming: All of the programming of the Controller is searched. Checked elements: The item that is selected in the Select search and replace scope Dialog Box is searched. Current View: The current view is searched. Selection: The range that is selected, which is a range of circuits of a ladder program, a range of text lines of an ST program, or the like, is searched.
Specify the items to search. You can search for text strings in the following items. All: Searches all text strings (excluding variable comments on ladder) Variable name: Searches all variable names.
Instructions: Searches instructions (including program inputs and outputs)*1
Variable comment on ladder: Searches variable comments on ladder.*2
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Setting Use
Description
Specify if you want to use wildcard characters. Default: Do not use wildcard characters. Wildcard: Use wildcard characters.
If you select to use wildcard characters, you can click the Button to the right to view a list of characters used for wildcard characters. Select any of these characters to enter them in the search string.
*1 This can be used only for searches. *2 This can be used only for searches only when Ladder Editor - Variable Comment - Show comment Check Box
is selected in the option settings. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details on the option settings.
Precautions for Correct Use
� If more than one device is registered in the project, the target of a search and replace is the currently selected device only. Be sure to check the selected device in the device list for the project before you perform a search and replace.
� If you set the Look in Box to the variable table, set the Look at Box to the variable name, and perform a replacement, only the variable names in the variable table will be changed.
Selecting a Search and Replace Scope
If you selected Checked elements in the Look in Box, select the range in the Select search and replace scope Dialog Box. The Select search and replace scope Dialog Box is displayed when you click the Select search and replace scope Button on the right of the drop-down arrow of the Look in Box.
Select the check boxes for the items to search, and then click the OK Button.
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4-6-3 Items to Set
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Narrowing Down the Search
You can narrow down the searched items even more if you specify a combination of the instruction name and variable name for the search string. Enter a single-byte space between the instruction name and variable name.
To search for
Search string specification*1
Program input of a specified variable*2
Program output of a specified variable*2
Function that uses the specified variable as a parameter
LD variable_name OUT variable_name Function_name variable_name
Function block definition that uses the specified vari- Function_block_definition_name variable_name able as a parameter*2
Function block instance that uses the specified vari- Function_block_instance_name variable_name able as a parameter
*1 You can specify a constant value instead of a variable name. *2 Only ladder rungs are searched.
Wildcards
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You can use the following wildcard characters.
Meaning
Syntax
Any single char- ? acter
Any one charac- * ter or series of characters
Any single num- # ber
Character in a set [ ]
Character not in a [! ] set
Description Searches for a text string with a variable character. Searches for a text string that contains a variable text string
Searches for any single number.
Searches for a single character in the set.
Searches for a single character that is not in the set.
Example "A?C" matches "ABC", "AdC", and "AzC". "new*" matches "newfile.txt".
"7#" matches "71". "ABC#" matches "ABC5". "ABC[xyz]" matches both "ABCx" and "ABCy". "ABC[x-z]" matches both "ABCx" and "ABCy". "ABC[!xyz]" matches both "ABCa" and "ABCd". "ABC[!x-z]" matches both "ABCa" and "ABCd".
Search Options
Item Match case Match whole word Invert NO/NC input
Description
When this option is selected, searches are case sensitive.
When selected, only exact string matches are returned.
Replaces N.O. with N.C. and N.C. with N.O. for all BOOL variables used in a ladder diagram. (Output bits are not affected.)
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Item Search Next Search Previous Search All
Replace Replace All
Cancel
Description
Performs a search according to the selected options.
Performs a search in the reverse order of Search Next.
Searches all items and displays the results in the Search and Replace Results Tab Page.
Performs a replace according to the selected options.
Replaces all items and displays the results in the Search and Replace Results Tab Page.
Cancels the current search and replace operation.
4-6-4 Searching
The procedures for searching are given in this section. As an example, the following describes a search for a variable name.
1 Enter the search string in the Search what Field.
2 Select Variable name in the Look at Field to search for variables.
3 Set the Look in Field and search options as required.*
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4 Click the Search Next Button.
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The searched items are highlighted. The search starts again from the beginning when the target data is searched to the end.
To display all of the search results at the same time, click the Search All Button. Then, all searched items in the search range are highlighted and the search results are displayed in the Search and Replace Results Tab Page.
4-6 Searching and Replacing
4-6-5 Replacing
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* For information on the Look in Field and search options, refer to Items to Set on page 4-143.
Additional Information
� You can use shortcut keys to search. Refer to A-5-3 Searching and Replacing on page A-22 for details on the shortcut keys.
� If you display the Search and Replace Pane with the Ctrl + F Keys or the menu when the cursor is on a circuit part in the Ladder Editor, the corresponding text string in the following table is set as the search string.
Cursor position Input or output Function block Jump Parameter for an input, output, function, or function block
Text string set as the search string Variable name of the input/output Instance name of the function block Jump label Variable name of the parameter
� If you display the Search and Replace Pane when a text string is selected in the ST Editor, the selected text string is set as the search string.
� If you press the Ctrl + F Keys while circuits of a ladder program or text lines of an ST program are selected, the selected range is set as the search scope.
4-6-5 Replacing
Use the following procedure to search and replace a text string.
1 Enter the search string that you want to replace in the Search what Field. 2 Enter the replace string in the Replace with Field. 3 Set the Look in Field and Look at Field, and select search options as required.* 4 Click the Search Next Button to search for the string to replace. 5 If the string is found, click the Replace Button to replace the string.
* For information on the Look in Field, the Look at Field, and search options, refer to Items to Set on page 4-143.
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4-6-6 Searching All
Use the following procedure to search for all occurrences. The search results are displayed in the Search and Replace Results Tab Page.
1 Enter the search string in the Search what Field. 2 Set the Look in Field and Look at Field, and select search options as required.* 3 Click the Search All Button.
* For information on the Look in Field, the Look at Field, and search options, refer to Items to Set on page 4-143.
4-6-7 Replacing All
Use the following procedure to find and replace all occurrences of a text string. The replacement results are displayed in the Search and Replace Results Tab Page.
1 Enter the search string that you want to replace in the Search what Field. 2 Enter the replace string in the Replace with Field. 3 Set the Look in Field and Look at Field, and select search options as required.* 4 Click the Replace All Button.
* For information on the Look in Field, the Look at Field, and search options, refer to Items to Set on page 4-143.
Precautions for Correct Use The targets of replacement for Replace All are strings within the range set in the Look in Field.
4-6-8 Replacing All N.O. and N.C. Inputs
Use the following procedure to find and replace all N.O. and N.C. inputs. The replacement results are displayed in the Search and Replace Results Tab Page.
1 Enter the variable used in the input to replace in the Search what Field. 2 Specify Variable name in the Look at Field. 3 Select the Invert NO/NC Input option. 4 Set the Look in Field and search options as required.* 5 Click the Replace All Button.
* For information on the Look in Field, the Look at Field, and search options, refer to Items to Set on page 4-143.
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4-7 Program Checks
� Program Checks You can check the programs to detect any errors in the POUs (programs, functions, or function blocks) that you created. There are two types of program checks.
� Check All Programs Checks all programs in the project.
� Check Selected Programs Checks only the selected programs.
4-7-1
Check All Programs
1 Select Check All Programs from the Project Menu. The results of the program check are displayed in the Build Tab Page.
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4-7-2 Check Selected Programs
1 Select the POUs or sections to check in the Multiview Explorer. 2 Select Check Selected Programs from the Project Menu.
The results of the program check are displayed in the Build Tab Page.
Program Check Result Displays
The results of a program check are displayed in the Build Tab Page as follows:
4-7-1 Check All Programs
Item Number of errors
Number of warnings
Example
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Meaning
Displays the total number of errors.
Displays the total number of warnings.
Remarks
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Item Error or warning number
Description
Location
Example
Meaning
Displays the errors or warnings in the order in which they were found.
Displays a description of the error or warning.
Remarks
Displays the location where the error or warning occurred.
You can jump directly to the location of the error.
Additional Information
You can prevent specific warnings from being displayed. Refer to 8-23 Sysmac Studio Option Settings for details.
Jumping to the Location of an Error
In the Build Tab Page, double-click the line of the error to jump to. The relevant location is displayed in the Edit Pane.
Refer to 11-1 Error Messages for Ladder Program Checks and 11-2 Error Messages for Structured Text Checks for information on errors.
Error Displays in the Multiview Explorer
POUs that contain an error are marked with an exclamation mark (!) icon.
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4-8 Building and Rebuilding
� Building Building is the process of converting your project programs into a format that is executable on the CPU Unit. A check is performed on the programs and variable data during this process. If there are
any errors, the build is not performed and is displayed next to the program or variable data where the error occurred in the Multiview Explorer. Perform a program check to see the specific errors on the Build Tab Page. After the first build, only programs that are changed are built again.
Building
The programs are automatically built when the user makes changes to them.
Execution Timing of Building
If you perform no operations for five seconds after you change data types, global variables, or POUs
(including local variables and algorithms), the programs are checked and the programs are built after the Edit Pane is displayed.
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Progress of Building
The progress of building or rebuilding the programs is displayed in a progress bar at the lower right of the window.
Aborting a Build Operation
You cannot check all or some of the programs while building the programs is in progress. Cancel building to check any of the programs.
1 Select Abort Build from the Project Menu.
The build operation is aborted and a message that says it was aborted is displayed in the Output Tab Page.
Rebuilding
A rebuild is used to build project programs that have already been built. All programs are built again.
Select Rebuild Controller from the Project Menu. The build is started and the status during the build is displayed in the Output Tab Page. The build is complete.
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Additional Information � The status of building is displayed for each of the following in the Output Tab Page.
� Data types � Global variables � Cam data settings � Variable tables in POUs � Algorithms in POUs � To redisplay all of the program errors on the Build Tab Page, execute the Check All Programs command. � You can change whether building is executed automatically. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
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4-9 Offline Comparison
The offline comparison operation compares the data for an open project with the data for a project file. If problems occur after you change the user program, you can search for the problems by comparing the current version of the user program with the previous version. Or, you can merge detailed comparison results.
4-9-1 Procedure for Offline Comparison
1 With the Sysmac Studio offline, select Offline Comparison from the File Menu.
The Select Comparison Target Dialog Box is displayed.
4
4-9 Offline Comparison
4-9-1 Procedure for Offline Comparison
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2 Select the project to compare and click the Open Button.
You can either click the Project Button and select the project from a list, or you can click the File
Button and select a project file (file name extension: .smc2, .csm2, .smc, or .csm). A displayed by the currently open project.
icon is
The Offline Comparison Window is displayed. The data for the two projects to compare is displayed.
Left side: The currently open project
Right side: The project to compare with the currently open project
Select the data to compare between the two projects.
Item
Description
Compare data in order
The data items are compared top to bottom in the order that they are displayed in the Select Comparison Target Area.
Compare data with the same name Data items with the same names are compared when the same names exist both in the current project and the project to compare.
If you select the Compare sections in order Check Box, only section data items are compared top to bottom in the order that they are displayed in the Select Comparison Target Area.
3 Select the data to compare, and then click the Compare Button.
To select the data to compare, select the check boxes in both of the Controller project lists.
The comparison will start.
The comparison results are displayed in the Offline Comparison Window after the comparison is completed.
Additional Information
If the project accesses a library, you can select Referenced library in the Select Comparison Target Box to compare the accessed library with the project that was used to create the library.
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4-9 Offline Comparison
Offline Comparison Results
The results of the comparison are displayed as shown below.
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4
The results of the comparison are displayed.
Click the Detailed Comparison Button (
) to display detailed differences.
The results of the comparison are displayed in the following colors.
Text color White Red Green
Status
Same
Different
Exists only on one side
Description The data in the current project and the selected project are the same. The data in the current project and the selected project are different. The data exists in only one of the projects.
4-9-1 Procedure for Offline Comparison
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If you select the Compare data with the same name Option, the data items in the project to compare are reordered in the same order as the current project.
The units for comparison that are shown in the Offline Comparison Window are listed in the following table.
Data
Level Qty
Project name
0
1
Controller name
1
N
POU
2
1
Programs
3
1
Program
4
N
Variable table 5
1
Section
5
N
Program
4
N
Variable table 5
1
Program Body 5
1
Functions
3
1
Function
4
N
Variable table 5
1
LadderBody 5
1
Function
4
N
Variable table 5
1
Program Body 5
1
Function blocks
3
1
FunctionBlock
4
N
Variable table 5
1
LadderBody 5
1
FunctionBlock
4
N
Detailed comparison ----------Available Available --Available Available ----Available Available --Available Available ----Available Available ---
Remarks
Ladder programs Ladder programs Ladder programs ST ST ST
Ladder programs Ladder programs Ladder programs ST ST ST
Ladder programs Ladder programs Ladder programs ST
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Data
Level Qty
Variable table 5
1
Program Body 5
1
Data
2
1
Data types
3
1
Global variables
3
1
Libraries
2
1
The data from this level depends on the structure of the library. (The data that can be compared is the same as the data that is given above.)
Detailed comparison
Remarks
---
ST
Available
ST
---
Available
Available
---
Additional Information
You can edit the project while the Offline Comparison Window is displayed. If the data to com-
pare increases or decreases as the result of editing a project while the Offline Comparison Win- 4
dow is displayed, close and then reopen the Offline Comparison Window, select the data to compare, and then execute the comparison again.
4-9 Offline Comparison
4-9-1 Procedure for Offline Comparison
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Detailed Comparison
Click the Detailed Comparison (
) Button to display the following window.
(c)
(d)
(a)
(b)
No. (a) (b) (c) (d) (e)
(e)
Description Programming from the currently open project. Programming from the selected project. Displays the next difference. Displays the relevant location in the Editor. Returns the display to the Comparison Results Dialog Box.
The detailed results of the comparison are displayed in the following background colors.
Background color No change Red
Green Blue
Meaning The rungs or lines are the same. The rungs or lines exist in both projects, but the contents are different. The rung or line exists only in the open project. The rung or line exists only in the selected project.
Double-click a row where the data is different or select the row and click the Jump Button to display the corresponding program.
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4-9-2 Merging Detailed Comparison Results
Here, merging means to unify differences in data between two projects or versions of the same project. On the Detailed Comparison Results Dialog Box, you can copy data from the project to which the current project was compared and overwrite the data in the current project with it.
Procedure
1 Select the lines or rungs to merge in the Detailed Comparison Results Dialog Box and click the Copy Selected Right to Left Button. If you want to merge all of the differences, click the Copy All Right to Left Button.
4
The selected lines or rungs are copied from the project to which the current project was compared to the current project. If you clicked the Copy All Right to Left Button, all lines or rungs with differences are copied from the project to which the current project was compared to the current project.
4-9-2 Merging Detailed Comparison Results
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2 Click the Apply Button.
The changes are applied to the data for the current project.
Precautions for Correct Use The results of copying from right to left are applied to the project when the Apply Button is clicked. If you click the Back, Recompare, or Close Button before you apply the copy results, the copy results will be lost. Additional Information To undo the results of copying right to left, click the Undo Selected Button or the Undo All Button. You cannot undo the changes after you click the Apply Button.
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Controller Configurations and Setup
This section describes how to create programs with the Sysmac Studio.
5-1 Overview of Controller Configurations and Setup . . . . . . . . . . . . . . . . . . . 5-3
5-2 EtherCAT Configuration and Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4 5
5-2-1 Procedure to Open the EtherCAT Tab Page . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4 5-2-2 Registering Slaves Offline to Configure EtherCAT . . . . . . . . . . . . . . . . . . . . . 5-4 5-2-3 Registering Slaves Online to Configure EtherCAT . . . . . . . . . . . . . . . . . . . . . 5-6 5-2-4 Setting Master Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8 5-2-5 Setting Slave Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 5-2-6 Exporting Slave Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14 5-2-7 Installing and Uninstalling ESI Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16 5-2-8 Transferring the Network Configuration Information . . . . . . . . . . . . . . . . . . . 5-17 5-2-9 Exporting EtherCAT Network Configuration Information . . . . . . . . . . . . . . . . 5-18 5-2-10 Printing an EtherCAT Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20 5-2-11 Starting Vision Sensor or Displacement Sensor Setup . . . . . . . . . . . . . . . . . 5-21
5-3 EtherCAT Slave Terminal Configuration and Setup . . . . . . . . . . . . . . . . . 5-22 5-3-1 Creating the EtherCAT Slave Terminal Configuration . . . . . . . . . . . . . . . . . . 5-23 5-3-2 Transferring the Slave Terminal Configuration Information . . . . . . . . . . . . . . 5-32 5-3-3 Exporting the EtherCAT Slave Terminal Configuration Information . . . . . . . . 5-32
5-4 Setting EtherCAT Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34 5-4-1 Applicable EtherCAT Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34 5-4-2 Overview of the Structure of the EtherCAT Drive Tab Page . . . . . . . . . . . . . 5-35 5-4-3 Setting EtherCAT Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36 5-4-4 Monitoring EtherCAT Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
5-5 CPU/Expansion Rack Configuration and Setup . . . . . . . . . . . . . . . . . . . . 5-42 5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit . . . . . . 5-43 5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units . . . . . . . . . . . . . . 5-51
5-6 Controller Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60 5-6-1 Operation Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60 5-6-2 Built-in EtherNet/IP Port Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-66 5-6-3 Built-in I/O Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70 5-6-4 Option Board Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71 5-6-5 Memory Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-72
5-7 Motion Control Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-73
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5-7-1 5-7-2
Setting Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-73 Setting Axes Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-81
5-8 Cam Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-83 5-8-1 Registering Cam Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-83 5-8-2 Editing Cam Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-83 5-8-3 Procedure to Transfer Cam Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-88 5-8-4 Importing Cam Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-89 5-8-5 Exporting Cam Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-90 5-8-6 Exporting Cam Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-91 5-8-7 Transferring Cam Tables from the Controller to Files . . . . . . . . . . . . . . . . . . . 5-92 5-8-8 Transferring Cam Tables from Files to the Controller . . . . . . . . . . . . . . . . . . . 5-93 5-8-9 Superimposing Cam Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-93 5-8-10 Registering Cam Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-95 5-8-11 Transferring Cam Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-99 5-8-12 Updating Cam Definition Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-101
5-9 Task Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-102 5-9-1 Registering Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-102 5-9-2 Procedure to Set Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-102 5-9-3 Task I/O Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-103 5-9-4 Program Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-104 5-9-5 Settings for Exclusive Control of Variables in Tasks . . . . . . . . . . . . . . . . . . . 5-105
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5 Controller Configurations and Setup
5-1 Overview of Controller Configurations and Setup
The following is a list of the configurations and setups for NJ/NX/NY-series Controllers. � EtherCAT Configuration and Setup � EtherCAT Slave Terminal Configuration and Setup � CPU/Expansion Rack Configuration and Setup � Controller Setup � Motion Control Setup � Cam Data Settings � Task Settings
WARNING
Check the parameters for proper execution before you use them for actual operation.
5
Precautions for Safe Use If verifying revisions is not selected in the Revision Check Method parameter in the master settings in EtherCAT configuration, parameters are also transferred to slaves with different revisions. If an incompatible revision of a slave is connected, incorrect parameters may be set and operation may not be correct. If you disable the revision check, make sure that only compatible slaves are connected before transferring the parameters.
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5-2 EtherCAT Configuration and Setup
� EtherCAT Configuration and Setup This is the configuration in the Sysmac Studio of the EtherCAT slaves connected to the built-in EtherCAT port of the NJ/NX/NY-series Controller, and the settings of EtherCAT masters and slaves in that configuration. In the Sysmac Studio, you can construct an EtherCAT configuration just like you would put together with the actual physical devices. Select Configurations and Setup - EtherCAT in the Multiview Explorer to open the Edit Pane to create the EtherCAT Configuration. You can set up devices by dragging slaves from the device list displayed in the Toolbox to the locations where you want to connect them.
Precautions for Correct Use If the Controller model is changed from a CPU Unit with unit version 1.40 or later to a CPU Unit with unit version earlier than 1.40, the unsupported EtherCAT settings are discarded.
5-2-1 Procedure to Open the EtherCAT Tab Page
Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right-click EtherCAT under Configurations and Setup and select Edit from the menu. The EtherCAT Tab Page is displayed in the Edit Pane.
5-2-2 Registering Slaves Offline to Configure EtherCAT
Procedure to Register Slaves on the EtherCAT Tab Page
1 Drag a slave from the Toolbox to the master in the EtherCAT Tab Page. Or, select the master on the EtherCAT Tab Page, and then double-click the slave in the Toolbox. The slave is added under the master.
2 As in step 1, drag a slave from the Toolbox to the slave to connect it to in the EtherCAT Tab Page. Or, select the slave to connect to on the EtherCAT Tab Page, and then double-click the slave in the Toolbox. The slave is added under the selected slave.
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5 Controller Configurations and Setup
3 Change the node address of the slave that you added to the EtherCAT Tab Page to the node address of the physical slave.
Additional Information � You can right-click a slave in the EtherCAT Tab Page and select Reset Node Address from
the menu to set the node address to the lowest node address that is not used by another slave. � If a slave has a hierarchical structure, you can expand and collapse the structure. Right-click a slave with the icon that indicates a hierarchy and select Expand All or Collapse All. � For CPU Units with unit version 1.40 or later, you can also prepare a ring topology configuration in which cables are connected in a ring shape to make a communications path redundant. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details.
Procedure to Delete Slaves from the EtherCAT Tab Page
Right-click the slave to delete and select Delete from the menu. The slave is deleted.
Procedure to Cut and Paste Slaves on the EtherCAT Tab Page
1 Right-click the first slave to move and select Cut from the menu. 2 Right-click the master or slave to which to connect the slaves that you cut and select Paste from 5
the menu. The result is that the slaves are moved in the network.
Precautions for Correct Use If you delete or cut a slave that is assigned to an axis, the assignment to the axis is deleted. If necessary, assign the slave to the axis again.
Additional Information The cut/paste operation for slaves moves the selected slave and all the slaves that are connected after it.
Procedure to Copy and Paste Slaves on the EtherCAT Tab Page
1 Right-click the first slave to copy and select Copy from the menu. 2 Right-click the slave to connect the copied slaves to and select Paste from the menu.
A copy of the slave is pasted.
Additional Information The copy/paste operation for slaves copies the selected slave and all the slaves that are connected after it. When you copy a slave, all settings except for the device name and node address are copied with it. When you paste a slave, the device name and node address are automatically set to values that are not used by other slaves.
5-2-2 Registering Slaves Offline to Configure EtherCAT
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5-2-3 Registering Slaves Online to Configure EtherCAT
Procedure to Automatically Create the Network Configuration on the Sysmac Studio from the Actual EtherCAT Network Configuration
1 Go online and right-click the master in the EtherCAT Tab Page and select Write Slave Node Address. The Slave Node Address Writing Dialog Box is displayed.
2 If the present value for the node address for a slave is 0 or if the same address is assigned to more than one slave, set or correct the node address in the set value column and click the Write Button. (If the correct node addresses are set for all of the slaves, click the Cancel Button.)
Change node address.
The node address is written to the physical slave.
3 Cycle the power supply to the slave for which Set value of the node address is changed.
The set node address becomes valid.
4 Click the Update With Latest Actual Network Configuration Button. The present values of each slave node address are read and Present value of node addresses are updated. Check that Present value and Set value of the node address for all slaves show the same values, and close the Slave Node Address Writing Dialog Box.
5 Right-click the master in the EtherCAT Tab Page and select Compare and Merge with Actual Network Configuration.
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The actual network configuration is read and compared with the network configuration on the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Network Configuration Dialog Box.
5-2 EtherCAT Configuration and Setup
5-2-3 Registering Slaves Online to Configure EtherCAT
6 Click the Apply actual network configuration Button. 7 The actual network configuration is duplicated in the Sysmac Studio network configuration, and
the Comparison results Column shows that everything in the configurations agree. (The network configuration on the Sysmac Studio is created based on the actual network configuration.)
The network configuration on the Sysmac Studio will be the same as the actual network configuration.
5
8 Click the Close Button.
Returns the display to the EtherCAT Tab Page.
Precautions for Correct Use
� In any of the following cases, the Compare and Merge with Actual Network Configuration Dialog Box or the Slave Node Address Writing Dialog Box may not be displayed, but an error message or error dialog box may be displayed.
� If there are slaves exceeding the maximum number.
� If the wiring of communications cables between the master and slaves is not correct.
� If there is a slave for which the node address is not set or the same address is set for more than one slave in the actual network configuration.
According to the contents of the message, set the wiring or node address correctly and try again. For details, refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or the NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562).
� A warning dialog box is displayed if a Node Duplicated Address Error has occurred for the network structure on the Sysmac Studio and you click the Apply actual network configuration Button to automatically create the network configuration on the Sysmac Studio. If you click the Apply Button, any of the following configuration and settings that were previously set on the Sysmac Studio are discarded: network configuration, master settings, and any slave settings (including enable settings, PDO map settings, setting parameter settings, backup parameter settings, device variable assignments in the I/O map, slave assignments to Axis Variables registered in the axis settings, and master settings to control slaves that are registered in the task settings).
� Even if you click the Apply actual network configuration Button, any lower-level networks of the EtherCAT slaves (such as for an EtherCAT Slave Terminal) will not be applied to the lower-level network configurations on the Sysmac Studio if those configurations do not match or cannot be compared. You must perform compare and merge operations individually for each lower-level network.
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� When the compare and merge operation is performed, the synchronization between the Sysmac Studio and the Controller is lost. Synchronize the Sysmac Studio and Controller before you perform any online operations for the slaves. Refer to 7-5-1 Transferring/Comparing Data to/from the Controller for information on the synchronization operation.
5-2-4 Setting Master Parameters
Setting Master Parameters
Select the master icon to view the parameter settings for the master.
Master icon
Setting master parameters
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NYseries Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562) for a list of the master parameters.
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5-2-5 Setting Slave Parameters
Setting Slave Parameters
Select a slave to view the parameter settings for that slave. Setting slave parameters
Slave icon
5-2 EtherCAT Configuration and Setup
5-2-5 Setting Slave Parameters
5
You can edit the parameters for the selected slave. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562) for information on slave parameters that are not described here.
Precautions for Correct Use Make sure that the connections between the master and slaves are correct before you perform this operation.
Procedure to Set Serial Numbers
You can get the serial numbers of all of the slaves connected to a master and apply them as the serial numbers of the slaves in the settings on the Sysmac Studio. Use the following procedure.
Go online, right-click the master on the EtherCAT Tab Page, and select Get Slave Serial Numbers. The serial numbers of the slaves are read and used as the serial numbers in the slave parameter settings.
Additional Information
A Network Configuration Verification Error occurs if the serial number on the Sysmac Studio and the serial number of the physical slave do not agree when the Serial Number Check Method in the master settings is set to Setting = Actual device.
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PDO Map Settings
PDO Map Settings Objects must be mapped for communications with process data objects (PDOs) to exchange information in realtime with a fixed period.
1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit from the menu. The EtherCAT Tab Page is displayed in the Edit Pane.
2 Select the slave and then click the Edit PDO Map Settings Button in the Parameter Settings Area on the right side of the tab page.
The PDO Map Settings Window is displayed.
3 Select the PDO mappings that contain the entries to exchange information for in the PDO Map List Area, and then click the OK Button. You can add or delete PDO entries, change the order of PDO entries, or edit PDO entries for which Editable is displayed in the Flag Column. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562) for details.
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5 Controller Configurations and Setup
Additional Information The default PDO mappings are selected for each slave. The display color is changed for any PDO mappings that are selected other than the default mappings and any PDO mappings for which the default PDO entries have been edited so that you can distinguish them from the default settings.
Setting Parameter Settings
Of the parameters that are set in the slaves, the parameters that are saved in the CPU Unit are called setting parameters.
1 Click the Edit Setting Parameters Button in the Parameter Settings Area for the slave. The Edit Setting Parameters Dialog Box for the selected slave is displayed.
5
5-2-5 Setting Slave Parameters
2 Edit the parameters, and then click the OK Button.
Additional Information The parameters that are displayed in the Edit Setting Parameters Dialog Box are saved in the CPU Unit as part of the overall EtherCAT settings. Default settings are defined for each slave. Items with set values that are different from the default values are displayed in a different color so that you can distinguish them. You can click the Return to Default Button to restore all set values that have changed on the Sysmac Studio to the default values.
Precautions for Correct Use The settings in the CPU Unit are not restored to the default settings as soon as you click the Return to Default Button.
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5 Controller Configurations and Setup
Backup Parameter Settings
Parameters that set for a slave and that are backed up in the slave are called backup parameters.
1 Click the Edit Backup Parameter Settings Button in the Parameter Settings Area for the slave.
The Edit Backup Parameter Settings Tab Page for the selected slave is displayed.
If the slave is an EtherCAT Drive, the EtherCAT Drive Tab Page is displayed. Refer to 5-4 Setting EtherCAT Drives for information on the slaves and EtherCAT Drive Tab Page.
2 Edit the parameters, and then click the OK Button.
Additional Information The settings that are displayed in the Edit Backup Parameter Settings Tab Page are saved in non-volatile memory in the slaves. Refer to the manuals for the slaves for information on when these settings are actually applied to slave operation. Default settings are defined for each slave. Items with set values that are different from the default values are displayed in a different color so that you can distinguish them. You can click the Return to Default Button to restore all set values that have changed to the default values.
Precautions for Correct Use The settings that are saved in the slaves are not restored to the default settings as soon as you click the Return to Default Button.
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5-2 EtherCAT Configuration and Setup
5 Controller Configurations and Setup Assigning Slaves to Axes
If you are using 1S-series or G5-series Servo Drives as slaves, you can assign them to the motion control axes that you added newly.
1 Right-click the master on the EtherCAT Tab Page and click Assign Drives to Axes.
The following confirmation message is displayed.
2 Click the OK Button.
The EtherCAT Drives that have been assigned to the added motion control axes are displayed.
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3 Check the display content and then click the OK Button.
5-2-5 Setting Slave Parameters
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5-2-6 Exporting Slave Settings
1 Right-click the slave to export settings for and select Export Slave Settings from the menu.
The Save File Dialog Box is displayed.
2 Enter a file name, and then click the Save Button.
An EtherCAT slave parameter file with an .ets extension is saved. Additional Information All settings except for the device name and node address are saved in the EtherCAT slave parameter file. (That includes the settings that are made in the EtherCAT Drive Tab Page.)
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Importing Slave Settings
1 Right-click the master or slave and select Import Slave Settings and Insert New Slave from the menu.
The Open File Dialog Box is displayed.
2 Select the EtherCAT slave parameter file, and then click the Open Button.
The slave is added to the selected master or slave according to the settings in the parameter
file.
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Precautions for Correct Use
You cannot import slave settings that are exported from a CPU Unit with unit version 1.40 or later into Sysmac Studio version 1.28 or lower.
5-2-6 Exporting Slave Settings
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5-2-7 Installing and Uninstalling ESI Files
Displaying the ESI Library
Display the installed ESI Library. You can check whether the slave definition file exists and the version.
1 Select the master in the EtherCAT Tab Page, right-click, and then select Display ESI Library from the pop-up menu. The ESI Library Dialog Box is displayed.
Installing ESI Files
Install the ESI files for using the slaves.
To connect to an EtherCAT slave from another manufacturer, obtain the ESI file that conforms to the most recent ETG ESI standards.
1 In the ESI Library Dialog Box, click the Install (File) Button or the Install (Folder) Button. To install an individual ESI file, select Install (File), and to install all the ESI files in the folder at one time, select Install (Folder).
The file selection dialog box or folder selection dialog box is displayed.
2 Select the ESI file or the folder in which ESI files are stored, and click the Open Button.
The ESI files are installed and the corresponding slaves are displayed in the ESI Library Dialog Box.
Uninstalling ESI Files
1 In the ESI Library Dialog Box, select the slave whose ESI file is to be uninstalled, and click the Uninstall Button.
The dialog box to confirm execution is displayed.
2 Click the Yes Button.
The ESI file is uninstalled and the corresponding slave is deleted from the ESI Library Dialog Box.
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Precautions for Correct Use To install and uninstall ESI files, you must log onto Windows as a user with administrator rights. If an access permission confirmation dialog box is displayed by Windows, permit access to the folder to continue.
Additional Information � If you save or export a project that contains any EtherCAT slaves from other manufacturers
with Sysmac Studio version 1.09 or higher, the ESI for the slaves is saved in the project file.* When you import this type of project, the creation dates/times on the source ESI files for the ESI saved in the project may be different from the creation dates/times of the ESI files installed on the computer. If they are different, a dialog box is displayed to ask you if you want to update the ESI saved in the project with the information from the ESI files on the computer.
5-2 EtherCAT Configuration and Setup
5-2-8 Transferring the Network Configuration Information
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Confirm that there is no problem in overwriting the ESI saved in the project with the information from the ESI files installed on the computer. If there is no problem, update the information. * Refer to 3-3-7 Exporting a Project File for the export procedure. � To apply any changes in an ESI file to the Controller, you must update the Configurations and
Setup transfer data and then transfer it to the Controller. To update the transfer data, either edit the Configurations and Setup or use the Update Configurations and Setup Transfer Data menu command. You select Update Configurations and Setup Transfer Data from the Tools Menu. Refer to 8-21 Updating the Configurations and Setup Transfer Data on page 8111 for details.
5-2-8 Transferring the Network Configuration Information
Use the synchronize operation to transfer the network configuration information. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for more information on synchronizing.
1 Go online and select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
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2 Click the Transfer To Controller Button.
The network configuration information is downloaded from the Sysmac Studio to the Controller.
5-2-9 Exporting EtherCAT Network Configuration Information
You can output the EtherCAT configurations to CSV files. You can use them to confirm that the EtherCAT configurations were created correctly.
Procedure for Exporting Configuration Information
1 Right-click the master in the EtherCAT Tab Page and select Export Configuration Information.
The Browse For Folder Dialog Box is displayed.
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2 Select the folder in which to save the CSV files of configuration information and click the OK Button.
CSV files (comma delimited) that contain the EtherCAT network configuration information and the EtherCAT Slave Terminal configuration information are saved in the selected folder. Refer to 5-3-3 Exporting the EtherCAT Slave Terminal Configuration Information on page 5-32
for detailed information on the CSV file that contains the EtherCAT Slave Terminal configuration 5
information.
Interpreting the Configuration Information File Contents
This section describes how to interpret the CSV file that contains the EtherCAT network configuration information (EtherCAT.csv). As an example, the contents of the CSV file that contains the following EtherCAT configuration is shown when opened with Excel or other spreadsheet software.
EtherCAT Configuration
5-2-9 Exporting EtherCAT Network Configuration Information
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The slave information on the EtherCAT Tab Page and the positions of the slaves in the EtherCAT configuration (paths and "connected from" slaves) are displayed. The items are described in the following table.
Item
Description
Remarks
Device
Displays information on the slaves.
Node address
Displays the node address of the slave.
Device name
Displays the device name of the slave.
Model name
Displays the model number of the slave.
Revision
Displays the revision of the slave.
Input PDO commu- Displays the total input data size of the PDO mapping nications data size settings of the slave. [bits]
Output PDO communications data size [bits]
Displays the total output data size of the PDO mapping settings of the slave.
Path on tool
Displays the Junction Slaves through which the slaves are connected to the master on the EtherCAT Tab Page.
Path
The Junction Slaves through which the slaves are connected are displayed as follows:
/Node_address Junction_Slave_Model (Device_name)
If there is no Junction Slave in the path, "/" is displayed.
If a slave is connected through more than one Junction Slave, they are displayed in order from the most upstream Junction Slave.
Connect from
Displays the slave to which a slave is connected on the EtherCAT Tab Page.
Node address
Displays the node address of the slave to which the slave is connected.
If the slave is connected to the master, "Master" is displayed.
Device name
Displays the device name of the slave to which the slave is connected.
Model name
Displays the model number of the slave to which the slave is connected.
Revision
Displays the revision of the slave to which the slave is connected.
Port name
Displays the port name of the slave to which the slave is connected.
The port name on the slave to which the slave is connected is displayed.
5-2-10 Printing an EtherCAT Configuration
You can print the EtherCAT configuration, master settings, and slave settings. To do so, select the EtherCAT Network Configuration and Unit Operation Settings Check Box in the tab page to select the items to print. Refer to 8-5 Printing on page 8-23 for the printing procedure.
If the EtherCAT configuration does not fit on one page, it will be printed on multiple pages as shown below.
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Page 2
Page 3
Page 4
5-2-11 Starting Vision Sensor or Displacement Sensor Setup
5
You can display the tab page to set up a Vision Sensor or Displacement Sensor that is registered as a
slave in the EtherCAT configuration.
Precautions for Correct Use FQ-M-series Vision Sensors are not supported by the Sysmac Studio (64 bit).
Here, the procedure to set up a Vision Sensor is described as an example.
1 Right-click the Vision Sensor and select Edit from the menu.
5-2-11 Starting Vision Sensor or Displacement Sensor Setup
The General Settings view is displayed.
Additional Information
Refer to the FQ-M-series Specialized Vision Sensor for Positioning User's Manual (Cat. No. Z314) for the setup procedures for a FQ-M-series Vision Sensor. Refer to the Vision System FH Series Operation Manual for Sysmac Studio (Cat. No. Z343) for the setting procedures for FH-series Vision Sensors. Refer to the ZW-series Confocal Fiber Type Displacement Sensor User's Manual (Cat. No. Z332) for the setup procedure for a Displacement Sensor.
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5-3 EtherCAT Slave Terminal Configuration and Setup
� EtherCAT Slave Terminal Configuration and Setup The configuration of any Slave Terminal that is connected to an EtherCAT network is created on the Sysmac Studio. The NX Units that compose the Slave Terminal are set in the configuration. A configuration in which an EtherCAT Coupler Unit, NX Units, and End Cover are connected is called an EtherCAT Slave Terminal. The Sysmac Studio is used to build the EtherCAT Slave Terminal just like you would assemble actual Units. The EtherCAT Slave Terminal configuration is created by registering an EtherCAT Coupler Unit in the EtherCAT network configuration and then opening the Slave Terminal Tab Page from the registered EtherCAT Coupler Unit (a Communications Coupler Unit).
WARNING
If you set inappropriate parameters when you change the levels of NX Unit events, unexpected machine operation may result. Confirm that the machine will not be adversely affected before you transfer the data.
Precautions for Safe Use
� If any inappropriate parameters are set when you transfer the following settings, unexpected machine operation may result. Confirm that the machine will not be adversely affected before you transfer the data. Also, confirm that the Unit configuration, I/O allocations, and Unit operation settings are correctly set in the Slave Terminal before you start actual operation. � Communications Coupler Unit and NX Unit settings � Node address and Unit number settings for the Communications Coupler Unit and NX Units � PDO map settings for the Communications Coupler Unit and NX Units
� If inappropriate Unit configuration information is transferred to the Slave Terminal, unexpected machine operation may result. Even if appropriate Unit configuration information is set, confirm that the controlled system will not be adversely affected before you transfer the data.
� If you execute communications instructions for NX Units with inappropriate path information, unexpected machine operation may result. Confirm that the path information is correct before you start actual operation.
� After you import Communications Coupler Unit and NX Unit settings, confirm that the Unit configuration, I/O allocations, and Unit operation settings are correctly set in the Slave Terminal before you start actual operation.
Refer to the NX-series EtherCAT Coupler Units User's Manual (Cat. No. W519) for details on EtherCAT Slave Terminals.
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5-3-1 Creating the EtherCAT Slave Terminal Configuration Opening the Slave Terminal Tab Page to Edit the EtherCAT Slave Terminal Configuration
1 Double-click the EtherCAT Coupler Unit under EtherCAT in the Multiview Explorer. Or, rightclick the EtherCAT Coupler Unit and select Edit from the menu. The Slave Terminal Tab Page is displayed in the Edit Pane.
Additional Information
You can open the Slave Terminal Tab Page from the EtherCAT Tab Page in the Edit Pane with either of the following procedures.
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� Right-click the EtherCAT Coupler Unit and select Edit Slave Terminal Configuration from the popup menu.
� Click the Edit Slave Terminal Configuration Button in the network setting item list.
Registering NX Units Offline (Building the Slave Terminal Configuration)
Registering NX Units in a Slave Terminal
1 Drag an NX Unit from the Toolbox to the Slave Terminal Tab Page.
The NX Unit is added.
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Deleting Registered NX Units
1 Right-click the Unit to delete and select Delete from the menu.
The Unit is deleted.
Deleting all NX Units
1 Right-click at any location where there are no Units and select Clear All from the menu.
All of the registered Units are deleted.
Moving NX Units
1 Right-click the Unit to move and select Cut from the menu. 2 Right-click at the location where you want to insert the Unit and select Paste from the menu.
The result is that the Unit is moved.
Precautions for Correct Use If you delete an NX Unit that is assigned to an axis, the assignment to the axis is deleted. Also, if you move an NX Unit, the assignment to the axis may be deleted. If necessary, assign the NX Unit to the axis again.
Additional Information You can also move the Unit by dragging it to the location where you want to insert it.
Copying and Pasting NX Units
1 Right-click the Unit to copy and select Copy from the menu. 2 Right-click at the location where you want to insert the Unit and select Paste from the menu.
The copied Unit is inserted.
Additional Information When you copy and paste a Unit, all settings except for the device name and Unit number are copied with it. A unique device name and Unit number are set automatically.
Switching NX Unit Displays
Use the following procedure to change between displaying Unit appearances and displaying model numbers and unit names.
1 Right-click in the Slave Terminal Tab Page and select Show Model/Unit Name from the menu.
The model numbers and Unit names are displayed in boxes. To return to appearance displays, select Show Model/Unit Name from the menu again to remove the checkmark.
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5 Controller Configurations and Setup Displaying the Slave Terminal Width
1 Click the Button to the right of the Slave Terminal.
The width of the Slave Terminal is displayed.
EtherCAT Coupler Unit and NX Unit Settings
This section describes the EtherCAT Coupler Unit and NX Unit settings that you can make on the Slave
Terminal Tab Page.
The settings apply to both the EtherCAT Coupler Unit and the NX Units unless "NX Unit" is specified.
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Use the following procedure to set the Unit parameters in a Unit setting item list.
1 Select a Unit on the Slave Terminal Tab Page. The Unit setting item list is displayed.
Use this list to allocate I/O and make the operation settings for the Unit.
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I/O Allocation Settings
1 Click the Edit I/O Allocation Settings Button in the Unit setting item list.
The I/O allocations are displayed so that you can edit them.
NX Units Mounting Setting
If you disable an NX Unit that is scheduled to be added in the future, you can continue to perform Unit settings and debugging for other Units even if the disabled NX Unit does not actually exist in the Slave Terminal.
1 Select Disabled for the NX Unit mounting setting parameter in the Unit setting item list.
An icon is displayed to show that the Unit is disabled.
Change the setting to Enabled in the Unit setting item list to enable the Unit again.
Additional Information Regardless of whether the NX Unit mounting setting parameter is set to Enabled or Disabled, the I/O allocation settings for the NX Unit are applied to the I/O data. Operation changes as follows if the parameter is set to Disabled: � If the NX Unit is not mounted, a Unit Configuration Verification Error does not occur, an NX
Unit number is assigned, and the input value is locked at 0. � If the NX Unit is mounted, a Unit Configuration Verification Error will occur.
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Unit Operation Settings
1 Double-click a Unit. Or, right-click the Unit and select Edit Unit Operation Settings from the menu. The Edit Unit Operation Settings Tab Page is displayed.
5-3 EtherCAT Slave Terminal Configuration and Setup
5-3-1 Creating the EtherCAT Slave Terminal Configuration
5
Additional Information The specific parameters depend on the Unit. Refer to the user's manual for the specific Unit for details.
Exporting NX Unit Settings
Use the following procedure to save the NX Unit settings in a file with an NSF file name extension.
1 Right-click an NX Unit on the Slave Terminal Tab Page and select Export NX Unit Settings.
A Save File Dialog Box is displayed.
2 Enter the file name, and then click the OK Button.
The file is saved.
Importing NX Unit Settings to Insert a New Unit
Use the following procedure to import the settings from an NX Unit settings file with an NSF file name extension and use the settings to add a new NX Unit to the Slave Terminal.
1 Right-click a Unit on the Slave Terminal Tab Page and select Import NX Unit Settings and Insert New Unit. A Select File Dialog Box is displayed.
2 Select the file and then click the OK Button.
An NX Unit is added to the Slave Terminal based on the settings in the file.
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Exporting All NX Unit Settings
Use the following procedure to save all the NX Unit settings in a file with an NSPF file name extension.
1 Right-click an EtherCAT Coupler Unit on the Slave Terminal Tab Page and select Export All NX Unit Settings. A Save File Dialog Box is displayed.
2 Enter the file name, and then click the OK Button.
The file is saved.
Importing All NX Unit Settings
Use the following procedure to import all the NX Unit settings from a file with an NSPF file name extension and add newly all the NX Units included in the file. You can import all NX Unit settings only when there is no NX Unit registered in the EtherCAT Coupler Unit.
1 Right-click an EtherCAT Coupler Unit on the Slave Terminal Tab Page and select Import All NX Unit Settings. A Select File Dialog Box is displayed. An error message is displayed if there is any registered NX Unit. In this case, delete all the registered NX Units and select Import All NX Unit Settings again.
2 Select the file and then click the OK Button.
All the NX Units included in the file are added to the Slave Terminal.
Changing the Model of an EtherCAT Coupler Unit or NX Unit
Use the following procedures to change the model or unit version of an EtherCAT Coupler Unit or NX Unit that is already registered.
EtherCAT Coupler Unit
Use the EtherCAT Tab Page to change the model of an EtherCAT Coupler Unit.
1 Right-click the EtherCAT Coupler Unit on the EtherCAT Tab Page and select Change Model from the menu. The Units that you can change to are displayed in the Change Model Dialog Box.
2 Select the Unit to change to and then click the OK Button.
The Unit is changed to the selected model and unit version.
Precautions for Safe Use Check the user program, data, and parameter settings for proper execution before you use them for actual operation.
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Precautions for Correct Use
� If the unit version that you changed to is old and mounting an NX Unit registered in the Slave Terminal is not supported by the Sysmac Studio, an unsupported Unit error occurs for the NX Unit. Confirm that the model of the EtherCAT Coupler Unit after the change supports the NX Units on the Slave Terminal before you change the model.
� Any settings in the EtherCAT Coupler Unit before the change that are not supported by the EtherCAT Coupler Unit after the change will be lost when you change the model.
� If the performance of the EtherCAT Coupler Unit is different after changing the model, the timing of I/O may change.
Changing NX Unit Models
1 Right-click the Unit for which to change the model in the Slave Terminal Tab Page and select Change Model from the menu.
The Units that you can change to are displayed in the Change Model Dialog Box.
2 Select the Unit to change to and then click the OK Button.
The Unit is changed to the selected model and unit version.
Precautions for Safe Use
5
Check the user program, data, and parameter settings for proper execution before you use them
for actual operation.
Precautions for Correct Use
� If you change the model of an NX Unit that is assigned to an axis, the assignment to the axis is deleted. If necessary, assign the NX Unit to the axis again.
� Any settings in the NX Unit before the change that are not supported by the NX Unit after the change will be lost when you change the model.
� If the performance of the NX Unit is different after changing the model, the timing of I/O may change.
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Registering NX Units Online (Building the Slave Terminal Configuration)
Use the following procedure to automatically create the configuration on the Sysmac Studio from the actual configuration of the Slave Terminal.
1 Go online, right-click in the Slave Terminal Tab Page and select Compare and Merge with Actual Unit Configuration. The actual Unit configuration is read and compared with the Unit configuration on the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Unit Configuration Dialog Box.
2 Click the Apply actual Unit configuration Button to synchronize with the actual Unit configuration with the Unit configuration on the Sysmac Studio.
3 Click the OK Button.
The Slave Terminal Tab Page is displayed again.
Precautions for Safe Use Check the user program, data, and parameter settings for proper execution before you use them for actual operation.
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Precautions for Correct Use � If you automatically create the Slave Terminal configuration on the Sysmac Studio by clicking
the Apply actual Unit configuration Button, any previously set Slave Terminal configuration, Communications Coupler Unit settings, and NX Unit settings are discarded. To merge the Slave Terminal information without losing the current settings in the Sysmac Studio, do not use the Apply actual Unit configuration Button, and use the compare and merge operation to create the configuration. Refer to 7-5-1 Transferring/Comparing Data to/from the Controller for information on the compare and merge operation � When the compare and merge operation is performed for the actual Unit configuration, the synchronization between the Sysmac Studio and the Controller is lost. Synchronize the Sysmac Studio and Controller before you perform any online operations for the Slave Terminal. Refer to 7-5-1 Transferring/Comparing Data to/from the Controller for information on synchronization � If an NX Unit that is assigned to an axis is deleted as the result of a compare and merge operation with the actual Unit configuration, the assignment to the axis is also deleted. If necessary, assign the NX Unit to the axis again.
Reading Serial Numbers
The serial numbers can be read from the Units in the actual Unit configuration and applied to the Slave Terminal configuration on the Sysmac Studio.
1 Go online, right-click in the Slave Terminal Tab Page, and select Get Serial Numbers of All NX 5 Units. A dialog box is displayed to confirm reading the serial numbers.
2 Click the Get Button.
The serial numbers are read from the Units in the actual Unit configuration and applied to the Units in the Slave Terminal on the Sysmac Studio.
Additional Information If the NX Unit mounting setting parameter is set to Disabled, the serial number of the NX Unit is cleared to 0.
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5-3-2 Transferring the Slave Terminal Configuration Information
Use the synchronize operation to transfer the Slave Terminal configuration information. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for details on the synchronization operation.
1 Go online and select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
2 Select the EtherCAT Coupler Unit Check Box under EtherCAT Slave Settings in the Synchronization Window, and then click the Transfer To Controller Button.
The Slave Terminal configuration information is downloaded from the Sysmac Studio to the Controller.
5-3-3 Exporting the EtherCAT Slave Terminal Configuration Information
You can output the Slave Terminal configuration to a CSV file. You can use it to confirm that the Slave Terminal configuration was created correctly.
Procedure for Exporting Configuration Information
The Slave Terminal configuration information is exported from the EtherCAT Tab Page. Refer to 52-9 Exporting EtherCAT Network Configuration Information on page 5-18 for the procedure. The Slave Terminal configuration information for all of the EtherCAT Coupler Units on the EtherCAT Tab Page is saved in the same CSV file.
Interpreting the Configuration Information File Contents
This section describes how to interpret the CSV file that contains the Slave Terminal configuration information (EtherCAT_NXBus.csv). As an example, the contents of the CSV file that contains the following Slave Terminal configuration is shown when opened with Excel or other spreadsheet software.
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Slave Terminal Configuration
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CSV File
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The EtherCAT Coupler Unit information and NX Unit information in the Slave Terminal configuration are displayed. The items are described in the following table.
Item Upper device
Node address Device name Device NX Unit number Device name Model name Unit version Input allocated data size [bits] Output allocated data size [bits]
Description Displays the EtherCAT Coupler Unit information on the EtherCAT Tab Page. Displays the node address of the EtherCAT Coupler Unit. Displays the device name of the EtherCAT Coupler Unit. Displays information on the NX Units in the Slave Terminal configuration. Displays the unit number of the NX Unit. Displays the device name of the NX Unit. Displays the model number of the NX Unit. Displays the unit version of the NX Unit. Displays the total input data size in the I/O allocation settings of the NX Unit.
Displays the total output data size in the I/O allocation settings of the NX Unit.
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5-4 Setting EtherCAT Drives
Setting EtherCAT Drives
You can set and monitor OMRON Drives (including Servo Drives/Servomotors and Inverters). Select the Servo Drive or Inverter from the EtherCAT Tab Page to set or monitor it.
The description below is related to the setup methods of MX2/RX-series Inverters. Refer to the Sysmac Studio Drive Functions Operation Manual (Cat. No. I589) for the setup methods and precautions for the Servo Drive.
Additional Information
The backup parameters of EtherCAT slaves are not subject to synchronization and are not downloaded to the slaves for the default settings. To transfer the backup parameters, clear the selection of the Do not transfer Special Unit parameters and backup parameters of EtherCAT slaves (out of synchronization scope) Check Box in the Synchronization Window before you click the Transfer To Controller Button.
5-4-1 Applicable EtherCAT Drives
You can set and monitor the following Drives.
Drive series
EtherCAT display
1S Series G5 Series
R88D-1SN-ECT R88D-KN-ECT(-L)
MX2 Series
3G3AX-MX2-ECT
RX Series
3G3AX-RX-ECT
Slave models
R88D-1SN-ECT
R88D-KN-ECT(-L) (version 1.0 or later)
3G3MX2- (version 1.1 or later) 3G3MX2--V1 (version 1.0 or later) 3G3MX2--HF (version 1.0 or later)
3G3RX--V1 (version 1.0 or later)
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5-4-2 Overview of the Structure of the EtherCAT Drive Tab Page
Register the EtherCAT Drive in the EtherCAT Tab Page and then right-click the Drive in the Multiview Explorer to set or monitor the Drive. Also, the online/offline status of the Drive is displayed in the Multiview Explorer.
Display in the Multiview Explorer
5
Function Display Area (Configuration Area)
5-4 Setting EtherCAT Drives
5-4-2 Overview of the Structure of the EtherCAT Drive Tab Page
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5-4-3 Setting EtherCAT Drives Setting the Model
Set the Drive model and software number.
1 Double-click the Drive under Configurations and Setup - EtherCAT in the Multiview Explorer or right-click the Drive and select Edit from the menu.
The Drive Settings Tab Page is displayed.
2 Click the General Button ( ) in the Drive Settings Tab Page.
The General view appears in the Edit Pane.
3 Set the model and software number.
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Additional Information You can also display the Drive Settings Tab Page if you right-click the slave (3G3AX-MX2ECT/3G3AX-RX-ECT) in the topology display and select Drive Settings from the menu.
Setting the Parameters
5
Use the following procedure to set the Drive parameters.
1 Right-click the Drive under Configurations and Setup - EtherCAT in the Multiview Explorer and select Parameters from the menu.
The Parameters Tab Page is displayed in the Edit Pane.
2 Set the axis parameters.
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Toolbar in the Parameters tab page
You can perform the following operations with the buttons in the toolbar.
Button
Function Returns the selected parameter to the default setting.
Returns all parameters to the default settings.
Downloads all parameters to the Drive.
Uploads all parameters from the Drive.
Compares the parameters between the project and the Drive.
Downloads the selected parameters to the Drive.
Uploads the selected parameters from the Drive.
Prints the parameters.
Sets options for setting the parameters.
Going Online with a Drive
Use the following procedure to go online with a Drive. You can use this procedure only when the Sysmac Studio is online.
1 Right-click the Drive under Configurations and Setup - EtherCAT in the Multiview Explorer and select Online from the menu.
An online connection is made with the Drive.
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Downloading the Parameters to the Drive
Use the following procedure to download the parameters to the Drive. You can use this procedure only when the Sysmac Studio and Drive are online.
1 Click the icon in the Toolbar on the Parameters Tab Page.
5
All parameters are downloaded to the Drive.
Comparing Drive Parameters
Use the following procedure to compare the parameters between the project and the Drive.
1 Click the
Button on the Parameters Tab Page.
The display of the drive values on the Parameters Tab Page are refreshed and the Comparison Results Dialog Box is displayed.
If there are no differences, click the OK Button. The Comparison Results Dialog Box is closed.
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2 If parameters with differences are displayed, click the Yes Button in the Comparison Results Dialog Box. The Comparison Results Dialog Box closes and only the parameters with differences are displayed.
In this status, you can transfer just the parameters with differences to the Drive or transfer them from the Drive.
If you click the No Button in the Comparison Results Dialog Box, all parameters are displayed and you can compare them again.
3 If only parameters with differences are displayed, click the Compare Button again.
The Parameters Tab Page returns to the status in which you can compare the parameters again.
Option Settings
Use the following procedure to set the operation options for transferring parameters.
1 Click the Option Button ( ) on the Parameters Tab Page.
An Option Dialog Box is displayed.
2 Change the settings and click the OK Button.
The settings are applied.
The option settings are listed in the following table.
Setting Transfer
Confirmation
Set value
Automatically transfer to drive updated parameters
Confirm transfer operation
Description
Parameters that are changed online are immediately transferred to the drive.
A confirmation dialog box is displayed when the button is clicked to transfer parameters.
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5-4-4 Monitoring EtherCAT Drives Displaying Drive Errors
You can display a list of errors that occurred in the Drive. The errors are displayed only when the Sysmac Studio and Servo Drive are online.
1 Right-click the Drive under Configurations and Setup - EtherCAT in the Multiview Explorer and select Alarms from the menu.
The Alarms Tab Page is displayed in the Edit Pane.
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5-4 Setting EtherCAT Drives
5-4-4 Monitoring EtherCAT Drives
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5-5 CPU/Expansion Rack Configuration and Setup
In the Sysmac Studio, you can construct a CPU/Expansion Rack Configuration just like you would put together with the actual physical Units. Select Configurations and Setup - CPU/Expansion Racks in the Multiview Explorer to open the Edit Pane to create CPU/Expansion Racks Configuration. You can build a Rack by dragging Units from the device list displayed in the Toolbox Pane to the locations where you want to mount them. The Units that can be mounted in the CPU/Expansion Racks depend on the CPU Unit. The following describes the configurations and setup of the CPU/Expansion Racks for the CPU Units listed below. � NX102 or NX1P2 CPU Units � NJ-series CPU Units
WARNING
Check the parameters for proper execution before you use them for actual operation.
If inappropriate parameters are set as a result of changing the event level of an NX Unit error, unexpected system operation may result. Confirm that the system will not be adversely affected before you transfer the parameters.
Precautions for Safe Use � Always confirm safety before you reset components. � Before you restart the EtherNet/IP Unit, make sure that doing so will not adversely affect the
controlled system.
Additional Information � For the NX701 CPU Unit and NY-series Industrial PCs, the CPU/Expansion Racks Tab Page
is not displayed because there is no Unit that can be mounted on them. � For NX-series CPU Units and NY-series Industrial PCs, you can display their production infor-
mation from the Multiview Explorer. Go online with the Controller, right-click CPU Rack under CPU/Expansion Racks and select Display Production Information.
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5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit
The procedures to operate the CPU/Expansion Racks for the NX102 or NX1P2 CPU Unit are given below. You can mount NX Units*1 on an NX102 or NX1P2 CPU Unit. *1 There are NX Units that cannot be used with NX102 or NX1P2 CPU Units. For details, refer to the
NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501). Hereafter NX1P2 CPU Units are used for explanation as an example.
Opening the CPU and Expansion Racks Tab Page
1 Double-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multiview Explorer. Or, right-click CPU Rack and select Edit from the menu. The CPU and Expansion Racks Tab Page is displayed in the Edit Pane.
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Registering NX Units Offline (Building the CPU Rack Configuration)
Registering the NX Units
1 Drag an NX Unit from the Toolbox to the location where you want to add it in the CPU and Expansion Racks Tab Page. Or, double-click an NX Unit. The NX Unit is added.
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit
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Deleting Registered NX Units
1 Right-click the Unit to delete and select Delete from the menu.
The Unit is deleted.
Deleting All NX Units
1 Right-click any location where there are no Units and select Clear All from the menu.
All of the registered Units are deleted.
Moving NX Units
1 Right-click the Unit to move and select Cut from the menu. 2 Right-click the location where you want to insert the Unit and select Paste from the menu.
The Unit is moved.
Precautions for Correct Use If you delete an NX Unit that is assigned to an axis, the assignment to the axis is deleted. Also, if you move an NX Unit, the assignment to the axis may be deleted. If necessary, assign the NX Unit to the axis again.
Additional Information You can also move the Unit by dragging it to the location where you want to insert it.
Copying and Pasting NX Units
1 Right-click the Unit to copy and select Copy from the menu. 2 Right-click the location where you want to insert the Unit and select Paste from the menu.
The copied Unit is inserted.
Additional Information When you copy a Unit, all settings except for the device name and unit number are copied with it. The device name and unit number are automatically set to values that are not used by other Units.
Changing How NX Units Are Displayed
You can change how Units are displayed between the appearance diagram view and the model/Unit name view.
1 Right-click in the CPU and Expansion Racks Tab Page and select Show Model/Unit Name from the menu. The model numbers and device names are displayed in boxes. To restore the previous view, select Show Model/Unit Name again to clear the selection.
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Displaying the Width of the CPU Rack Configuration
1 Click the Button at the right end of the CPU Rack configuration.
The width of the CPU Rack configuration is displayed.
5 Setting NX Units
The following describes the NX Unit setting items that you can configure in the CPU and Expansion Racks Tab Page. Set the Unit parameters in the Unit setting item list.
1 Select the Unit to configure in the CPU and Expansion Racks Tab Page. The Unit setting item list is displayed. Configure the I/O allocation and Unit operation settings.
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit
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I/O Allocation Settings
1 Click the Edit I/O Allocation Settings Button in the Unit setting item list.
The I/O allocations are displayed so that you can edit them.
NX Unit Mounting Setting
If you disable an NX Unit that is scheduled to be added in the future, you can continue to perform Unit settings and debugging for other Units even if the disabled NX Unit does not actually exist in the CPU Rack.
1 Select Disabled for the NX Unit mounting setting parameter in the Unit setting item list.
An icon is displayed to show that the Unit is disabled.
Change the setting to Enabled in the Unit setting item list to enable the Unit again.
Additional Information
Regardless of whether the NX Unit mounting setting parameter is set to Enabled or Disabled, the I/O allocation settings for the NX Unit are applied to the I/O data of the CPU Unit. Operation changes as follows if the parameter is set to Disabled: � If the NX Unit is not mounted, a Unit Configuration Verification Error does not occur, an NX
Unit number is assigned, and the input value is locked at 0. � If the NX Unit is mounted, a Unit Configuration Verification Error will occur.
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NX Unit Operation Settings
1 Double-click a Unit. Or, right-click the Unit and select Edit Unit Operation Settings from the menu. The Edit Unit Operation Settings Tab Page is displayed.
5-5 CPU/Expansion Rack Configuration and Setup
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit
Additional Information
5
The specific parameters depend on the Unit. Refer to the user's manual for the specific Unit for
details.
Exporting NX Unit Settings
Use the following procedure to save the NX Unit settings in a file with an NSF file name extension.
1 Right-click an NX Unit in the CPU and Expansion Racks Tab Page and select Export NX Unit Settings. A Save File Dialog Box is displayed.
2 Enter the file name, and then click the OK Button.
The file is saved.
Importing NX Unit Settings to Insert a New Unit
Use the following procedure to import the settings from an NX Unit settings file with an NSF file name extension and use the settings to add a new NX Unit to the CPU Rack.
1 Right-click a Unit in the CPU and Expansion Racks Tab Page and select Import NX Unit Settings and Insert New Unit. A Select File Dialog Box is displayed.
2 Select the file and then click the OK Button.
An NX Unit is added to the CPU Rack based on the settings in the file.
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Exporting All NX Unit Settings
Use the following procedure to save all the NX Unit settings in a file with an NSPF file name extension.
1 Right-click the CPU Unit in the CPU and Expansion Racks Tab Page and select Export All NX Unit Settings. A Save File Dialog Box is displayed.
2 Enter the file name, and then click the OK Button.
The file is saved.
Importing All NX Unit Settings
Use the following procedure to import all the NX Unit settings from a file with an NSPF file name extension and add newly all the NX Units included in the file. You can import all NX Unit settings only when there is no NX Unit registered in the CPU Unit.
1 Right-click the CPU Unit in the CPU and Expansion Racks Tab Page and select Import All NX Unit Settings. A Select File Dialog Box is displayed. An error message is displayed if there is any NX Unit. In this case, delete all the registered NX Units and select Import All NX Unit Settings again.
2 Select the file and then click the OK Button.
All the NX Units included in the file are added to the CPU Unit.
Changing the NX Unit Model
Use the following procedure to change the model or unit version of an NX Unit that is already registered.
1 Right-click the Unit for which to change the model in the CPU and Expansion Racks Tab Page and select Change Model from the menu. The Units that you can change to are displayed in the Change Model Dialog Box.
2 Select the Unit to change to and then click the OK Button.
The Unit is changed to the selected model and unit version.
Precautions for Safe Use Check the user program, data, and parameter settings for proper execution before you use them for actual operation.
Precautions for Correct Use � If you change the model of an NX Unit that is assigned to an axis, the assignment to the axis is
deleted. If necessary, assign the NX Unit to the axis again. � Any settings in the NX Unit before the change that are not supported by the NX Unit after the
change will be lost when you change the model. � If the performance of the NX Unit is different after changing the model, the timing of I/O may
change.
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Registering NX Units Online (Building the CPU Rack Configuration)
Use the following procedure to automatically create the configuration in the Sysmac Studio from the actual CPU Rack configuration.
1 Go online, right-click in the CPU and Expansion Racks Tab Page, and select Compare and Merge with Actual Unit Configuration. The actual Unit configuration is read and compared with the Unit configuration in the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Unit Configuration Dialog Box.
5
2 Click the Apply actual Unit configuration Button to synchronize the Unit configuration in the Sysmac Studio with the actual Unit configuration.
3 Click the OK Button.
The CPU and Expansion Racks Tab Page is displayed again. Precautions for Safe Use Check the user program, data, and parameter settings for proper execution before you use them for actual operation.
5-5-1 CPU/Expansion Racks for the NX102 CPU Unit or NX1P2 CPU Unit
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Precautions for Correct Use � If you automatically create the CPU Rack configuration in the Sysmac Studio by clicking the
Apply actual Unit configuration Button, any previously set CPU Rack configuration and NX Unit settings are discarded. To merge the CPU Rack information without losing the current settings in the Sysmac Studio, do not use the Apply actual Unit configuration Button, and use the compare and merge operation to create the configuration. Refer to 7-5-1 Transferring/Comparing Data to/from the Controller on page 7-119 for information on the operation to compare and merge with the actual network configuration in the Sysmac Studio. � When the compare and merge operation is performed for the actual Unit configuration, the synchronization between the Sysmac Studio and the Controller is lost. Synchronize the Sysmac Studio and Controller before you perform any online operations for the CPU Rack. Refer to 7-5-1 Transferring/Comparing Data to/from the Controller on page 7-119 for information on synchronization. � If an NX Unit that is assigned to an axis is deleted as the result of a compare and merge operation with the actual Unit configuration, the assignment to the axis is also deleted. If necessary, assign the NX Unit to the axis again.
Reading Serial Numbers
The serial numbers can be read from the Units in the actual Unit configuration and applied to the CPU configuration in the Sysmac Studio.
1 Go online, right-click in the CPU and Expansion Racks Tab Page, and select Get Serial Numbers of All NX Units. The Get Serial Numbers of All NX Units Dialog Box is displayed.
2 Click the Get button.
The serial numbers are read from the Units in the actual Unit configuration and applied to the Units in the CPU Rack on the Sysmac Studio.
Additional Information If the NX Unit mounting setting parameter is set to Disabled, the serial number of the NX Unit is cleared to 0.
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Transferring the CPU/Expansion Rack Configuration Information
Use the synchronize operation to transfer the CPU/Expansion Rack configuration information. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for details on synchronization.
1 Go online and select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
2 Select the CPU/Expansion Racks Check Box in the Synchronization Window and then click the Transfer To Controller Button.
5
The CPU Rack configuration information is downloaded from the Sysmac Studio to the Controller.
5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
The procedures to operate the CPU Rack and Expansion Racks for NJ-series CPU Units are given below. You can mount CJ-series Units on an NJ-series CPU Unit.
Opening and Using the Unit Editor
1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select Edit from the menu. The Unit Editor is displayed in the Edit Pane.
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Unit Information Rack Information
Displays device information for the selected Unit, such as the device name, model number, rack number, slot number, unit number, number of unit numbers assigned, response time, and error information.
Click the tab to the right of a Rack to view its power consumption and size.
Registering Units Offline to Create the Unit Configuration
Procedure to Add Units
1 Drag the Unit selected in the Model Selection Pane to the Unit Editor.
Or, double-click the Unit. The Unit is added.
2 If you add a Special Unit, set the unit number.
Procedure to Delete Units
1 Right-click the Unit to delete and select Delete from the menu. 2 The Unit is deleted.
Procedure to Move Units
1 Right-click the Unit to move and select Cut from the menu. 2 Right-click at the location where you want to insert the Unit and select Paste from the menu.
The result is that the Unit is moved.
Additional Information
You can also move the Unit by dragging it to the location where you want to insert it.
Procedure to Copy and Paste Units
1 Right-click the Unit to copy and select Copy from the menu. 2 Right-click at the location where you want to insert the Unit and select Paste from the menu.
The Unit is pasted.
Additional Information
When you copy a Unit, all settings except for the device name and unit number (for a Special Unit) are copied with it. The device name and unit number (for a Special Unit) are automatically set to values that are not used by other Units. Each Rack can contain a maximum of 10 Units.
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Procedure to Change the Unit
1 Right-click the Unit and select Change Model from the menu.
The Change Model Dialog Box is displayed.
2 Select the Unit and then click the OK Button.
The Unit is changed to the selected model.
Procedure to Change the Power Supply Unit Model
1 Right-click the Power Supply Unit and select Change Model from the menu.
The Change Model Dialog Box is displayed.
2 Select the Power Supply Unit, and then click the OK Button.
Creating Racks
Procedure to Add Racks
1 Right-click at any location where there are no Units and select Add Rack from the menu. The Rack is added.
Procedure to Delete Racks
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1 Select a Unit of the Rack to delete.
2 Right-click at any location where there are no Units and select Delete Rack from the menu.
The Rack is deleted.
Procedure to Delete All Racks and Units
1 Right-click at any location where there are no Units and select Clear All from the menu. All Racks and Units are deleted.
Changing How Units Are Displayed
Right-click at any location where there are no Units and select Show Model/Unit Name from the menu.
The unit numbers, model names, and device names are displayed.
5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
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Displaying Rack Widths, Current Consumptions, and Power Consumptions
1 Click Button at the right end of a Rack.
The rack width, current consumption, and power consumption are displayed.
Setting Basic Input Units
Editing the Settings of Basic Input Units
You can set the input response time of a Basic Input Unit in the Unit Information in the Unit Editor.
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Setting Special Units
Procedure to Edit the Special Unit Setup
1 Double-click a Unit. Or, right-click the Unit and select Edit Special Unit Settings from the menu.
The Edit Special Unit Settings Tab Page for the selected Unit is displayed.
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5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
2 Edit the parameters, and then click the OK Button.
Additional Information
Default settings are defined for each Special Unit. Items with set values that are different from the default values are displayed in a different color so that you can distinguish them. You can click the Return to default Button to restore all set values that have changed on the Sysmac Studio to the default values.
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Precautions for Correct Use No checks are made to verify the logical consistency between data items in the Special Unit Setup. Therefore, always check the logical consistency between all settings before transferring the Special Unit Setup to the Controller and starting operation, especially when you perform tasks such as enabling or disabling a setting from another setting. Depending on the settings, logical inconsistencies could result in unintended operation. For example, assume that setting item 1 specifies either defaults or user settings and that the user settings start from setting item 2. Here, even if you set the user settings from item 2 onward, the setting of setting item 1 will not be automatically changed to specify using the user settings. In this case, if you do not also change the setting of setting item 1 to specify using the user settings, the settings from items 2 onward will be ignored. The settings for the Special Units in the CPU Unit are not restored to the default settings as soon as you click the Return to default Button.
Procedure to Save the Special Unit Settings
1 Right-click a Unit and select Save Special Unit Settings from the menu.
A Save File Dialog Box is displayed.
2 Enter a file name, and then click the Save Button.
A Unit parameter file with a .upf extension is saved. Additional Information All settings except for the device name and unit number are saved in the Unit parameter file.
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Procedure to Read Special Unit Setting File
1 Right-click a Unit and select Read Special Unit Settings from the menu.
A Open File Dialog Box is displayed.
2 Select a Unit parameter file, and then click the Open Button.
5
The parameters are read from the file. Additional Information All settings except for the device name and unit number are saved in the Unit parameter file.
Registering Units Online to Configure the CPU Rack and Expansion Racks
Procedure to Automatically Create the Configuration on the Sysmac Studio from the Actual Unit Configuration
1 Go online, right-click anywhere in the Unit Editor where there is no Unit and select Compare and Merge with Actual Unit Configuration.
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The actual Unit configuration is read and compared with the Unit configuration on the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Unit Configuration Dialog Box.
2 Click the Apply actual Unit configuration Button to synchronize with the actual Unit configuration.
3 Click the OK Button.
This returns you to the Unit Editor.
Transferring the CPU/Expansion Rack Configuration Information
Use the synchronize operation to transfer the CPU/Expansion Rack configuration information. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for more information on synchronizing.
1 Go online and select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
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2 Select the CPU/Expansion Racks Check Box in the Synchronization Window and then click the Transfer To Controller Button.
5-5 CPU/Expansion Rack Configuration and Setup
5-5-2 CPU Rack and Expansion Racks for NJ-series CPU Units
5
The CPU/Expansion Racks configuration information is downloaded from the Sysmac Studio to the Controller.
Additional Information The parameters of the Special Units in the configuration information for the CPU/Expansion Racks are not subject to synchronization and are not downloaded to the CPU Unit for the default settings. To transfer the parameters of the Special Units in the configuration information for the CPU/Expansion Racks, clear the selection of the Do not transfer the following. (All items are not transferred.) -CJ-series Special Unit parameters and EtherCAT slave backup parameters. Check Box and select the check box for the CPU Rack and Expansion Racks in the Synchronization Window before you click the Transfer To Controller Button.
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5-6 Controller Setup
Use the Controller Setup to change settings related to the operation of the Controller. The Controller Setup contains PLC Function Module operation settings and built-in EtherNet/IP Function Module port settings. Note that specific settings are required depending on the Controller.
5-6-1 Operation Settings
� Operation Settings These settings are related to the operation of the PLC Function Module, such as the Startup Mode, the routing tables, and the event levels of Controller errors. There are basic settings, FINS settings, and event level settings. The settable items vary with the Controller. Refer to the manuals for the specific Controllers for details.
Procedure to Open the Operation Settings Tab Page
1 Double-click Operation Settings under Configurations and Setup - Controller Setup in the Multiview Explorer. Or, right-click Operation Settings and select Edit from the menu.
The Operation Setting Tab Page is displayed in the Edit Pane.
Procedure to Open the Basic Settings View
1 Double-click Operation Settings under Configurations and Setup - Controller Setup in the Multiview Explorer. Or right-click Operation Settings and select Edit from the menu. The Basic Settings view is displayed on the Operation Settings Tab Page in the Edit Pane.
2 If the Basic Settings view does not appear, click the Basic Settings Button ( ).
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The basic settings are listed below.
Basic Settings
Category
Setting
Description
Operation Settings
Startup Mode
Sets the operating mode to enter when the power is turned ON.
Start delay time at startup*1
Sets the time to wait for an NS-series PT to perform the tag verifications with priority during startup after the power supply is turned ON.
Battery-related error detection*2
Sets whether to perform battery-related error detection.
SD Memory Card Set- Memory Card Diagnosis at
tings*3
Startup
Sets whether to execute self-diagnosis (file system check and restoration) on the inserted SD Memory Card when the power is turned ON.
Virtual SD Memory Card Settings*4
Virtual SD Memory Card
Sets whether to use the shared folder as a Virtual SD Memory Card.
Computer name
Sets the Windows computer name.
IP address
Sets the IP address of the Windows internal port.
Shared folder name
Sets a shared folder name used as a Virtual SD Memory Card.
User name
Sets a shared user name to use the shared folder as a
Virtual SD Memory Card.
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Password
Sets a password to access the shared folder as a Virtual SD Memory Card.
System Service Moni- System service execution
toring Settings*5
interval [ms]
Sets the interval to monitor system service execution.
System service execution time Sets the ratio to monitor execution of system services
ratio [%]
in relation to overall processing of the CPU Unit.
SD Memory Card Program Transfer Setting*3*6
Program transfer by systemdefined variable
Password
Enables or disables the program transfer from the SD Memory Card.
Sets the password that is used for verification when you execute the program transfer from the SD Memory Card.
Valid number of characters: 8 to 32
Valid type of characters: Single-byte alphanumeric characters (case sensitive)
SD Memory Card Restore Setting*3*7
Restore by system-defined variable
Enables or disables the restore of data from the SD Memory Card.
Password
Sets the password that is used for verification when you execute the restore of data from the SD Memory Card.
Valid number of characters: 8 to 32
Valid type of characters: Single-byte alphanumeric characters (case sensitive)
Shutdown Wait Time Setting*4
User Program
Sets the time spent waiting for the start of shutdown processing on the Controller after a backup signal output from the UPS turns ON or a shutdown instruction is given by the power supply button.
OS
Sets the time spent waiting for the detection of shut-
down completion on the Windows after a shutdown
instruction is given by the Controller to the Windows.
Event Log Settings *8 Instruction Error Output
Sets whether to output instruction errors to a Controller event log when an error occurs in an instruction. Refer to 8-15 Troubleshooting for information on the event logs.
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Category
Setting
Description
Security Settings
Write Protection at Startup
Sets whether to write-protect the CPU Unit when the power supply is turned ON.
Disabling backups to SD Memory Cards *9
Sets whether to enable or disable SD Memory Card backups.
Setting Change during RUN Mode
� Start � Transfer � Cancel
As long as the parameters match between the project and the Controller, you can write the following settings during RUN mode.
� Write protection at startup
� Disabling backups to SD Memory Cards
Refer to 8-3-3 Write Protection of the CPU Unit for details on write protection.
---
Reset all to default.
Returns all of the basic settings and FINS settings to
their default settings.
*1 This setting is supported by CPU Units with unit version 1.10 or later. *2 This is displayed only for an NX102 or NX1P2 Controller. *3 This is not displayed for an NY-series Controller. *4 This is displayed only for an NY-series Controller. *5 This is displayed only for an NJ-series CPU Unit. *6 This setting is supported by NJ/NX-series CPU Units with unit version 1.11 or later. *7 This setting is supported by NJ/NX-series CPU Units with unit version 1.14 or later. *8 This setting is supported by CPU Units with unit version 1.02 or later. *9 This setting is supported by CPU Units with unit version 1.03 or later.
For details on the settings, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Precautions for Correct Use You cannot undo or redo operations in the Basic Settings view.
Additional Information
If there is a mistake in any set value, it is highlighted in red. Move your mouse over any location for which an error is displayed to view the error message as a tooltip.
Procedure to Open the FINS Settings View
You can use FINS networks and FINS communications with NX102 or NX1P2 Controller and NJseries Controllers.
1 Double-click Operation Settings under Configurations and Setup - Controller Setup in the Multiview Explorer. Or right-click Operation Settings and select Edit from the menu. The Basic Settings view is displayed on the Operation Setting Tab Page in the Edit Pane.
2 Click the FINS Settings Button ( ) displayed on the Operation Settings Tab Page in the Edit Pane.
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The FINS Settings view is displayed.
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FINS Settings
Setting Local Network Unit type Table
Unit number
Unit/Port Local network
Item or set value
� CPU Bus Unit*1
� Special I/O Unit*1
� Built-in EtherNet/IP port
� CPU Bus Unit: 0 to 15
� Special I/O Unit: 0 to 95
� Built-in EtherNet/IP port: 250
� Unit � Port 1 � Port 2
1 to 127
Default CPU Bus Unit*1
---*2
Unit*3 ---
Description Select the Unit type.
If the Unit is a CPU Bus Unit or Special I/O Unit, set the unit number.
If the Unit is a CPU Bus Unit, specify the Unit or port that connects to the network. Set the local network number.
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Setting
Item or set value
Remote Network Table
Remote network 1 to 127
Relay network 1 to 127
Default -----
Relay node
1 to 254
---
Gateway counter
Standard (2) or Standard (2) Extension (7)
---
Reset all to
---
default.
Description
Set the number of the network to connect to.
Set the number of the relay network closest to the local network.
Set the node number that is connected to the relay network from the local network.
Set the GCT (gateway counter), which determines how many levels of the network to go through when a FINS command or FINS response is sent.
Standard: Up to 3 levels (GCT = 02 hex)
Extension: 4 to 8 levels (GCT = 07 hex)
The Reset all to default Button resets all the settings to their default values.
*1 Displayed only with the NJ-series CPU Unit. *2 If the Unit is the built-in EtherNet/IP port, this value is always 250. *3 If the Unit is a Special I/O Unit or built-in EtherNet/IP port, this value is always Unit.
Additional Information
If there is a mistake in any set value, it is highlighted in red. Move your mouse over any location for which an error is displayed to view the error message as a tooltip.
Procedure to Open the Event Level Settings View
1 Click the Event Level Settings Button ( Pane.
) in the Operation Settings tab page of the Edit
The event name and event code are displayed. You can change the event level.
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Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for the Controller events for which you can change the event levels and the NJ/NX-series Troubleshooting Manual (Cat. No. W503) or NY-series Troubleshooting Manual (Cat. No. W564) for details on the events.
Version Information
A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to change the event levels.
Precautions for Correct Use
If you change the event level of a Controller error, the output status when the error occurs may change. Confirm safety before you change an event level.
Transferring Operation Settings
Use the synchronize operation to transfer the operation settings to the Controller. Refer to Synchro-
nizing (Uploading/Downloading after Automatic Verification) on page 7-119 for more information on
synchronizing.
5
1 Go online with the Controller.
2 Select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
3 Select Operation Settings under the Controller Setup in the Synchronization Window and then click the Transfer To Controller Button.
The settings are transferred.
5-6 Controller Setup
5-6-1 Operation Settings
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5-6-2 Built-in EtherNet/IP Port Settings
� Built-in EtherNet/IP Port Settings These settings are made to perform communications using the built-in EtherNet/IP port of the Controller.
Procedure to Open the Built-in EtherNet/IP Port Settings Tab Page
Double-click Built-in EtherNet/IP Port Settings under Configurations and Setup - Controller Setup in the Multiview Explorer. Or, right-click Built-in EtherNet/IP Port Settings and select Edit from the menu. The Built-in EtherNet/IP Port Settings Tab Page is displayed.
Built-in EtherNet/IP Port Settings
Setting TCP/IP Settings
Button
Description Set the EtherNet/IP port TCP/IP settings.
Link Settings
Set the baud rate for the EtherNet/IP port.
FTP Settings NTP Settings SNMP Settings SNMP Trap Settings
Select whether to use the FTP server, and set up the FTP server if it is required.
Select whether to use NTP (automatic time setting), and set up NTP if it is required.
Select whether to use SNMP (Simple Network Management Protocol), and set up SNMP if it is required.
Select whether to use SNMP traps (to detect network problems), and set up SNMP traps if they are required.
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Setting FINS Settings*1
CIP*2
Button
Description
Make the FINS communications settings for the built-in EtherNet/IP port. Refer to FINS Settings on page 5-63 for details.
Select whether to use CIP routing, and set up CIP routing if it is used.
TCP/UDP message service*3
Select whether to use the TCP/UDP message service, and set up the TCP/UDP message service if it is used.
*1 This is displayed only for an NJ-series Controller and NX102 or NX1P2 Controller. *2 This is displayed only for an NY-series Controller. *3 This is displayed only for an NX102 Controller.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP User's Manual (Cat. No. W506) or NYseries Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563) for a list of the settings.
Procedure to Open the Settings Views
The Built-in EtherNet/IP Port Settings Tab Page is used to configure settings. The TCP/IP Settings
view is used as an example in the following procedure.
1 Click the TCP/IP Settings Button ( ) on the Built-in EtherNet/IP Port Settings Tab Page. The
TCP/IP Settings view is displayed.
5
5-6 Controller Setup
5-6-2 Built-in EtherNet/IP Port Settings
Use the same procedure to display the other settings views.
Procedure to Download Built-in EtherNet/IP Port Settings
Use the synchronize operation to transfer the Built-in EtherNet/IP Port Settings to the Controller. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for more information on synchronizing.
1 Go online with the Controller. 2 Select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
3 Select Built-in EtherNet/IP Port Settings under the Controller Setup in the Synchronization Window and then click the Transfer To Controller Button. The settings are transferred.
Precautions for Correct Use
You cannot undo and redo operations in the Built-in EtherNet/IP Port Settings Tab Page.
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Additional Information � If there is a mistake in any set value, it is highlighted in red. Move your mouse over any loca-
tion for which an error is displayed to view the error message as a tooltip. � If you select Obtain from BOOTP Server as the IP address acquisition method in the TCP/IP
Settings, you can display the acquired IP address in the Controller Status Pane. Refer to the Controller Status Monitor on page 7-44 for the procedure to open the Controller Status Pane.
Procedure to Open the FINS Settings View
� FINS Settings Configure the FINS settings to perform FINS network communications from the built-in EtherNet/IP port of the NJ-series CPU Unit, or the NX102 and NX1P2 CPU Unit.
1 Click the FINS Settings Button ( ) on the Built-in EtherNet/IP Port Settings Tab Page. The FINS Settings view is displayed.
Category FINS Node Address Settings FINS/UDP FINS/TCP*1
Description Set the FINS node address. Set FINS/UDP communications. Set FINS/TCP communications.
*1 This is not displayed for an NX1P2 CPU Unit.
The settings are listed below for each setting category.
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5-6-2 Built-in EtherNet/IP Port Settings
FINS Node Address Setting
Setting
Description
Set value Default
Condition
Node address of Set the FINS node address. The FINS node 1 to 254
1
built-in Ether- address is determined by the IP Address-FINS
Net/IP port*1
Address Conversion Method setting in the FINS/UDP settings.
The IP AddressFINS Address Conversion Method must be set to Combination or IP Address.
*1 The target port varies depending on the model. Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for details.
FINS/UDP
Setting
Description
Set value Default Condition
FINS/UDP Port Set the FINS/UDP port number. Number
1 to
9600
---
65535*1
IP Address-FINS Select the conversion method to use when determining the FINS Automatic Automatic ---
Address Conver- address from the IP address.
Genera- Genera-
sion Method
� Automatic Generation
tion, Com- tion
� The FINS node address is determined from the lower eight bits of the IP address as shown below.
� Lower 8 bits of subnet address are 0:
bination, or IP Address
5
The lower 8 bits of the IP address are set as the FINS node
address.
Example:
IP address
Subnet mask
FINS node address
192.168.250.129 255.255.255.0
129
192.168.250.129 255.255.128.0
129
192.168.250.129 255.255.0.0
129
� Lower 8 bits of subnet address are not 0:
The host address that is created from the IP address and the subnet mask is set as the FINS node address.
Example:
IP address
Subnet mask
FINS node address
192.168.250.129 255.255.255.128 1
192.168.250.129 255.255.255.192 1
� Combination The address specified in the FINS node address setting or in the IP address table is used. � IP Address The address set in the IP address table is used.
IP Address Table
Set the table of corresponding IP addresses and FINS addresses to determine the FINS addresses.
FINS node address: 1 to 254
Blank
The IP AddressFINS Address Conversion Method must be set to Combination or IP Address.
Dynamically
Set whether to dynamically change the IP address of the remote Convert or Convert ---
Change Remote node.
Do Not
IP
Convert
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*1 Port numbers that are reserved by the system cannot be set. Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for details.
FINS/TCP
Setting FINS/TCP Port Number
FINS/TCP Con- Connection No. nection Settings
Server/Client
Connected IP address
Description
Set the FINS/TCP port number.
Displays the connection number.
Set if this is a server or a client.
Set the IP address to connect to.
Set value 1 to 65535*1
Cannot be changed Server/Client
*2
Automatic Assignment
Automatically assigned FINS node address
Set whether to use automatic assignment.
Selected or not selected
Set the FINS address that corresponds to the IP address.
1 to 254
Protect with IP Address
When the Con- --troller is the client, protection is provided with the destination IP address.
Default 9600
Condition ---
No. 1 to No. 16 ---
Server
---
0.0.0.0
Selected. 239 to 254 (line 1 to line 16)
---
The Protect with IP Address Option must be selected or Server/Client must be set to Client.
Server/Client must be set to Server.
Server/Client must be set to Server and Automatic Assignment must be selected.
---
*1 Port numbers that are reserved by the system cannot be set. Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for details.
*2 Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for details on the setting ranges of IP addresses.
5-6-3 Built-in I/O Settings
You can configure the built-in I/O port settings for an NX1P2 Controller.
Procedure to Open the Built-in I/O Settings Tab Page
1 Double-click Built-in I/O Settings under Configurations and Setup - Controller Setup in the Multiview Explorer. Or, right-click Built-in I/O Settings and select Edit from the menu.
The Built-in I/O Settings Tab Page is displayed.
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5-6-4 Option Board Settings
Refer to the NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (Cat. No. W579) for details on the setting items.
5
5-6-4 Option Board Settings
You can configure the Option Board settings for an NX1P2 Controller.
Procedure to Open the Option Board Settings Tab Page
1 Double-click Option Board Settings under Configurations and Setup - Controller Setup in the Multiview Explorer. Or, right-click Option Board Settings and select Edit from the menu. The Option Board Settings Tab Page is displayed.
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Refer to the NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (Cat. No. W579) for details on the setting items.
Reading the Actual Configuration
You can read the configuration of actually mounted Option Boards for display in the Sysmac Studio while online.
1 Go online and click the Apply Actual Configuration Button.
The current settings configured in the Sysmac Studio are compared with the actual configuration and the results are displayed.
2 To apply the configuration when the comparison results show a difference, click the Yes button.
The actual configuration is applied to the Option Boards in the Sysmac Studio.
5-6-5 Memory Settings
You can configure the memory used for CJ-series Units for an NX102 or NX1P2 Controller.
Procedure to Open the Memory Settings Tab Page
1 Double-click Memory Settings under Configurations and Setup - Controller Setup in the Multiview Explorer. Or, right-click Memory Settings and select Edit from the menu. The Memory Settings for CJ-series Units Tab Page is displayed.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details on the setting items.
Additional Information
Configuring the memory used for CJ-series Units allows the use of variable memory according to the set memory size. Refer to 8-4 User Memory Usage Monitor on page 8-22 for the check procedure for the usage of variable memory.
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5-7 Motion Control Setup
5 Controller Configurations and Setup
5-7 Motion Control Setup
� Motion Control Setup The Motion Control Setup is used to create the axes to use in motion control instructions, assign those axes to Servo Drives and encoders, and set axis parameters.
5-7-1
Setting Axes
1 Right-click Axis Settings under Configurations and Setup - Motion Control Setup in the Multiview Explorer and select Add - Motion Control Axis or Single-axis Position Control Axis*1 from the menu.
The axis MC_Axis000(0) is added under Axis Settings.
5
The number in parentheses in MC_Axis000(0) is the axis number.
For an NX-series Controller, axes are displayed in the following form: MC_Axis000(0,MC1). The axis number and the task that executes the motion controls are in the parentheses. *1 This is displayed only for an NX102 or NX1P2 Controller.
2 Double-click MC_Axis000(0).
5-7-1 Setting Axes
The Axis Parameter Settings tab page is displayed in the Edit Pane. The basic parameters are displayed on the initial display.
3 Select the following settings to use a servo axis.
� Axis Use: Used Axis or Unused axis (changeable to used axis)
� Axis Type: Servo Axis
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4 Select a servo for the Output device 1 setting.
* Refer to 5-2 EtherCAT Configuration and Setup for the procedure to set slaves.
Additional Information For an NJ-series CPU Unit with a unit version of 1.04 or earlier, select the Servo that is registered as the input device.
5 Click the buttons on the left side of the Axis Basic Settings Tab Page to complete different settings. The parameters you can set for each button are given below.
Settings Buttons and Axis Parameters
Button
Name Axis Basic Settings
Unit Conversion Settings
Operation Settings
Other Operation Settings Limit Settings
Description Set the task to execute motion controls,*1 whether to use the axis, the axis type, the axis number, control function*2 an input or output device, and the channel. Set the unit of display and gear ratio of the electronic gear. Set number of command pulses and the travel distance per motor rotation. With a CPU Unit with unit version 1.11 or later, you can set items for using a reducer. Set the velocity, acceleration rate, deceleration rate, torque warning values, and other monitor parameters.
Set the I/O for the Servo Drive.
Set software limits and following error limits.
Homing Settings
Set the homing operation.
Position Count Settings Set Count Mode of the Controller.
Servo Drive Settings Set the Servo Drive parameters.
*1 This item is set for an NX701 Controller. The setting item is not displayed for an NJ-series Controller.
*2 This is displayed only for an NX102 or NX1P2 Controller. In the default setting, All is selected if you added Motion Control Axis or Single-axis position control only is selected if you added Single-axis Position Control Axis.
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Refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) or NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559) for details on each setting.
Precautions for Safe Use If you change the detailed settings of the Axis Basic Settings Tab Page, make sure that the device or machine performs the expected operation before you start actual operation. If the relationship between the functions of the Motion Control Function Module and the EtherCAT slave process data that is assigned to the axes are not correct, the device or machine may perform unexpected operation.
Additional Information Parameters that you change in the Axis Parameter Settings Tab Page are automatically updated in the Axis Setting Table.
Setting the Task to Execute Motion Control
When you register an axis, the primary periodic task is set by default as the task to execute motion control.
With an NX701 Controller, you can set the task to execute motion control to either the primary peri- 5
odic task or the priority-5 periodic task. Use the following procedure to set the priority-5 periodic task as the task to execute motion control.
1 Register the priority-5 periodic task in the Task Settings.
Refer to 5-9-1 Registering Tasks on page 5-102 for the task registration procedure in the Task Settings.
2 In the I/O Control Task Settings under the Task Settings, select the task for the priority-5 periodic task as the task for the slave/Unit assigned to the axis.
5-7-1 Setting Axes
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3 Select the slave/Unit to which you assigned the priority-5 periodic task for the input device or output device in the Axis Basic Settings.
4 Select the priority-5 periodic task in the Motion control Box.
The priority-5 periodic task is set as the task to execute motion control. Precautions for Correct Use � If you assign a slave/Unit to an axis, the task that is set in the Axis Basic Settings is given pri-
ority over the task that is set in the I/O Control Task Settings under the Task Settings as the task assigned to that slave/Unit. To change the task assignment for a slave/Unit that is assigned to a task for an NX701 Controller, change the task that is set for motion control in the Axis Basic Settings. The task in the I/O Control Task Settings in the Task Settings for the slave/Unit is automatically changed to the task that is set in the Axis Basic Settings. � If you want to assign a different task in the I/O Control Task Settings in the Task Settings for a slave/Unit that is assigned to an axis, clear the slave/Unit selection for the input device or output device in the Axis Basic Settings first.
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Axis Setting Table
Axis Setting Table
The Axis Setting Table is a table of all registered axis parameters. You can edit any axis parameters here just as you can on the Axis Settings Tab Page.
Opening the Axis Setting Table
1 Right-click Axis Settings under Configurations and Setup - Motion Control Setup and select Axis Setting Table from the menu.
The Axis Setting Table is displayed.
5
5-7 Motion Control Setup
5-7-1 Setting Axes
Note Each line represents an axis parameter, and each column is for one axis number. All registered axes are displayed. You can collapse the table by axis parameter category.
Changing Axis Parameters
1 Click the parameter to change. 2 Enter the new setting for the parameter.
Copying Axis Parameters
1 Right-click the cell to copy and select Copy from the menu. 2 Right-click the cell to paste in and select Paste from the menu.
Additional Information
Hold down the Ctrl or Shift Key and click cells to select more than one cell.
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Adding an Axis
Right-click the axis name and select Add New Axis. A new axis is added to the right side of the Axis Setting Table.
Additional Information You can also copy an existing axis to add a new axis. Right-click the axis name from which to copy the parameters and select Copy, and then right-click and select Add New Axis and Paste the Settings.
Copying All of the Axis Parameters at the Same Time
1 Right-click the axis name of the axis parameters to copy and select Copy Selected Columns from the menu.
2 Right-click the axis name of the axis parameters to paste in and select Paste from the menu.
Filtering Axis Parameters
You can switch between displaying all axis parameters and only those that are used the most often.
1 Open the Axis Setting Table. 2 Select either All or Basic Settings under Parameters to show at the top of the Axis Setting Table.
Selectively Displaying Axis Parameters
You can select the axis parameters to display.
1 Open the Axis Setting Table.
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2 Right-click anywhere in the Axis Setting Table and select Select Axes to Show from the menu.
The following Select Axes to Show Dialog Box is displayed. NX701 Controllers
5-7 Motion Control Setup
NJ/NY-series Controllers and NX102 or NX1P2 Controllers
5
5-7-1 Setting Axes
Button Select MC1: Primary Periodic Task
Select MC2: Priority-5 Periodic Task
Select All Clear All
Description
Selects only the axes for which motion control processing is executed in the primary periodic task (MC1).
Selects only the axes for which motion control processing is executed in the priority-5 periodic task (MC2).
Selects all of the axes.
Clears the selections of all of the axes.
Remarks This is displayed only for an NX701 Controller.
This is displayed only for an NX701 Controller.
3 Select the axes to display and click the OK Button.
Only the selected axes are displayed in the Axis Setting Table.
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Additional Information Any changes made in the Axis Setting Table are automatically updated in the Axis Parameter Settings Tab Page.
Updating Axis Settings with Drive Information
If 1S-series or G5-series Servo Drives (excluding Linear Servo Drives) are assigned to axes whose axis type is set to Servo Axis, you can acquire information from the Servo Drives to update the axis settings. The following axis settings will be updated.
Unit Conversion Settings: Command pulse count per motor rotation, travel distance per motor rotation, work travel distance per rotation Operation Settings: Maximum velocity, maximum jog velocity Other Operation Settings: Maximum positive torque limit, maximum negative torque limit Position Count Settings: Encoder type
Perform the following procedure with the Sysmac Studio connected online with a Controller.
1 Right-click Axis Settings in the Multiview Explorer and select Apply drive data to axis settings from the menu.
An update confirmation dialog box is displayed.
2 Click the Yes Button.
The results are displayed when the update of the axis settings is completed.
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3 Check the values of the updated axis settings.
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5-7-2 Setting Axes Groups
� Setting Axes Groups You can set axes to perform interpolated motions as an axes group.
Procedure to Set Axes Groups
� Opening the Axes Group Settings Tab Page
1 Right-click Axes Group Settings under Configurations and Setup - Motion Control Setup in the Multiview Explorer and select Add - Axes Group Settings from the menu.
2 The axes group MC_Group000(0) is added under Axes Group Settings.
5
The number in parentheses in MC_Group000(0) is the axes group number. For an NX-series Controller, axes groups are displayed in the following form: MC_Group000(0,MC1). The axes group number and the task that executes the motion controls are in the parentheses.
3 Double-click MC_Group000(0).
The Edit Pane for Axes Group Basic Settings is displayed.
4 Click the buttons on the left side of the Axes Group Basic Settings Tab Page to change between different settings. The parameters you can set for each button are given below.
5-7-2 Setting Axes Groups
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Settings Buttons and Axes Group Parameters
Button
Name Axes Group Basic Settings
Axes Group Operation Settings
Description
Set the axes group number, the task to execute motion controls,*1 whether to use the axes group, or the axis composition.
Set the interpolated velocity, the maximum interpolated acceleration and deceleration, and the interpolated operation settings.
*1 This item is set for an NX701 Controller. The setting item is not displayed for an NJ-series Controller.
For details on each item, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) or NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Precautions for Correct Use
� If you are using an NX701 Controller, before selecting the priority-5 periodic task (MC2) for motion control in the Axes Group Basic Settings, register the priority-5 periodic task in the task settings. Refer to 5-9-1 Registering Tasks on page 5-102 for the task registration procedure in the task settings.
� With an NX701 Controller, set the same task for motion control in the Axis Basic Settings for the configuration axes and for motion control in the Axes Group Basic Settings. An error will occur if they are not the same.
� With an NX701 Controller, if you need to change the tasks assigned for motion control in the Axis Basic Settings of the configuration axes and the tasks assigned to the slaves and Units that are assigned to the configuration axes, you can do so at the same time by changing the task assigned for motion control in the Axes Group Basic Settings. When you change the task that is set for motion control in the Axes Group Basic Settings, a dialog box is displayed asking whether to change the tasks that are set for motion control in the Axis Basic Settings of the configuration axes.
Yes Button:
The tasks that are set for motion control for the configuration axes are automatically changed. In the same way, the tasks that are set in the task settings of the slaves and Units assigned to the configuration axes are also changed.
No Button:
Only the task that is set for motion control in the Axes Group Basic Settings is changed. In this case, a mismatch error will occur for the task that is set for motion control in the Axes Group Basic Settings and the tasks that are set for motion control in the Axis Basic Settings in the configuration axes.
Cancel Button: The change is canceled.
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5-8 Cam Data Settings
The cam data settings are used to create electronic cam data. You can create more than one cam profile containing the cam data settings. The cam table defines the relationship of the phases of the master axis and the corresponding displacements in the slave axis for the electronic cam. "Cam data" refers to one master axis phase and the corresponding slave axis displacement in the cam table. When you build the project for the Controller, a cam table is created according to the cam data settings. The cam profiles that you build from the cam data settings contain the cam data settings and a cam table. Of the cam data settings in the cam profile, the data that is required for the Generate Cam Table instruction to create a cam table is called the cam definition.
5-8-1
Registering Cam Data Settings
1 Right-click Cam Data Settings under Configurations and Setup in the Multiview Explorer and select Add - CamProfile from the menu.
5
The CamProfile0 cam profile is added under the Cam Data Settings.
5-8-2
Editing Cam Data Settings
1 Starting the Cam Editor
Right-click the cam profile to edit and select Edit from the menu.
5-8-1 Registering Cam Data Settings
The Cam Editor starts.
You must use the Cam Editor to set the cam table properties and cam nodes that are necessary to create a cam table.
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2 Setting Cam Table Properties
Set the properties of the cam table.
Cam table properties
Cam nodes
Cam profile curve
3 Registering Node Points (Defining Curves)
For the cam nodes, enter the node points that the cam operation must pass through. (Enter the master axis phase and the corresponding slave axis displacement for each node point.)
� Click the Add Button ( ).
� A node point is added.
� Enter the phase of the master axis and the displacement of the slave axis and then specify the shape of the curve.
Note Enter the phase of the master axis and the displacement of the slave axis before you add the next node point.
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The cam profile curve is drawn on the graph. The cam profile curve is displayed as a graph of the cam operation for the cam table properties and the cam nodes that you set. The graphs that display the velocity, acceleration rate, and jerk for a cam operation when the master axis is at a constant velocity are called the velocity graph, acceleration graph, and jerk graph. The velocity, acceleration rate, and jerk are calculated based on the settings of the cam cycle time, cam table properties, and cam nodes.
5-8 Cam Data Settings
5-8-2 Editing Cam Data Settings
5
4 Editing Node Points
You can use the following two methods to edit node points. A) Entering the Phase and Displacement Directly
� Enter the phase, displacement, curve, and phase pitch for the node. B) Moving the Points on the Graph with the Mouse
� Enable the position graph display on the toolbar ( ) to display the graph. � Click the pointers that represent the start and end points of the curve ( ) and drag them to
the positions you want. Note 1 If you drag a point to a location where it cannot be moved, the curve is not changed and only the
pointer moves. 2 You can perform this same operation for the velocity graph, acceleration graph, and jerk graph.
Additional Information � Enter the phases of the master axis in ascending order. � You can register up to 360 node points. This includes the 0.00 node point, which is registered
by default.
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The items that are set are described in the following tables.
Cam Table Properties
Parameter Master axis unit
Slave axis unit
Number of null cam data
Range/unit
deg, inch, mm, pulse, m, or nm
deg, inch, mm, pulse, m, or nm
0, 10, 50, 100, 500, 1000, 5000, or 10000
Cam cycle time Maximum velocity
s mm/s
Maximum acceleration mm/s2
Maximum jerk Initial velocity
mm/s3 mm/s
Initial acceleration
mm/s2
Description Set the unit to use for the master axis.
Set the unit to use for the slave axis.
Set a value to insert data with the phase of the master axis and the displacement of the slave axis set to zero after the end point of the cam. Set the time for one cam cycle. Set the maximum velocity for the slave axis. The set value is displayed on the velocity graph as a blue dotted line. Set the maximum acceleration for the slave axis. The set value is displayed on the acceleration graph as a blue dotted line. Set the maximum jerk for the slave axis. The set value is displayed on the jerk graph as a blue dotted line. Displays the velocity when the phase of the master axis is 0. If a phase of 0 is followed by a polynomic 3, polynomic 5, or free curve, you can specify the initial velocity. Displays the acceleration rate when the phase of the master axis is 0. You can specify the initial acceleration rate when a polynomic 5 curve is connected after a phase of 0.
Cam Nodes
Item Master axis Slave axis Cam curve Connecting Velocity
Connecting Acceleration
Phase Pitch
Description
Enter the phase of the master axis.
Specify the displacement of the slave axis for the master axis.
Specify the curve for the connection to the previous node point. Refer to the Cam Curves on page 5-87, below, for the types of curves.
You can specify the velocity for the connecting section between a polynomic 3, polynomic 5, or free curve and to the next curve. Use this setting for smooth connections between curves.
You can specify the acceleration rate for the connecting section between a polynomic 5 curve and the next curve. Use this setting for smooth connections between curves.
The phases of the cam profile curve are divided by the specified pitch to create the cam data. There must be no more than 65,535 nodes in the cam data. Division is performed when the project is built.
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Cam Curves
Curve shape
Connection condition specification
Main applications
Constant
Not possible.
Used to create a dwell range between a block start point and block end point.
Straight Line
Not possible.
Used to move at a constant velocity.
Parabolic
Not possible.
Used to accelerate/decelerate at a constant rate or to restrict the maximum acceleration/deceleration rate.
Modified Constant Velocity
Not possible.
Used for medium-velocity, high-load equipment.
Modified Trapezoid
Not possible.
Used for high-velocity, low-load equipment.
Modified Sine
Not possible.
Used for high-velocity, medium-load equipment. Used to reduce the effect on the motor for load variations.
Cycloidal
Not possible.
Used to suppress residual vibration even for a high acceleration rate.
Trapecloid
Not possible.
Used to suppress residual vibration even for a high-velocity, high-load equipment.
Reverse-Trapecloid
Not possible.
Used to accelerate smoothly.
Simple Harmonic
Not possible.
Used for low-velocity motion or non-stopping operation.
Double Harmonic
Not possible.
Used to accelerate relatively smoothly or for one-dwell
motion.
5
Reverse-Double Har- Not possible.
Used to decelerate relatively smoothly.
monic
NC2 Curve
Not possible.
Used to reduce the effect on the motor for load variations. Used to suppress residual vibration.
Polynomic 3
Possible (Connecting Used to specify the velocity between a block start point and
Velocity).
block end point.
Polynomic 5
Possible (Connecting Velocity and Connecting Acceleration).
Used to specify the velocity and acceleration rate between a block start point and block end point.
Free Curve
Possible (Connecting Used to accelerate/decelerate smoothly. Used to specify the
Velocity).
velocity between a block start point and block end point.
Additional Information
� You can use only a free curve, straight line, or constant curve before and after a free curve. � If free curves are connected to each other, you can specify a connection condition only for the
last point.
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Graph View List
Icon
Description Shows or hides the grid on the graph.
Shows or hides the marker at the end of the graph.
Shows or hides the cursors and value-at-cursor display.
Y-axis value
X-axis value
Shows or hides the maximum values for the velocity, acceleration/deceleration rate, and jerk on the graph. These values are indicated by dotted blue lines. Shows or hides the properties.
Shows or hides node points.
Shows or hides the position graph.
Shows or hides the velocity graph.
Shows or hides the acceleration rate (deceleration rate) graph.
Shows or hides the jerk graph.
Shows or hides the plot of the superimposed cam data when displaying superimposed graphs. This icon can be used only when superimposed graphs are displayed.
Graph Operations
Rotate the mouse wheel to increase or decrease the scale. � Rotate the mouse wheel in the center of the graph to zoom in or zoom out of the entire graph. � Move your mouse over the X or Y axis and rotate the mouse wheel to increase or decrease the
scale of only the X or Y axis.
Precautions for Correct Use You can use a straight line or straight line with constant displacement only before and after a free form curve.
5-8-3 Procedure to Transfer Cam Data Settings
Use the synchronization operation to transfer the cam data settings to the Controller. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for more information on synchronizing.
Use the following procedure.
1 Go online with the Controller. 2 Select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
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3 Select the cam profile to transfer under Cam Data Settings in the Synchronization Window and then click the Transfer To Controller Button. The transfer starts.
5-8-4 Importing Cam Data Settings
You can import cam data settings from a CSV file.
1 Right-click Cam Data Settings under Configurations and Setup in the Multiview Explorer and select Import from the menu.
The Open Dialog Box is displayed.
2 Select the CSV file to import, and then click the Open Button.
5
5-8 Cam Data Settings
5-8-4 Importing Cam Data Settings
The imported cam profile is registered under Cam Data Settings with a serial number added.
Precautions for Correct Use To import cam data settings, use a CSV file encoded with UTF-8 character codes.
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5-8-5 Exporting Cam Data Settings
You can export cam data settings to a CSV file.
1 Right-click the cam data settings to export and select Export from the menu.
The Save Dialog Box is displayed.
2 Specify the file location and name, and then click the Save Button.
The cam data settings are saved in CSV format.
Precautions for Correct Use The exported CSV file of cam data settings is encoded in UTF-8 character codes.
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5-8-6 Exporting Cam Tables
You can export a cam table to a CSV file.
1 Right-click the cam profile for the cam table to export and select Export Cam Table to CSV File from the menu.
The Save Dialog Box is displayed.
2 Specify the file location and name, and then click the Save Button.
5
Precautions for Correct Use To export a cam table, you must first build the project.
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5-8-7 Transferring Cam Tables from the Controller to Files
You can save a cam table in the Controller to a CSV file.
1 Right-click the cam profile for the cam table to export and select Transfer Cam Table [Controller to File] from the menu.
The Save Dialog Box is displayed.
2 Specify the file location and name, and then click the Save Button.
The cam table from the Controller is saved in a CSV file.
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5-8-8 Transferring Cam Tables from Files to the Controller
You can transfer a cam table that is saved in a CSV file to update the contents of a cam table that is already in the Controller.
1 Right-click the cam profile for the cam table to import and select Transfer Cam Table [File to Controller] from the menu.
The Open File Dialog Box is displayed.
2 Specify the name of the file to transfer, and then click the OK Button. 3 To enable the cam table that was transferred, reset the Controller or cycle the power supply to
the Controller after you transfer the cam table.
Precautions for Correct Use
� You must synchronize with the Controller before you can transfer a cam table from a file to the Controller. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for more information on synchronizing.
� The number of cam data in the cam table that is transferred from a file to the Controller must be the same as the number of cam data in the cam table in the Controller.
� The cam table that is transferred from a file to the Controller is not saved in the project on the
Sysmac Studio. � You cannot use the Controller synchronization function to transfer to the project on the Sys-
5
mac Studio, a cam table that was transferred from a file to the Controller. To save a cam table
in the Controller to a file, select Transfer Cam Table [Controller to File] from the menu.
� If you perform verification after transferring a cam table from a file to the Controller, an inconsistency is not detected even if the contents of the cam table differs from the cam data settings.
� If you synchronize the Controller data after you transfer a cam table from a file to the Controller, you will need to transfer the cam table again.
� You cannot transfer a cam table from a file to the Controller when performing a simulation for debugging.
5-8-9 Superimposing Cam Tables
You can superimpose the cam table from a CSV file on the cam profile curve position graph that is currently displayed. This allows you to visually confirm the differences between the cam profile curve and the cam table in the CSV file.
1 Right-click the cam profile that is currently displayed and select Superimpose Cam Table from the menu.
5-8-8 Transferring Cam Tables from Files to the Controller
The Open File Dialog Box is displayed.
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2 Select the CSV file that contains the cam table to superimpose, and then click the Open Button.
The cam table from the CSV file is superimposed on the currently displayed position graph.
Red: Currently displayed cam profile curve Green: Cam table from CSV file
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5-8-10 Registering Cam Definitions
This section describes how to register and delete cam definitions.
A cam definition is the data that must be extracted from a cam profile in order to create a cam table. It is used to change a cam table from a program.
When you register the cam definition with a cam profile, the cam definition variables are automatically created. The cam definition variables are used by the Generate Cam Table instruction to enable a program to create a cam table.
"Cam definition variables" is a generic name for the cam property variable and cam node variable.
For an outline of creating cam tables, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) or NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
For details on the cam definition variables and Generate Cam Table instruction, refer to the NJ/NXseries Motion Control Instructions Reference Manual (Cat. No. W508) or NY-series Motion Control Instructions Reference Manual (Cat. No. W561).
Version Information
A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required
to use this function.
5
Creating Cam Definitions
When you create a cam definition, it inherits the settings of the cam profile. The cam definition variables that are created from the cam definition are automatically added to the global variables.
The cam definition settings are stored separately from the cam profile settings in the project.
1 Right-click the cam profile under Configurations and Setup - Cam Data Settings in the Multiview Explorer and select Create Cam Definition from the menu.
5-8 Cam Data Settings
5-8-10 Registering Cam Definitions
The cam definition is registered below the corresponding cam profile and displayed as follows: Cam_definition_name(Cam_property_variable_name,Cam_node_variable_name)
The cam property variable and cam node variable are registered in the global variable table.
You can change the attributes of the cam property variable and cam node variable from the Cam Definition Tab Page. You cannot edit them in the global variable table.
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Precautions for Correct Use The cam definition variables are created with the Retain attribute set to Retained. This attribute cannot be changed for cam definition variables. If the Controller's limit for the number or data size of retained variables is exceeded when a cam definition is created, creating the cam definition fails. Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for information on the limits to the number or data size of retained variables.
Editing Cam Definitions
Use the following procedure to edit the cam definition data for cam definition variables.
1 Right-click the cam definition to edit in the Multiview Explorer and select Edit from the menu.
The Cam Definition Tab Page is displayed.
2 You can edit the settings of the cam property variable and cam node variable.
Here, we describe the settings for the cam definition variables.
For the items that have the same names as the settings in the cam profile, refer to 5-8-2 Editing Cam Data Settings on page 5-83.
Cam Property Variable
Items That Correspond to Members
Item Cam cycle time
Description
Set values
Set the time for one cam cycle. ---
---
Remarks
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Item Initial velocity
Initial acceleration
Description
Displays the velocity when the phase of the master axis is 0.
Set values ---
Displays the acceleration rate --when the phase of the master axis is 0.
Remarks
You can specify the initial velocity if polynomic 3 or polynomic 5 is set as the curve for the next cam node after the start node. This item is set automatically for other curves.
You can specify the initial acceleration if polynomic 5 is set as the curve for the next cam node after the start node. This item is set automatically for other curves.
Items That Correspond to Attributes
Item
Description
Set values
Remarks
Cam property variable Set the name of the cam prop- ---
name
erty variable.
You change the variable name here, and not in the global variable table.
Network publish
Set the Network Publish attri- Do not publish.
You change this attribute
bute of the cam property variable. The same setting is used for the cam node variable.
Publish Only (default)
Input
here, and not in the global variable table.
5
Output
Note You cannot change any attributes of the variables that are not given above.
Cam Node Variable
Items That Correspond to Members
Item Cam node (node point)
Master axis Slave axis Cam curve
Connecting velocity Check Box Connecting velocity
Description
Register a node point.
The total of the number of null cam nodes and node points must be 360 or less.
Enter the phase of the master axis.
Specify the displacement of the slave axis for the master axis.
Specify the curve for the connection to the previous node point. Refer to the Cam Curves on page 5-87 for the types of curves.
Select this check box when polynomic 3 or polynomic 5 is selected to enable specifying the connecting velocity.
You can specify the velocity for the connecting section between a polynomic 3 or polynomic 5 curve and the next curve. Use this setting for smooth connections between curves.
Set values ---
-------
---
---
Remarks Refer to 5-8-2 Editing Cam Data Settings on page 5-83 for the procedure to register node points.
You cannot select a free curve for the cam curve in a cam definition.
A value is set automatically for curves other than polynomic 3 or polynomic 5.
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Item Connecting acceleration Check Box
Connecting acceleration
Phase pitch
Description
Select this check box when polynomic 5 is selected to enable specifying the connecting acceleration.
You can specify the acceleration rate for the connecting section between a polynomic 5 curve and the next curve. Use this setting for smooth connections between curves.
The phases of the cam profile curve are divided by the specified pitch to create the cam data. There must be no more than 65,535 nodes in the cam data.
Set values -----
---
Remarks
A value is set automatically for curves other than polynomic 5.
Items That Correspond to Attributes
Item
Cam node variable name
Description
Set the cam node variable name.
Set values ---
Number of null cam nodes
Network publish
Set the number of data elements that are reserved in the cam node variable.
The total of the number of null cam nodes and node points must be 360 or less.
Set the Network Publish attribute of the cam node variable. The same setting is used for the cam property variable.
0 to 359
Do not publish. Publish Only (default) Input Output
Remarks You change the variable name here, and not in the global variable table. The total of the number of null cam nodes and node points determines the array size of the cam node variable.
You change this attribute here, and not in the global variable table.
Note You cannot change any attributes of the variables that are not given above.
The master axis unit setting, slave axis unit setting, maximum velocity, and maximum acceleration are used only to display the cam profile curve graph.
The number of null cam data is always set to 0. You cannot change it in the cam definition. Use the cam profile settings to change the number of null cam data.
Precautions for Correct Use
The cam data that is created by the Generate Cam Table instruction is stored in the cam data variable. The array size of the cam data variable is determined by the settings of the cam profile.
Depending on the settings of the number of node points and phase pitch of the cam node variable, the size of the cam data that is created by the Generate Cam Table instruction may exceed the array size of the cam data variable that was set with the cam profile, resulting in an execution error for the instruction.
Ensure that there is a sufficient number of null cam data in the cam profile settings so that the cam data size created by the Generate Cam Table instruction does not exceed the size of the cam data variable.
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Deleting Cam Definitions
1 Right-click the cam definition to delete in the Multiview Explorer and select Delete from the menu.
A confirmation dialog box is displayed.
2 Click the Yes Button in the confirmation dialog box.
The cam definition is deleted and the cam definition variables registered in the global variable table are also deleted.
5-8-11 Transferring Cam Definitions
This section describes how to transfer cam definitions and how to read and write cam definition values.
Transferring Cam Definitions
Use the synchronization operation to transfer a cam definition and cam definition variables to the Controller.
Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for
details on synchronization.
5
Use the following procedure.
1 Go online with the Controller. 2 Select Synchronization from the Controller Menu.
The Synchronization Window is displayed.
3 Select the cam definition to transfer under Cam Data Settings in the Synchronization Window and then click the Transfer To Controller Button.
The transfer starts.
When the transfer is completed, a dialog box to transfer the cam definition settings is displayed.
4 Click the Yes Button in the dialog box.
The cam definition settings are written to the cam definition variables.
Precautions for Correct Use
The cam definition settings are not applied to the cam definition variables merely by transferring the cam definition and cam definition variables to the Controller. After you transfer the cam definition, you must perform the procedure in Writing Cam Definition Values on page 5-100.
5-8-11 Transferring Cam Definitions
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Writing Cam Definition Values
After you transfer the cam definition and cam definition variables to the Controller, you must write the cam definition settings to the cam definition variables in the Controller.
1 While the Controller is online, right-click the cam definition in the Multiview Explorer and select Transfer Cam Definition Values to Controller from the menu.
A confirmation dialog box is displayed.
2 Click the Yes Button in the confirmation dialog box.
The cam definition settings are written to the cam definition variables in the Controller.
Additional Information If you right-click Cam Data Settings or a cam profile in the Multiview Explorer and select the transfer menu command, you can transfer all of the cam definition values under the selected item to the Controller at the same time.
Reading Cam Definition Values
You can read cam definition variable values that were changed on the Controller to the cam definition.
1 While the Controller is online, right-click the cam definition in the Multiview Explorer and select Transfer Cam Definition Values from Controller from the menu.
A confirmation dialog box is displayed.
2 Click the Yes Button in the confirmation dialog box.
The cam definition variable values on the Controller are read to the cam definition.
Additional Information
If you right-click Cam Data Settings or a cam profile in the Multiview Explorer and select the transfer menu command, you can transfer all of the cam definition values under the selected item from the Controller at the same time.
The values of the initial velocities, initial accelerations, connecting velocities, and connecting accelerations in the cam profile and cam definition are automatically calculated according to the cam node settings and curve types. If you read the values in the cam definition variables after you change from an HMI an initial velocity or initial acceleration in the cam property variable or a connecting velocity or connecting acceleration in the cam node variable in the Controller, a different value is sometimes displayed on the HMI and Sysmac Studio depending on the cam node settings and curve type.
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5-8-12 Updating Cam Definition Settings
This section describes how to apply cam definition settings to the cam profile and how to apply the cam profile settings to the cam definition.
Applying Cam Profile Changes to the Cam Definition
If you change the source cam profile settings after you create the cam definition, you can apply the changes to the cam definition.
1 Right-click the cam profile in the Multiview Explorer and select Apply Cam Profile Settings to Cam Definitions from the menu.
A confirmation dialog box is displayed.
5
2 Click the Yes Button in the confirmation dialog box.
The settings of the cam profile are applied to all cam definitions below the cam profile.
Applying Cam Definition Changes to the Cam Profile
Use the following procedure to apply the cam definition settings to the cam profile.
1 Right-click the cam definition in the Multiview Explorer and select Apply Cam Definition Settings to Cam Profile from the menu.
A confirmation dialog box is displayed.
2 Click the Yes Button in the confirmation dialog box.
The cam definition settings are applied to the cam profile.
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5-9 Task Settings
� Task Settings Programs are executed in tasks in an NJ/NX/NY-series Controller. Task settings define the execution period, the execution timing, the programs executed by the task, the I/O refreshing performed by the task, and which variables to share between tasks.
5-9-1 Registering Tasks
Use the following procedure to register a task to execute programs.
1 Double-click Task Settings under Configurations and Setup in the Multiview Explorer.
2 Click the Task Settings Button ( ) in the Edit Pane.
3 Click the
Button to add a task and enter the task type.
The primary periodic task (execution priority 4) is registered by default and cannot be deleted. You can register periodic tasks and event tasks.
Selected item Priority-5 periodic task*1 Priority-16*2, -17, or -18 periodic task Priority-8 or -48 event task *2
Maximum number of tasks 1 1 periodic task with each priority A total of 32 event tasks
*1 This can be used only for an NX701 Controller. *2 This cannot be used for an NX102 or NX1P2 Controller. *3 A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required.
5-9-2
Procedure to Set Tasks
1 Double-click Task Settings under Configurations and Setup in the Multiview Explorer.
The Task Settings Tab Page is displayed in the Edit Pane.
2 If the Task Settings view does not appear on the Task Settings Tab Page in the Edit Pane, click the Task Settings Button ( ).
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3 Select the task name, period/execution conditions, task period exceeded detection, task execution timeout detection time, and variable access time [%] from the lists for the registered task.
For details on the settings, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Additional Information
Set the period of each periodic task to an integer multiple of the period of the primary periodic task. If you set the task period of a periodic task and then change the period of the primary periodic task so that the task period of the periodic task is no longer an integer multiple, the period setting for the periodic task is automatically changed to the nearest integer multiple that can be set. Example: If the period of the primary periodic task is set to 1 ms and the period of the priority-16 periodic task is set to 25 ms for an NJ-series CPU Unit and then the period of the primary periodic task is changed to 2 ms, the period of the priority-16 periodic task is automatically changed to 30 ms.
5-9-3 Task I/O Settings
� Task I/O Settings
The task I/O settings define what Units the task should perform I/O refreshing for.
5
Procedure to Set Task I/O Settings
1 Double-click Task Settings under Configurations and Setup in the Multiview Explorer. 2 Click the I/O Control Task Settings Button ( ) on the Task Settings Tab Page in the Edit
Pane.
The I/O Control Task Settings is displayed.
5-9 Task Settings
5-9-3 Task I/O Settings
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3 Select the task that should perform I/O refreshing for the registered Unit from the list.
Task I/O settings can be defined only for the primary periodic task (priority 4), the priority-5 periodic task*1, and the priority-16 periodic task*2. You cannot define task I/O settings for priority-17 and priority-18 periodic tasks. Units specified in task I/O settings must already be registered under Configurations and Setup - CPU/Expansion Racks and Configurations and Setup - EtherCAT. *1 This can be used only for an NX701 Controller. *2 This cannot be used for an NX102 or NX1P2 Controller.
Additional Information
You cannot change the task assignment for a slave/Unit that is assigned to an axis from the I/O Control Task Settings under the Task Settings. To change the task, change the task that is set for motion control in the Axis Basic Settings or clear the slave/Unit selection for the input device or output device in the Axis Basic Settings before you change the task.
5-9-4 Program Assignments
� Program Assignments Program assignments define what programs a task will execute. The programs that are assigned to a task are executed in the order that they are assigned. With CPU Unit version 1.08 or later, you can set the startup operation for each program.
Procedure to Assign Programs
1 Double-click Task Settings under Configurations and Setup in the Multiview Explorer.
2 Click the Program Assignment Settings Button ( Pane.
) in Task Settings Tab Page in the Edit
3 Select the programs to assign to the task from the list.
Any program you assign must already be registered under Programming - POUs.
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Adding, Reordering, and Deleting Assigned Programs
You can use the following buttons to add assigned programs, change the assigned order, or delete assigned programs.
Button
Description Adds a line for an assigned program.
Moves the program on the line with the button up or down by one line to change the assigned order.
Deletes the assigned program on the line with the button.
Additional Information
� You can also drag the program lines to change the order. � When you change the assigned order or delete programs, you can select multiple continuous
lines. Either hold down the Shift Key and press the Up or Down Key, or hold down the Shift Key and click the program lines with the mouse. � You can expand and collapse the display of all of the programs that are registered in the tasks. Right-click the task title bar and select Expand All or Collapse All from the pop-up menu.
5 5-9-5 Settings for Exclusive Control of Variables in Tasks
You can use these settings to restrict tasks that refresh global variables and identify tasks that access global variables. This ensures concurrency for global variable values from all tasks that reference them.
Procedure to Set Exclusive Control of Variables in Tasks
First, register the global variables to refresh in the primary periodic or periodic task (refreshing task). Then, specify tasks that only read the global variables (accessing tasks).
1 Double-click Task Settings under Configurations and Setup in the Multiview Explorer. 2 Click the Settings for Exclusive Control of Variable in Tasks Button ( ) on the Task Set-
tings Tab Page in the Edit Pane.
3 Register variables that require exclusive control between tasks.
Select the global variables for which to specify a refreshing task. Then select the accessing task for the global variables.
5-9-5 Settings for Exclusive Control of Variables in Tasks
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Adding or Deleting the Global Variables for Which to Specify the Refreshing Task
You can use the following buttons to add or delete the variables.
Button
Description Adds a line for the global variable that tasks refresh.
Deletes the global variable of the selected line.
Procedure to Quickly Register Variables to the Exclusive Control Settings from Global Variable Table
From the global variable table, register variables to the exclusive control settings. You can change the settings of refreshing tasks and accessing tasks for multiple global variables at once.
1 Double-click Global Variables under Programming in the Multiview Explorer.
The global variable table is displayed.
2 Click the headers on the lines of the desired variables to select the entire lines and then right-
click to select Register to Settings for Exclusive Control of Variable in Tasks.
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The Register to Settings for Exclusive Control of Variables in Tasks Dialog Box is displayed.
3 Click the combo box of tasks to update variable value to select a task that refreshes the
variables.
5
4 The check boxes of tasks to reference variable are checked by default.
To prohibit a task from reading the variables, uncheck the check box.
5-9-5 Settings for Exclusive Control of Variables in Tasks
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5 Click the OK Button.
When the registration is completed, the variables are registered to settings for exclusive control of variables in tasks and the registration results are displayed in the Output Tab Page.
You can deregister a registered variable from the exclusive control settings through the Settings for Exclusive Control of Variables in Tasks Page. Additional Information � If you apply this function to a variable already registered to the exclusive control settings, a
dialog box is displayed to confirm whether to overwrite the variable settings. � You can detect network-published variables that are not registered in the settings for exclusive
control of variables in tasks during the program check or when the user program is built. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for detail.
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Online Connections to a Controller
This section describes how to go online with a Controller.
6-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 6-2 Going Online with a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6-2-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 6-2-2 Setting the Connection Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6 6-2-3 Going Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6-2-4 Going Online after Checking the Connection Method . . . . . . . . . . . . . . . . . . . 6-6 6-2-5 Going Offline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6 6-2-6 Confirming Serial IDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7 6-2-7 Checking for Forced Refreshing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7 6-2-8 Going Online without a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
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6 Online Connections to a Controller
6-1 Overview
Online Connections to a Controller
You must go online with the Controller or connect to the Simulator to communicate with them from the Sysmac Studio.
The Sysmac Studio supports the following online connections for different applications.
Online connection Online connection
Simulator connection
Connection made to Controller
Simulator
Application
To perform debugging, startup, or normal maintenance, the same project file as in the Controller is opened on the Sysmac Studio and then an online connection is made. An online connection is made based on the Communications Setup in the project file.
The Simulator is used to debug the user program offline. The Communications Setup in the project file is not used.
Note Refer to 7-3 Offline Debugging for information on connecting to the Simulator and debugging operations.
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6-2 Going Online with a Controller
6 Online Connections to a Controller
6-2 Going Online with a Controller
You can simultaneously go online with more than one Controller in a project from the Sysmac Studio. The operations that are described in this section apply to the currently selected Controller. If there is more than one Controller that is registered in the project, confirm the Controller to manipulate before connecting to it.
6-2-1 Overview
To go online with a Controller, there are four types of hardware connections that can be used. These are described in the following table.
Connection method
Direct connection via USB*1
Direct connection via Ethernet
Connection diagram
Description
The USB port on the computer is connected directly to the peripheral USB port on the Controller. This is the default connection configuration.
The Ethernet port on the computer is connected directly to the built-in EtherNet/IP port on the Controller.
Remote connection via USB
6
The USB port on the computer is connected directly to the peripheral USB port on a Controller and then a connection is made through the Ethernet network to the built-in EtherNet/IP port on another Controller.*2
Ethernet connection via a hub
The Ethernet port on the computer is connected through the Ethernet network to the built-in EtherNet/IP port on a Controller.*2
*1 This is not displayed for NY-series Controllers and NX102 or NX1P2 Controllers. *2 You cannot go online with a Controller through the port on a CJ-series EtherNet/IP Unit.
6-2-1 Overview
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6 Online Connections to a Controller
6-2-2 Setting the Connection Method
You must set the connection method, IP address to connect to, and other parameters for communications between the computer and Controller.
1 Select Communications Setup from the Controller Menu.
The Communications Setup Dialog Box is displayed.
2 Select the connection method in the Connection Type Field. For a remote USB connection or Ethernet hub connection, enter the IP address of the Controller to which you need to connect in the Remote IP Address Field. Select any required options and enter the response timeout time if required. Refer to Communications Setup Dialog Box Settings on page 6-4 for information on the settings.
3 Click the OK Button.
This completes the settings.
Communications Setup Dialog Box Settings
Item Connection Type Remote IP Address
Options Response Monitor Time
Description
Select the connection port to use to go online. The selected method is normally used to go online.
If you specify a USB remote or Ethernet hub connection, set the IP address of the Controller that you normally will connect to.
USB Communications Test Button
Ethernet Communications Test Button
These buttons perform a communications test with the Controller at the specified remote IP address. The result is displayed as follows:
� Normal: Communications test successful.
� Error: The Controller was not found, There is more than one Controller with the specified IP address, or a communications error occurred.
Confirm the serial ID when going online.
If you select this option, the names and serial IDs are compared between the project and the Controller when you go online to make sure that a connection is made to the intended Controller.
Check forced refreshing when going offline.
When this option is selected, a check is made when breaking the connection for inputs or outputs that have forced refreshing.
You can set the response monitoring time for communications with the Controller. An error is displayed if a response is not received before this time expires.
Note The time can be set to between 1 and 3,600 s.
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6-2 Going Online with a Controller
6 Online Connections to a Controller
Additional Information To connect to a Controller via two or more networks such as when using a VPN connection, a response timeout may occur because it takes long time to establish communication. In such a case, set a sufficiently large value for the response monitoring time.
6-2-3 Going Online
Use the following procedure to place the Sysmac Studio online with the Controller.
1 Select Online from the Controller Menu. Or, click the Go Online Button ( ) in the toolbar.
The following message is displayed the first time you go online. After you write the project name, this message is not displayed.
2 Click the Yes Button.
The Sysmac Studio goes online and the color of the top of the Edit Pane changes to yellow.
6
Precautions for Correct Use Do not reconnect the USB for at least 10 seconds after you disconnect it. After you connect the USB cable, do not disconnect it until Windows detects the connection. It may become impossible for Windows to detect when the cable is connected or disconnected, which would effectively disable the USB port. If that occurs, restart the computer. Otherwise, you will not be able to use the USB device until Windows recovers from the suspended status.
Additional Information If the Windows firewall is enabled, a dialog box is sometimes displayed to confirm the connection the first time you go online with a Controller after you install the Sysmac Studio. In this case, click the Allow Access Button. If you do not allow access, you cannot transfer EtherNet/IP connection settings or monitor EtherNet/IP connections. Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563) for details.
6-2-3 Going Online
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6 Online Connections to a Controller
6-2-4 Going Online after Checking the Connection Method
Use the following procedure to go online if you selected the option to select the connection method whenever you connect the computer with the Controller in the Communications Setup Dialog Box.
1 Select Online from the Controller Menu. Or, click the Go Online Button ( ) in the toolbar.
The Communication Settings Dialog Box is displayed.
The IP address that is set in the Communications Setup Dialog Box is displayed to the right of the remote connection methods.
2 Select the connection method and then click the OK Button.
The Sysmac Studio goes online.
Precautions for Correct Use
Do not reconnect the USB for at least 10 seconds after you disconnect it. After you connect the USB cable, do not disconnect it until Windows detects the connection. It may become impossible for Windows to detect when the cable is connected or disconnected, which would effectively disable the USB port. If that occurs, restart the computer. Otherwise, you will not be able to use the USB device until Windows recovers from the suspended status.
6-2-5 Going Offline
Use the following procedure to go offline.
1 Select Offline from the Controller Menu. Or, click the Go Offline Button (
The Sysmac Studio goes offline.
) in the toolbar.
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6 Online Connections to a Controller
6-2-6 Confirming Serial IDs
The serial ID is verified when going online if the option to do so was selected in the Communications Setup Dialog Box. If the serial ID of the project on the Sysmac Studio is different from that of the Controller, the following confirmation dialog box is displayed when you attempt to go online.
6-2 Going Online with a Controller
6-2-6 Confirming Serial IDs
1 Click the Yes Button.
The serial ID of the project on the Sysmac Studio is rewritten to the same value as that of the Controller.
6-2-7 Checking for Forced Refreshing
Forced refreshing is checked when going offline if the option to do so was selected in the Communications Setup Dialog Box. If there are any variables that have been forced refreshed, the following confirmation dialog box is displayed after you go online.
6
1 Click the Cancel All And Go Offline Button.
All of the forced refreshing is released.
2 Click the Go Offline Button.
The Sysmac Studio goes offline.
Precautions for Correct Use � If a direct or remote USB connection is used, an Ethernet IP address of 192.168.255.xxx is
used internally. When using a USB connection, do not use an IP address of 192.168.255.xxx for the Ethernet interface card in the computer, or do not remotely connect to a Controller with an IP address of 192.168.255.xxx. � Socket ports 9600 and 2224 are used for Ethernet UDP/IP communications. When using Ethernet UDP/IP communications, do not use these ports for any other application. � When using Direct connection via Ethernet and there is more than one Ethernet interface card mounted in the computer, you must select the Ethernet interface card to use. Refer to A-2 Specifying One of Multiple Ethernet Interface Cards for the selection procedure. � If you select Direct connection via Ethernet to connect to the NX701 or NX102 Controller, connect the cable to port 1 on the Controller. You cannot go online if you connect the cable to port 2.
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6 Online Connections to a Controller
Additional Information � Refer to 11-4 Error Messages for Sysmac Studio Operation for corrections for errors that occur
when you go online. � If operation authority is set in the Controller, a Verification Dialog Box is displayed when you go
online. Refer to 8-3-1 Operation Authority Verification for details.
6-2-8 Going Online without a Project
You can go online with the Controller without creating or opening a project. When you are online, you can upload the project data or perform troubleshooting.
1 Start the Sysmac Studio and click Connect to Device on the Start page.
Settings are displayed.
Item Device Connection type Connection settings
Description Select the type of device to connect to. Select the method to use to connect to the Controller. If you selected a remote connection via USB or an Ethernet connection via a hub, set the destination IP address.
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6-2 Going Online with a Controller
6 Online Connections to a Controller
Item
Operation after Connection
Description
Select the operation to perform after connecting.
� Transfer from Device
The data is uploaded from the Controller if there is a project in the Controller. If you select this check box, check boxes to select the items to upload are displayed.
� CPU Unit
The data in the CPU Unit, such as the programs, configurations, and settings, are uploaded. This data includes the EtherCAT connection settings (i.e., the tag data link settings), but it does not include the data from the CJ-series Units or EtherCAT slaves. This data is always uploaded.
� CJ-series Units (NJ Series only)/EtherCAT slaves
If you select this check box, the data from the CJseries Units and EtherCAT slaves is uploaded.
� Display the Troubleshooting Dialog Box:
The Troubleshooting Dialog Box is displayed.
2 Click the Connect Button.
A new project is created automatically and the Sysmac Studio goes online with the Controller according to the settings made in step 1, above.
A project named Auto Connect Project is created. To save the project, either select Save As from the File Menu or click the Yes Button on the Save Confirmation Dialog Box that appears
6
when you close the project.
Additional Information
For the author of the created project, the author name that is set in the option settings is set automatically. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details on the option settings.
6-2-8 Going Online without a Project
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6 Online Connections to a Controller
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Debugging
This section describes how to debug the programs online on the Controller or debug it offline with the Simulator.
7-1 Debugging Operations on the Simulator and Controller . . . . . . . . . . . . . . 7-2
7-2 Operations Used for Both Online and Offline Debugging . . . . . . . . . . . . . 7-4 7-2-1 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 7-2-2 Differential Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21 7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing . . . . . . . 7-23 7-2-4 Cross References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35 7-2-5 Online Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-39
7 7-2-6 Changing the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-43
7-2-7 Monitoring Controller Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44 7-2-8 Task Execution Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-47 7-2-9 Task Execution Time Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48 7-2-10 Axis Status Monitor (MC Monitor Table) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-49 7-2-11 Data Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-51
7-3 Offline Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-78 7-3-1 Debugging with Program Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-78 7-3-2 Offline Debugging of Sequence and Motion Control Programs . . . . . . . . . . . 7-98 7-3-3 Offline Debugging for Sequence Control and Vision Sensor . . . . . . . . . . . . 7-101 7-3-4 Offline Debugging for Sequence Control and Displacement Sensor . . . . . . 7-106 7-3-5 Offline Debugging with Sequence Control and NA-series PT Simulator (Simultaneous Simulation of Controller with NA-series PT) . . . . . . . . . . . . 7-108 7-3-6 Integrated NS-series PT Simulation for Offline Debugging of Sequence Control and NS-series PTs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-111 7-3-7 3D Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-113
7-4 Preparations for Online Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-114 7-4-1 Assigning Variables and Real I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-114 7-4-2 Assigning Axis Variables and I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . .7-116
7-5 Performing Online Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-118 7-5-1 Transferring/Comparing Data to/from the Controller . . . . . . . . . . . . . . . . . . .7-119 7-5-2 Testing Axis Operation (MC Test Run) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-142 7-5-3 Checking I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-146 7-5-4 Checking I/O Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-147 7-5-5 Resetting the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-148 7-5-6 Restarting Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-149
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7-1
7 Debugging
7-1 Debugging Operations on the Simulator and Controller
The operations that can be used to debug the programs on the Sysmac Studio are listed below. Debugging can be performed online on the Controller or offline with the Simulator.
Operations for Debugging Monitoring Monitoring in a Watch Tab Page Monitoring in the I/O Map Differential monitoring Controlling BOOL variables
Forced Refreshing (TRUE/FALSE/Cancel)
Changing present values of data
Clear All Memory operation Cross-references Online editing Monitoring Controller information Monitoring task execution status
Monitoring axis status
Changing the operating mode
Resetting the Controller Data tracing
Setting triggers Setting variables to sample Starting and stopping tracing
Controller Supported. Supported. Supported. Supported. Supported.
Supported.
Supported.
Supported. Supported. Supported. Supported. Supported.
Supported.
Supported.
Supported. Supported. Supported. Supported. Supported.
Simulator Supported. Supported. Supported. Supported. Supported.
Supported.
Supported.
Not supported. Supported. Supported. Not supported. Supported.
Supported.
Supported.
Not supported. Supported. Supported. Supported. Supported.
Reference
7-2-1 Monitoring
7-2-1 Monitoring
7-2-1 Monitoring
7-2-2 Differential Monitor
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
8-6 Clearing Memory
7-2-4 Cross References
7-2-5 Online Editing
7-2-7 Monitoring Controller Status
7-2-8 Task Execution Status Monitor
7-2-10 Axis Status Monitor (MC Monitor Table)
7-2-6 Changing the Operating Mode
7-5-5 Resetting the Controller
7-2-11 Data Tracing
7-2-11 Data Tracing
7-2-11 Data Tracing
7-2-11 Data Tracing
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7-1 Debugging Operations on the Simulator and Controller
7 Debugging
Operations for Debugging
Controller
Simulator
Reference
Displaying trace results
Supported.
Supported.
7-2-11 Data Tracing
Saving trace results
Supported.
Supported.
7-2-11 Data Tracing
Setting the 3D equipment model
Supported.
Supported.
7-2-11 Data Tracing
Displaying timing charts
Supported.
Supported.
7-2-11 Data Tracing
Displaying 3D axis paths
Supported.
Supported.
7-2-11 Data Tracing
Monitoring task execution times
Supported.
Supported.
7-2-9 Task Execution Time Monitor
Estimating execution processing times
Not supported. Supported.
7-3-1 Debugging with Program Simulation
Debugging with program simulations
Not supported. Supported.
7-3-1 Debugging with Program Simulation
Setting what to simulate
Not supported. Supported.
7-3-1 Debugging with Program Simulation
Changing the simulation speed
Not supported. Supported.
7-3-1 Debugging with Program Simulation
Setting breakpoints
Not supported. Supported.
7-3-1 Debugging with Program Simulation
Step execution
Not supported. Supported.
7-3-1 Debugging with Program
7
Simulation
Troubleshooting
Supported.
Supported.
8-15 Troubleshooting
Monitoring error information
Supported.
Supported.
8-15 Troubleshooting
Displaying error logs
Supported.
Supported.
8-15 Troubleshooting
Event Setting Table
Supported.
Supported.
8-15 Troubleshooting
User Memory Usage Monitor
Supported.
Supported.
8-4 User Memory Usage Monitor
Clock Information Settings
Supported.
Not supported.
8-2 Clock Information Settings
Releasing access rights
Supported.
Not supported.
8-7 Releasing Access Rights
Note For the functional differences between the Controller and Simulator, refer to A-3 Differences between the Simulator and the Physical Controller on page A-9.
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7-3
7 Debugging
7-2 Operations Used for Both Online and Offline Debugging
7-2-1 Monitoring
Overview
You can monitor the TRUE/FALSE status of program inputs and outputs and the present values of variables in the Controller. You can monitor operation on the Ladder Editor, ST Editor, Watch Tab Page, or I/O Map.
Monitoring on the Ladder Editor
Monitoring on the Ladder Editor
You can check the execution status of a ladder diagram on the Ladder Editor.
Procedure to Monitor on the Ladder Editor
1 Double-click the ladder program or ladder function block under Programming in the Multiview Explorer. The rungs are displayed on the Ladder Editor in monitor status. Yellow indicates online status.
Light gray indicates that editing is not possible.
The TRUE/FALSE status of the connecting lines is displayed while the task is executed in RUN mode.
Circuit parts are displayed as follows during monitoring: You can change the display color in the option settings.
Input and Output Bits
Circuit part Program input
TRUE
FALSE
Program output
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7 Debugging
7-2 Operations Used for Both Online and Offline Debugging
Functions and Function Blocks
Circuit part
Functions and function blocks *1
Being executed
Not being executed
When the execution status cannot be monitored *3
*2
*1 While the task is in execution in RUN mode, a function block is always displayed in execution in progress status regardless of the TRUE/FALSE status of the connecting line before it.
*2 The present values are displayed in parentheses to the left of input variables and to the right of output variables. The present values are displayed in parentheses to the left and right of in-out variables.
*3 The execution status cannot be displayed under the following conditions. In these cases, the circuit part and the connecting lines after it are displayed in yellow.
� Inputs, functions, and function block instances from immediately after going online until the monitored values are displayed
� Function block instances for which arrays with subscript variables are specified
� Inputs, functions, and function block instances that do not exist in the Controller when synchronization is not consistent
� Functions that meet the following conditions:
� Some instructions that do not have an ENO output
� Examples of instructions for which execution status cannot be monitored: Timer (Hundred-ms Timer), Get**Clk (Get Clock Pulse Group), and comparison instructions, such as LT, EQ, and NE, when the comparison data is duration data, date data, time of day data, or STRING data.
� Examples of instructions for which execution status can be monitored: TestABit (Test A Bit), TestABitN (Test A Bit Not), and comparison instructions such as LT, EQ, and NE when the comparison data is BOOL data, bit string data, integer data, or REAL data
� All instructions in regions that are defined with the MC and MCR instructions
7
� All user-defined functions
� POUs that use the P_PRGER variable
� Programs for which the value of the P_PRGER variable is TRUE
Additional Information
If you use a variable for a subscript to specify an array element or member in an array variable, structure array variable, or union array variable, the present value is displayed as follows (example for a two-dimensional array): Value_of_variable_element_or_member, [subscript_value, subscript_value].
Variable name entry format example for global variables
Present value display
ArrayVar[index1,index2,index3]
Value_of_ArrayVar[index1,index2,index3],[value_of_index1, value_of_index2, value_of_index3]
StructArrayVar[index1,index2].member
Value_of_StructArrayVar[index1,index2].member,[value_of_index1, value_of_index2]
StructArrayVar[index1,index2].member[0,index3]
Value_of_StructArrayVar[index1,index2].member[0,value_of_index3],[value_of_index1, value_of_index2],[0, value_of_index3]
You can set an option so that the present values of array subscripts are not displayed. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
� If the value of the P_PRGER variable changes to TRUE and monitoring is disabled, change the value of the P_PRGER variable to FALSE from a Watch Tab Page to enable monitoring again.
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7-2-1 Monitoring
7 Debugging
Monitoring on the ST Editor
Monitoring on the ST Editor
You can confirm the present values of variables in structured text in the ST Editor. Use the following procedure to monitor present values.
1 Double-click the ST program or ST function block under Programming in the Multiview Explorer. The ST Editor is displayed.
Additional Information
If you use a variable for a subscript to specify an array element or member in an array variable, structure array variable, or union array variable, the present value is displayed as follows (example for a two-dimensional array): Value_of_variable_element_or_member, [subscript_value, subscript_value].
Variable name entry format example for global variables
Present value display
ArrayVar[index1,index2,index3]
Value_of_ArrayVar[index1,index2,index3],[value_of_index1, value_of_index2, value_of_index3]
StructArrayVar[index1,index2].member
Value_of_StructArrayVar[index1,index2].member,[value_of_index1, value_of_index2]
StructArrayVar[index1,index2].member[0,index3]
Value_of_StructArrayVar[index1,index2].member[0,value_of_index3],[value_of_index1, value_of_index2],[0, value_of_index3]
You can set an option so that the present values of array subscripts are not displayed. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details.
Monitoring Function Block Instances
You can monitor the execution status of ladder diagrams or ST programs for individual function block instances.
1 Go online and then double-click the function block definition on the Multiview Explorer. Or, double-click the function block definition in the Edit Pane. The Choose Instance Dialog Box is displayed.
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7 Debugging
2 Select the function block instance to monitor and click the Select Button.
The contents of the selected instance are displayed. The name of the selected instance is displayed on the tab.
Precautions for Correct Use
For monitoring the present values of in-out variables in function block instances, restrictions apply depending on the combination of the Sysmac Studio version and the project unit version of the model.
The combinations that allow you to monitor the present values of in-out variables in the function block instances are as follows. Except for the following combinations, you cannot monitor the present values. A hyphen is displayed for the present value.
Sysmac Studio version 1.41 or higher
Model NX701-100, NX701-120 NX102-120, NX102-920 NJ501-120, NJ501-4320 NJ101-020
Project unit version Version 1.23 or later Version 1.35 or later Version 1.23 or later Version 1.23 or later
Sysmac Studio version 1.43 or higher
Model NX1P2 NX102-100, NX102-900 NJ501-100 NJ301-100 NJ101-000
Project unit version
Version 1.42 or later
Version 1.42 or later
Version 1.42 or later Version 1.42 or later
7
Version 1.42 or later
Monitoring in a Watch Tab Page
Monitoring in a Watch Tab Page
You can check the present value of one or more variables in the Watch Tab Page.
There are the following types of Watch Tab Pages. � Watch (Project)
This Watch Tab Page contains information for devices that are registered in the project. You can check the current values for more than one device at the same time. � Watch (Table) This Watch Tab Page contains information for Controllers that are registered in the project. You can use it to check the present values of array variable elements and structure members in tabular form.
7-2-1 Monitoring
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7 Debugging
Displaying a Watch Tab Page
1 Select Watch Tab Page from the View Menu. To display the Watch (Table), select Watch Tab Page (Table). The Watch (Project) 1 or Watch (Table) 1 is displayed.
To close a Watch Tab Page, click the Close Button for the tab page. To display a Watch Tab Page, select Watch Tab Page from the View Menu again.
Additional Information You can change the tab title for Watch Tab Pages. Select Edit Title from the pop-up menu for the tab.
Contents of the Watch Tab Page
� Watch Tab Page (Project)
Item Device name Name Online value
Modify Comment*1
Data type*1
Meaning
The device name is displayed.
The variable name is displayed.
The present values of the device are displayed.
The new value is displayed.
A comment for the variable is displayed.
The data type is displayed.
Editing Supported. Supported. ---
Supported. ---
---
AT*1 Display format*1
The address of an AT specification in memory for CJ-series Units or an I/O port is displayed.
The display format (decimal, hexadecimal, etc.) of the present value and modify value is displayed.
--Supported.
Remarks
Refer to Format to Register Variables on page 7-12 for the data types that you can register.
Refer to Display Formats on page 7-14 for the data formats that you can select.
*1 You can right-click the title row cell for the column to show and hide columns.
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� Watch Tab Page (Table) This tab page is described using the following figure as an example.
(a)
(b) (c) (d) (e) (f) (g) (h)
(i)
(j)
(k)
(m)
(l)
(l)
(o)
(n)
No.
Item
Meaning
Editing
Remarks
(a) Device name
The Controller name is displayed.
Supported.
(b) Name
The variable name is displayed.
Supported.
(c) Index
The subscript of the structure member --or array element that is selected in the present value table is displayed. If a member is selected, the member name is also displayed.
(d) Modify
The new value is displayed.
Supported.
(e) Comment
The comment for the variable is dis-
---
played.
(f) Data type
The data type is displayed.
---
(g) AT
The address of an AT specification in --memory for CJ-series Units or an I/O port is displayed.
(h) Display format
The display format used for both the present values in the present value
Supported. � Refer to Changing the Display Format of
7
table and the Modify value is displayed.
a Present Value in
the Watch Tab Page
on page 7-14 for the
display formats that
you can select.
� For structure variables or structure
array variables, the present values displayed in the present value table will not change even if you change the display format.
(i) Array display
Used to select the directions in which to Supported. A list is displayed only
direction selection display the array dimensions from a list.
for an array variable
list
with a basic data type
or a structure array
variable with two or
more dimensions.
(j) Horizontal sub- The subscripts of the specified dimen- --script display area sion are displayed horizontally in order from 0. The array elements of the structure members are all expanded on the display.
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No.
Item
Meaning
Editing
(k) Vertical subscript The subscripts for the dimension that is ---
display area
not displayed in the horizontal subscript
display area are displayed vertically in
order from 0. For a three-dimensional
array, the subscripts for the two dimen-
sions that are not displayed in the hori-
zontal subscript display area are
displayed in combinations in order.
(l) Change Page
You can scroll the page either vertically or horizontally. Each page displays 26 items vertically and 20 items horizontally. To change the page, enter the page number and press the Enter Key. You can click the Change Page Buttons
Supported.
to change the page by half pages ( )
or whole pages ( ).
(m) Present value table
The present values of the structure members or array elements are displayed. If a structure variable or structure array variable is displayed, you can select the members to display in the present value table. Right-click in the present value table and select Select Structure Members to Display.
Supported.
(n) Wrapping position You can set the position at which to
Supported.
wrap the present value table for a one-
dimensional array. Enter the wrapping
position, and click the Update Button.
(o) Array element jump settings
Used to jump to a specified element. Enter the array subscripts and click the Go to Button to move to the specified element.
Supported.
Remarks
This item and button are displayed only for a one-dimensional array variable with a basic data type or a onedimensional array variable that is an enumeration.
Registering Variables in the Watch Tab Page
There are two ways to register variables. Method (1) Enter the variable name in the name cell in the Watch Tab Page. Method (2) Drag the variable to the Watch Tab Page from an editor or variable table.
Method (1) Entering the Variable Name in the Name Cell in the Watch Tab Page
1 Specify the device name and click the cell that says Input Name at the bottom of the Watch Tab Page.
2 Enter the variable name to display the present value. 3 As you enter characters, a list of candidate variable names is displayed. Select the variable
name from the list.
The variable name is registered.
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Method (2) Dragging Variables to the Watch Tab Page from an Editor or Variable Table
The procedure to register variables from the ST Editor is given below. Go offline to perform this procedure.
1 Select the required variable in the ST Editor and drag it to the cell that says Input Name at the bottom of the Watch Tab Page.
The variable name is registered.
Dragging Variables to the Watch Tab Page
Source
Item
Operation
Ladder Editor
Program input or output Function or function block
The variable name that is assigned to the
input or output is registered. The function block instance variable and the
7
input, output, and in-out variables that are
assigned in the function or function block are
registered.
ST Editor
Variable name
The specified variable name is registered.
Global variable table or local variable table
Variable or function block instance name in the variable table
The specified variable name or function block instance name is registered.
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7 Debugging
Format to Register Variables
The formats that you use to enter variable names are given below. (1) Formats for Global and Local Variables
Variable Global variables Local variable for program
Format to enter Variable name Program_name.variable_name
Example Start_SW1 Program1.Start_SW1
(2) Formats for Different Data Types
Variable data type Basic data types Arrays
Structures
Unions POU instance of function or function block Enumerations
Format to enter Variable name array_variable_name
array_variable_name[number] array_variable_name[number-number] or array_variable_name[number..number] (range specification) array_variable_name[integer_variable_name]*1*2 structure_variable_name
structure_variable_name.member_name union_variable_name
union_variable_name.member_name POU_instance_variable_name
POU_instance_variable_name.variable _name_in_POU*4*5 variable_name
Display The specified variable is displayed. If you register an array variable in a Watch Tab Page (Table), the array elements are displayed in a tabular format. The specified element is displayed. The elements in the specified range are compressed on the display.
The specified element is displayed.
The structure members are compressed on the display.*3 In the Watch Tab Page (Table), the members are displayed in a tabular format. The specified member is displayed.*3 The union members are compressed on the display.*3 The specified member is displayed.*3 The variables in the POU are compressed on the display. The specified variable is displayed.
The specified variable is displayed.
*1 You can use a variable for an array subscript to specify an element for up to a three-dimensional array. Example for a Three-dimensional Array: ArrayVar[index1,index2,index3] (The following are integer variables: index1 to index3.)
*2 You can also use variables for subscripts to specify array elements and members in structure array variables and union array variables. Example for the Member of a Structure/Union Two-dimensional Array Variable: StructArrayVar[index1,index2].member (The following are integer variables: index1 and index2.)
*3 The member variable comments are displayed for structure variable and union variable members. If the member variable comment is empty, the data type comment for the member is displayed. If both the member variable comment and the data type comment are empty, the variable comment for the structure variable or union variable to which the member belongs is displayed.
*4 For input variables in function blocks, you cannot monitor the present values of the input variables for which default initial values are not applied. A hyphen is displayed for the present value. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) or NY-series Instructions Reference Manual (Cat. No. W560) for information on input variables for which default initial values are not applied.
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*5 For monitoring the present values of in-out variables in function block instances, restrictions apply depending on the combination of the Sysmac Studio version and the project unit version of the model. The combinations that allow you to monitor the present values of in-out variables in the function block instances are as follows. Except for the following combinations, you cannot monitor the present values. A hyphen is displayed for the present value.
Sysmac Studio version 1.41 or higher Model
NX701-100, NX701-120 NX102-120, NX102-920 NJ501-120, NJ501-4320 NJ101-020
Project unit version Version 1.23 or later Version 1.35 or later Version 1.23 or later Version 1.23 or later
Sysmac Studio version 1.43 or higher Model
NX1P2 NX102-100, NX102-900 NJ501-100 NJ301-100 NJ101-000
Project unit version Version 1.42 or later Version 1.42 or later Version 1.42 or later Version 1.42 or later Version 1.42 or later
7
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Changing the Display Format of a Present Value in the Watch Tab Page
If the Sysmac Studio is online with a Controller in Monitor Mode, the present value of a variable is displayed when the variable name is registered. You can use the Display format Column to change the display format of the present value. The display formats that you can select depend on the data type.
Display Formats
Display format Boolean Binary Decimal Hexadecimal Real (floating-point)
String Duration
Date Time of day Date and time ASCII
Description
TRUE or FALSE
Groups of four digits are displayed. The groups are separated by single-byte spaces.
For signed decimal, "+x_xxx_xxx" is displayed. ("x_xxx_xxx" is the present value. If the value is negative, "-" is displayed instead of "+".)
For unsigned decimal, "x_xxx_xxx" is displayed. ("x_xxx_xxx" is the present value. There is no sign.)
The value is displayed in hexadecimal.
Zero: 0.0
Subnormal Number: The conversion results based on display specifications for normalized numbers is displayed.
Normalized Number: (sign) decimal_mantissa e decimal_exponent (with no spaces) (The mantissa is 17 digits for a LREAL number and 9 digits for a REAL number.)
Example: +1.2345678901234567e-17
Infinity: The conversion results based on display specifications for normalized numbers is displayed.
The text string for the UTF-8 text is displayed.
(- negative value) xxx d yy h zz m uu s vvv.vvvv ms (with no spaces)
xxx is the number of days, yy is the number of hours, zz is the number of minutes, uu is the number of seconds, and vvv.vvv is the number of milliseconds.
Leading zeros are not displayed.
If a number for one of the units is 0, 0 is displayed with the unit. However, if there are no numbers on the left of a 0 number that are not 0, then 0 and the unit are not displayed.
Example for 5 minutes, 0 seconds, and 23 milliseconds 5m0s23ms
yyyy-mm-dd Leading zeros are displayed.
Example for August 17, 2010 2010-08-17-13:00:05.00
hh:nn:ss.ss Leading zeros are displayed.
yyyy-mm-dd-hh:nn:ss.ss Leading zeros are displayed.
The values of variables are displayed in ASCII values.
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Data Types and Supported Display Formats
Data type
Display format (The default formats are set in bold text.)
BOOL
Boolean, Decimal, Hexadecimal, String, or Binary
SINT
Decimal, Boolean, Hexadecimal, or Binary
USINT
Decimal, Boolean, Hexadecimal, or Binary
INT
Decimal, Boolean, Hexadecimal, or Binary
UINT
Decimal, Boolean, Hexadecimal, or Binary
DINT
Decimal, Boolean, Hexadecimal, or Binary
UDINT
Decimal, Boolean, Hexadecimal, or Binary
LINT
Decimal, Boolean, Hexadecimal, or Binary
ULINT
Decimal, Boolean, Hexadecimal, or Binary
BYTE
Hexadecimal, Boolean, Decimal, Binary, or ASCII
WORD
Hexadecimal, Boolean, Decimal, Binary, or ASCII
DWORD
Hexadecimal, Boolean, Decimal, or Binary
LWORD
Hexadecimal, Boolean, Decimal, or Binary
REAL
Real
LREAL
Real
TIME
String (Time)
DATE
String (Date)
TIME_OF_DAY
String (Time of day)
DATE_AND_TIME
String (Date and time)
STRUCT
Depends on the data type of the members.
UNION
Depends on the data type of the members.
STRING
String
ENUM
Decimal, String
7
Changing the Display Format
Select the display format from the Display format Column on the Watch Tab Page.
The present value changes to the specified display format.
7-2-1 Monitoring
Present Value Displays When Using a Variable for a Subscript to Specify an Array Element
If you use a variable for a subscript to specify an array element or member in an array variable, structure array variable, or union array variable, the present value is displayed as follows (example for a two-dimensional array): PV_of_variable_element_or_member, [subscript_value, subscript_value].
Variable name entry format example for global variables
ArrayVar[index1,index2,index3]
StructArrayVar[index1,index2].member
StructArrayVar[index1,index2].member[0,index3]
Present value display
Value_of_ArrayVar[index1,index2,index3],[value_of_index1, value_of_index2, value_of_index3]
Value_of_StructArrayVar[index1,index2].member,[value_of_index1, value_of_index2]
Value_of_StructArrayVar[index1,index2].member[0,value_of_index3],[value_of_index1, value_of_index2],[0, value_of_index3]
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7 Debugging
Deleting Variable Names from the Watch Tab Page
1 Right-click the line of a variable name to delete on the Watch Tab Page and select Delete from the menu. Or, press the Backspace Key to delete the device name for the variable to delete.
The variable name and the row it was displayed on are deleted.
Copying and Pasting Variable Names from the Watch Tab Page
1 Right-click the variable name to copy on the Watch Tab Page and select Copy (or press the Ctrl + C Keys).
2 Right-click the row at which to insert the copied row on the Watch Tab Page and select Paste from the menu (or press the Ctrl + V Keys). The copied variable name is registered.
Additional Information You can copy variable names from a Watch Tab Page and paste them into a spreadsheet (e.g., Excel).
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Adding a Watch Tab Page
You can add one or more Watch Tab Pages to the Watch (Project) or Watch (Table).
1 Right-click the tab of a Watch Tab Page and select Add Watch Tab Page from the menu.
A new Watch Tab Page is added.
For the Watch (Project), you can add up to 20 Watch Tab Pages, for the Watch (Table), you can add up to 10 Watch Tab Pages.
2 To delete a Watch Tab Page, right-click the tab of the Watch Tab Page and select Delete Tab Page from the menu. The specified Watch Tab Page and all variable names that are registered in it are deleted.
Precautions for Correct Use
The display behavior of the Watch Tab Pages differs between Sysmac Studio version 1.19 or lower (between version 1.10 and version 1.19) and Sysmac Studio version 1.20 or higher.
� Maximum number of tab pages
7
Version 1.19 or lower
Ver.1.20 or Ver.1.21
Version 1.22 or later
Watch (Project) 1 max.
10 max.
20 max.
Watch Tab Page 9 max.
Not provided
Watch (Table) 9 max.
10 max.
� If you open a project that was saved in a different version of Sysmac Studio, the data that is registered in a Watch Tab Page is displayed as follows.
� If a project that was saved in Sysmac Studio version 1.19 or lower is opened in version 1.20, 1.21, 1.22 or higher
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7 Debugging
Registration location of data
Display location in version 1.20 or
1.21
Display location in version 1.22 or higher
Watch (Project)
The data is displayed in the Watch (Project) 1.
Watch Tab Page for each device Watch Tab Page 1, Watch Tab Page 2, ...
The data registered in the Watch Tab Pages for all the devices are displayed in the Watch (Project) 1.
Data registered in the Watch Tab Pages for devices are displayed in the Watch (Project) 2, Watch (Project) 3, .... When variables are not registered in the Watch (Project) for a project saved using version 1.19 or lower, data in the Watch Tab Pages such as the Watch Tab Page 1 and Watch Tab Page 2 are displayed in the Watch (Project) 1, Watch (Project) 2, ....
In the order in which the devices were registered and the Watch Tab Pages were added in a project saved using version 1.19 or lower, data for a maximum of 20 Watch Tab Pages including the Watch (Project) are displayed. Additional data after the maximum number of Watch Tab Pages is reached will be all displayed in the 20th page the Watch (Project) 20.
Watch (Table)
The data that is registered in the Watch Tab Pages for each Controller is displayed in the Watch (Table) 1, Watch (Table) 2, ....
� If a project that was saved in version 1.20 or higher is opened in version 1.19 or lower
Registration location of data Watch (Project) 1, Watch (Project) 2, ...
Watch (Table) 1, Watch (Table) 2, ...
Display location in version 1.19 or higher
Only the data that is registered in the Watch (Project) 1 (the first Watch (Project) that was created) is displayed in the Watch (Project).
Data in the Watch (Project) 2 and later is not displayed.
No data is displayed.
Monitoring in the I/O Map
Monitoring in the I/O Map
You can monitor the present values of Unit I/O ports in the I/O Map when the Sysmac Studio is online with a Controller.
Monitor Displays in the I/O Map
1 Double-click I/O Map under Configurations and Setup on the Multiview Explorer. The I/O Map is displayed. The present values of the registered Unit I/O ports are displayed in the Variable Column.
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7-2 Operations Used for Both Online and Offline Debugging
7-2-1 Monitoring
The data types that are given in the following table can be monitored in the I/O Map. � Data Types and Present Value Displays in the I/O Map
Data type
Number of bytes
Range
BOOL
2
0 or 1
BYTE
1
16#00 to FF
WORD
2
16#0000 to FFFF
DWORD
4
16#00000000 to FFFFFFFF
LWORD
8
16#0000000000000000 to FFFFFFFFFFFFFFFF
SINT
1
-128 to +127
INT
2
-32768 to +32767
DINT LINT
4
-2147483648 to +2147483647
7
8
-9223372036854775808 to +9223372036854775807
USINT
1
0 to +255
UINT
2
0 to +65535
UDINT
4
0 to +4294967295
ULINT
8
0 to +18446744073709551615
REAL
4
-3.40282347e+38 to 3.40282347e+38
LREAL
8
-1.7976931348623157e+308 to 1.7976931348623157e+308
Changing the Display Format in the I/O Map
1 Select the display format from the Monitor Type Area in the I/O Map.
The present value in the Value Column changes to the specified display format.
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7 Debugging
The display formats that you can select for each data type are given in the following table.
Display format
Description
Data type
The present value is displayed in the format for the data type.
Binary
The present value is displayed in binary.
Hexadecimal
Signed decimal
Unsigned decimal
The present value is displayed in hexadecimal. The present value is displayed in signed decimal. The present value is displayed in unsigned decimal.
Remarks
The bit order can also be specified (MSB-LSB or LSB-MSB). (The default bit order is MSB-LSB.)
Additional Information
� Structures and arrays cannot be monitored. � REAL and LREAL data are displayed in the REAL and LREAL data formats even if the monitor
type is changed.
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7-2-2 Differential Monitor
With the Differential Monitor, you can detect the number of times a specified BOOL variable or BOOL member changes to TRUE or changes to FALSE and display the count in the Differential Monitor. You can check if bits turn ON and OFF and the number of times that they turn ON and OFF.
Version Information
A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use differential monitoring.
Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for information on differential monitoring.
Opening the Differential Monitor Tab Page
1 Right-click the BOOL variable to register in the Differential Monitor in the Ladder Editor and select Add to Differential Monitor from the menu. Or, select Differential Monitor from the View Menu or click the Differential Monitor Button ( ) on the toolbar.
The Differential Monitor is displayed.
(3)
(4)
(1)
(2)
(5)
7
(6)
Parts of the Pane
No.
Part
Description
1 Start Differential Monitor and Stop Click these buttons to start and stop differential monitoring. Differential Monitor Buttons
2 Variable Name
Enter the variables for differential monitoring.
3 Differentiation Condition Buttons Click these button to specify whether to detect changes to TRUE (rising) or changes to FALSE (falling).
4 Count
This column displays the number of times the condition for the variable was met (change to TRUE or change to FALSE).
5 Condition Satisfied Indicators
These indicators flash when the conditions for the variables are met (change to TRUE or change to FALSE).
6 Add Item and Delete Item Buttons Click these buttons to add and delete selected variables for differential monitoring.
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7 Debugging
Entering Differentiation Conditions
1 You can drag variables from the Ladder Editor, the ST Editor, or a variable table to the Differential Monitor. You can also right-click the variables to monitor in the Ladder Editor and select Add to Differential Monitor from the pop-up menu. The variables for differential monitoring are registered.
You can register up to eight variables for differential monitoring. Additional Information You can also click the Add Variable Button in the Differential Monitor Tab Page to add variables.
Executing Differential Monitoring
1 Click the Start Differential Monitor Button ( ) in the Differential Monitor Tab Page.
Differential monitoring is started and the number of times the condition (change to TRUE or change to FALSE) is met is displayed in the count list for each variable.
Additional Information � The values in count list are reset to zero every time the Start Differential Monitor Button is
clicked. � You can add variables for differential monitoring while differential monitoring is under execu-
tion. To monitor the variables that you add, stop differential monitoring and then start it again.
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Stopping Differential Monitoring
1 Click the Stop Differential Monitor Button in the Differential Monitor Tab Page during differential monitoring. Differential monitoring stops.
7-2 Operations Used for Both Online and Offline Debugging
Precautions for Correct Use
You can register variables for another Controller in the same project for differential monitoring. However, only the variables for the Controller that is currently selected are actually monitored when differential monitoring is executed.
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
Changing Present Values and Set/Reset Using Forced Refreshing
You can change the values of variables that are used in the user program and settings to any
desired value, and you can use the Set/Reset command to change program inputs and outputs to
TRUE or FALSE. This allows you to check the operation of the user program and settings.
7
WARNING
Sufficiently confirm safety before you change the values of I/O ports or variables on the I/O Map when the Sysmac Studio is online with the CPU Unit. Incorrect operation may cause the devices that are connected to Output Units to operate regardless of the operating mode of the Controller.
Caution
Always confirm the safety at the destination node before you transfer a user program to a node or perform an operation that changes device variables. Not doing so may result in injury.
Sufficiently confirm safety before you change the values of variables on a Watch Tab Page when the Sysmac Studio is online with the CPU Unit. Incorrect operation may cause the devices that are connected to Output Units to operate regardless of the operating mode of the Controller.
Precautions for Safe Use Always confirm the safety of the system before you perform forced refreshing.
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
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Controlling BOOL Variables
Controlling BOOL Variables
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.
Additional Information � Go online and select Monitor from the Controller Menu to enter monitor status before you per-
form the following procedure. � On the ST Editor, the procedure that is given below in Changing the Present Values of Vari-
ables on page 7-26 is used to set/reset BOOL variables.
Controlling BOOL Variables in the Ladder Editor (Set/Reset)
You can use the Set and Reset menu commands to change program inputs and outputs in the Ladder Editor to TRUE or FALSE.
Procedure
1 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.
2 Right-click the input or output and select Set/Reset - Set to change the input or output to TRUE. Or, right-click the input or output and select Set/Reset - Reset to change the input or output to FALSE. The input or output in the Ladder Editor changes to TRUE or FALSE and the execution condition changes accordingly.
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Controlling BOOL Variables in the Watch Tab Page (Set/Reset)
You can change the status of BOOL variables that are registered in a Watch Tab Page to TRUE or FALSE. The monitor values in the Watch Tab Page change to TRUE or FALSE.
Procedure
1 Select Watch Tab Page from the View Menu to display a Watch Tab Page.
The rungs are displayed on the Ladder Editor in monitor status.
2 Select a BOOL variable in the Watch Tab Page. 3 Select TRUE in the Modify Column to change the variable to TRUE. Select FALSE in the Modify
Column to change the variable to FALSE. The value in the Online value Column changes to TRUE or FALSE.
Additional Information
If the status of a BOOL variable that is used in a ladder diagram is changed, the execution status in the Ladder Editor changes accordingly.
Controlling Boolean I/O Ports in the I/O Map
Controlling Boolean I/O Ports in the I/O Map
You can change the status of the BOOL I/O ports in the I/O Map.
7
Procedure
1 Double-click I/O Map under Configurations and Setup on the Multiview Explorer. The I/O Map is displayed.
2 Select the BOOL I/O port in the I/O Map. 3 Enter TRUE in the Value Column to change the variable to TRUE. Enter FALSE in the Value
Column to change the variable to FALSE.
The status of the BOOL device variable changes to TRUE or FALSE and the value in the Value Column in the I/O Map changes to TRUE or FALSE.
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
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Changing the Present Values of Variables
Changing the Present Values of Variables
You can change the present values of user-defined variables, system-defined variables, and device variables as required. You can do this in the Ladder Editor, ST Editor, Watch Tab Page, or I/O Map.
Changing Present Values on the Ladder Editor Changing Present Values on the Ladder Editor
You can change the present values of variables directly on the Ladder Editor.
Procedure
1 On the Ladder Editor, right-click a variable and select Edit Variable Value or double-click the present value that is displayed for a variable.
You can now change the present value.
2 Enter the new value and press the Enter Key.
The present value is changed.
Precautions for Correct Use If you use a variable for a subscript to specify an array element, a confirmation dialog box is displayed for the element for which the present value is to be changed. Check the present values of the variable for the subscript to make sure that the present value of the correct element will be changed before you click the OK Button.
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Changing Present Values on the ST Editor Changing Present Values on the ST Editor
You can change the present values of variables directly on the ST Editor.
Procedure
1 On the ST Editor, click the drop-down arrow for the present value of a variable.
A text box or combo box is displayed below the present value according to the data type of the variable.
2 Enter the new value and press the Enter Key.
The present value is changed. Precautions for Correct Use If you use a variable for a subscript to specify an array element, a confirmation dialog box is displayed for the element for which the present value is to be changed. Check the present values of the variable for the subscript to make sure that the present value of the correct element will be changed before you click the OK Button.
7
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
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7 Debugging
Changing Present Values on a Watch Tab Page Changing Present Values on a Watch Tab Page
You can change the present value of variables that are registered in a Watch Tab Page.
Procedure
1 Select Watch Tab Page from the View Menu to display a Watch Tab Page. 2 Move the cursor to the cell in the Modify Column on the Watch Tab Page, enter a value that is
compatible with the format that is given in the Display format Column, and then press Enter Key. Press the Esc Key to cancel entering a value. The present value is changed.
The format for entering a value in the Modify Column depends on the format that is given in the Display format Column. For details, refer to Display Formats under Changing the Display Format of a Present Value in the Watch Tab Page on page 7-14.
� Examples of Entries in the Modify Column:
Display format Boolean Decimal Real (floating-point) Hexadecimal Binary String Duration Date
Example TRUE or FALSE 10, -100 123.4 1.234e2, 1.234E2, -1.23e-3 1001, FFFF8000 11110000 abc, ABC 12345.678, -12345.678 2030-04-05
Precautions for Correct Use
If you use a variable for a subscript to specify an array element, a confirmation dialog box is displayed for the element for which the present value is to be changed. Check the present values of the variable for the subscript to make sure that the present value of the correct element will be changed before you click the OK Button.
Additional Information
If you enter an illegal value in the Modify Column, an error is detected and the cell is highlighted in red.
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Changing Present Values in the I/O Map Changing Present Values in the I/O Map
You can change the present value of I/O ports in the I/O Map.
Procedure
1 Double-click I/O Map under Configurations and Setup on the Multiview Explorer. The I/O Map is displayed.
2 Select the I/O ports in the I/O Map. 3 Enter a value in the Value Column.
The present value is changed.
7-2 Operations Used for Both Online and Offline Debugging
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
Refer to Monitoring in the I/O Map on page 7-18 for the formats to enter.
Additional Information
If the value is entered in the wrong format, an error occurs. The illegal values are highlighted in 7
red and an error icon is displayed. Place the mouse over the error icon to view the error details.
Forced Refreshing
Forced Refreshing
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 assigned 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 the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on holding and clearing status changes in the CPU Unit. All forced refreshing is cancelled when a fatal error occurs, when a Clear All Memory operation is performed, when the operating mode is changed, when power is interrupted, or when the project is downloaded.
Caution
Sufficiently confirm safety at the connected slave or Unit before you change the value of an I/O port or device variable. Not doing so may result in injury.
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Precautions for Safe Use � 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 program inputs for which it is not supported, the program inputs will first take the specified values, but they will then be overwritten by the user program. � Discrepancies in the forced status may cause unexpected operation of the controlled system.
Precautions for Correct Use If you use a variable for a subscript to specify an array element, a confirmation dialog box is displayed for the element for which the forced status is to be changed. Check the values of the variable for the subscript to make sure that the correct element will be changed before you click the OK Button.
Forced Refreshing and Canceling Forced Refreshing in the Ladder Editor Forced Refreshing and Canceling Forced Refreshing in the Ladder Editor
Forced refreshing forces a program input or output to TRUE or FALSE in the Ladder Editor. Canceling forced refreshing removes the forced TRUE/FALSE values of the inputs and outputs.
Procedure for Forced Refreshing in the Ladder Editor
1 Double-click the ladder program or ladder function block under Programming in the Multiview Explorer.
The rungs are displayed on the Ladder Editor.
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2 Right-click the program input or output and select Forced Refreshing - TRUE. The input or output is forced to TRUE. Right-click the program input or output and select Forced Refreshing - FALSE. The input or output is forced to FALSE.
7-2 Operations Used for Both Online and Offline Debugging
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
The input or output in the Ladder Editor changes to TRUE or FALSE and the execution condition changes accordingly. An icon also appears by the input or output that represents its current forced value.
Procedure to Cancel Forced Refreshing from the Ladder Editor
1 Right-click the program input or output to clear in the Ladder Editor and select Forced Refreshing - Cancel.
7
The forced value for the selected input or output is cleared and the forced value icon disappears. The TRUE/FALSE value does not change.
Additional Information To cancel the forced status of all inputs and outputs, right-click and select Forced Refreshing - Cancel All.
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Forced Refreshing and Clearing Forced Refreshing on a Watch Tab Page
You can force the I/O ports or memory addresses for CJ-series Units that are assigned to BOOL variables that are registered on a Watch Tab Page to TRUE or FALSE and clear the forced values on the Watch Tab Page.
Procedure for Forced Refreshing on a Watch Tab Page
1 Select Watch Tab Page from the View Menu.
A Watch Tab Page is displayed.
2 Select a BOOL variable in the Watch Tab Page.
3 Right-click the BOOL variable and select Forced Refreshing - TRUE from the menu. The I/O port or memory address is forced to TRUE. Right-click the BOOL variable and select Forced Refreshing - FALSE from the menu. The I/O port or memory address is forced to FALSE.
The present value is displayed in the Watch Tab Page as shown below. � When you select TRUE: True � When you select FALSE: False An icon also appears by the BOOL variable that represents its current forced value.
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Procedure for Canceling Forced Refreshing in a Watch Tab Page
1 Right-click the BOOL variable on the Watch Tab Page, and then select Forced Refreshing - Cancel. The forced value for the selected BOOL variable is canceled and the forced value icon disappears. The TRUE/FALSE value does not change.
Additional Information
To cancel the forced status of all BOOL variables, right-click and select Forced Refreshing - Cancel All.
Forced Refreshing and Canceling Forced Refreshing in the I/O Map
Forced Refreshing and Canceling Forced Refreshing in the I/O Map
You can force the I/O ports of BOOL device variables to TRUE or FALSE in the I/O Map.
Procedure for Forced Refreshing in the I/O Map
1 Double-click I/O Map under Configurations and Setup in the Multiview Explorer or right-click
I/O Map and select Edit from the menu.
7
The I/O Map is displayed.
2 Select the BOOL device variable in the I/O Map.
7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing
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3 Right-click the BOOL variable and select Forced Refreshing - TRUE from the menu. The I/O port is forced to TRUE.
Or, right-click the BOOL variable and select Forced Refreshing - FALSE from the menu. The I/O port is forced to FALSE.
After you force the BOOL device variable to TRUE or FALSE, the value in the Value column in the I/O Map changes to TRUE or FALSE to reflect that change. An icon also appears by the BOOL device variable that represents its current forced value.
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Procedure for Canceling Forced Refreshing from the I/O Map
1 Right-click the BOOL I/O ports in the I/O Map, and then select Forced Refreshing - Cancel.
The forced value for I/O port of the selected BOOL device variable is cleared and the forced value icon disappears. The TRUE/FALSE value does not change.
7-2 Operations Used for Both Online and Offline Debugging
7-2-4 Cross References
Procedure to Clear All Forced Refreshing
7
1 Select Forced Refreshing - Cancel All from the Controller Menu to clear all of the forced
refreshing.
7-2-4 Cross References
Cross References
Cross references allow you to see the programs and locations where program elements of the Controller are used. You can view all locations where an element is used from this list.
The following elements can be cross-referenced. � Variables � Data types � I/O ports � Functions � Function blocks
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Displaying and Manipulating Cross References
1 Select Cross Reference Tab Page from the View Menu.
The Cross Reference Tab Page is displayed.
2 Select a referenced element.
The name of the selected referenced element is displayed in the Reference Target field, and the locations where the element is used are listed under Cross Reference. If the referenced element is a variable or a member of a variable, you can directly enter the variable name or member name in the Reference Target field. Refer to Referenced Element You Can Select on page 7-37 for the elements you can select for reference. For the areas where cross reference can be performed, refer to Areas for Cross Reference on page 7-37.
(a)
(b)
(c)
(d)
Item
Description
(a) Lock Button
Click this button to lock the display of the referenced element and cross reference list. Click the button again to release the lock.
(b) Reference Target The referenced element that is currently selected is displayed. Or, you can directly
field
enter a variable name or variable member name as the reference target in this
field.*1
(c) Update Button
This button is enabled only after the lock button is clicked and the display is locked. When the Update Button is clicked, the cross reference list is updated.
(d) Cross reference list
The locations in which the referenced element is used are displayed. Refer to Cross Reference List Details on page 7-38, below, for details on items in the list.
*1 Note that an error occurs if the following variables are entered. Also, an error occurs if the directly entered element is not a variable.
� A variable in a POU that is protected with the display prohibition setting
� A variable in a library for which the Disable Source Display setting is used
� A variable in a library for which the Do Not Publish setting is used
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Referenced Element You Can Select
The following table shows the referenced elements you can select and the locations from which you can select the referenced elements. You can select only the elements displayed with a focus in the following locations.
Element
Location
Variable
Global variable, axis variable, axes group variable, cam data variable, and external variable
� Global variable table � External variable tab in local variable tables (when you select external variables) � Input, output, I/O parameter of functions, or I/O parameter of function blocks on
the Ladder Editor � ST Editor
� Axis or axes group in the Multiview Explorer (when you select axis or axes group variables)
� Cam profile in the Multiview Explorer (when you select cam data variables)
� Trace target variable table for data tracing
System-defined vari- � Input, output, I/O parameter of functions, or I/O parameter of function blocks on
able
the Ladder Editor
� ST Editor
� Trace target variable table for data tracing
Internal variable, input variable, output variable, and inout variable
� Internal variable tab and in-out variable tab in local variable tables
� Input, output, I/O parameter of functions, or I/O parameter of function blocks on the Ladder Editor
� ST Editor
� Trace target variable table for data tracing (Note: Variables for functions are excluded.)
Return value for functions
� Return value tab in local variable tables
� Input, output, I/O parameter of functions, or I/O parameter of function blocks on the Ladder Editor
� ST Editor
I/O port
I/O Map
7
Function
� Ladder Editor
� ST Editor
� Function in the Multiview Explorer
Function block
� Function block instance variable in local variable tables
� Ladder Editor
� ST Editor
� Function block in the Multiview Explorer
Data type
Data Type Editor
Areas for Cross Reference
The following table shows the areas where the usage locations of referenced element are detected.
The areas vary depending on the type of the referenced element you select. The following areas are displayed in the cross reference list if the referenced element is used in the areas.
Referenced element Variable
I/O port
Function
Areas where usage locations are detected � Input, output, I/O parameter of functions, or I/O parameter of function blocks on
the Ladder Editor � Text in ST Editor � I/O Map � Global variable table � Internal variable tab in local variable tables � Ladder Editor � ST Editor
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7 Debugging
Referenced element Function block
Data type
Areas where usage locations are detected � Ladder Editor � ST Editor � Data Type Editor � Global variable table � External variable tab, internal variable tab, and in-out variable tab in local vari-
able tables
Cross Reference List Details
The following tables describe the contents of items displayed in the cross reference list. The title of the displayed items differs depending on the type of the referenced element.
(a)
(b)
(c)
(d)
Titles of items
Referenced element
Variable or I/O port Function Function block Data type
Contents of items
(a)
Item Function Function Block Data Type
(b)
Location POU POU POU/Definition
(c)
Detail Rung/Line number Rung/Line number Not displayed.
(d)
Reference Reference Reference Reference
Description (a) The name of the referenced element is displayed. (b) Locations where the element is used (POU name, global variable, and I/O Map) are displayed. The
data type is displayed if the referenced element is a data type. (c) If the referenced element is used in the Ladder Editor or ST Editor, the rung numbers or line numbers
of the usage locations are displayed. (d) The specific location where the referenced element is used is displayed.
List Display Example for Data Type Cross References
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Additional Information � If the cross references are for a structure variable member, union variable member, or array
variable element, the variable that contains the member or element is displayed in the cross reference list in addition to the specified member or element. � If a cross reference is for an input variable or output variable of a function block instance, the function block instance is also displayed in the cross reference list. � You can select Fixed Target Cross Ref. from the pop-up menu on the Ladder Editor or ST Editor to lock the cross reference items and display the cross reference list. � If the same variable is used in the Controller and an NA-series PT, after you display the NAseries PT, the usage locations of the NA-series PT are also displayed in the cross reference list for the Controller.
Viewing Usage Locations from the Cross Reference List
You can view where elements are used from the cross reference list. Select the item you want to find references for from the list. The locations where that item is used appear in the Edit Pane.
7-2 Operations Used for Both Online and Offline Debugging
7-2-5 Online Editing
7
7-2-5 Online Editing
Online Editing
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. � Section and POU (function or function block) written in ladder diagrams � POU (program, function, or function block) written in ST � Global variable
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Additional Information You can change the set values of timers and counters during online editing.
WARNING
Check the user program for proper execution before you use it for actual operation.
Execute online editing only after you confirm that no adverse effects will be caused to the operation of the master and slave axes if the synchronized control processing time is extended.
Before you perform online editing for a function or a function block, check the locations where the function or function block is used and confirm the range that will be affected.
What Online Editing Can Do
The following table lists what you can and cannot do with online editing.
Item to edit Section or POU (function or function block) written in ladder diagrams
A POU written in ST
Global variables
You can
1. Do the following for all rungs in the selected section or POU: Change the logic, add or change variables, add rungs, or delete rungs.
2. Add or change rung comments. 3. Add local variables (only internal variables
(VAR) and external variables (VAR_EXTERNAL)) to the selected section or POU. 4. Change global or local variable attributes for the selected section or POU.*1 5. Add or delete calls to POUs (functions or function blocks). 6. Add or change element comments.
1. Change all of the logic in the selected POU. 2. Add local variables (only internal variables
(VAR) and external variables (VAR_EXTERNAL)) to the selected POU. 3. Change local variable attributes in the selected POU.*1 4. Add or delete calls to POUs (functions or function blocks).
1. Add variables. 2. Change the attributes of the selected variable.*1
You cannot
1. Delete global or local variables.
2. Add global variables and change global variable attributes.*1
3. Add local variables (except for internal and external variables) to the selected section or POU.
1. Delete global or local variables.
2. Add global variables and change global variable attributes.
3. Add local variables to the selected POU (except for internal and external variables).
1. Delete variables.
*1 Refer to Variable Attribute Change Supported/Not supported on page 7-41 for details.
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Variable Attribute Change Supported/Not supported
The following table shows which attribute of local and global variables can be changed or cannot be changed with online editing.
For global variables, whether changing is supported or not depends on the edit target for online editing.
Online edit changing supported/not supported
Variable attribute
Description
Local variable
Global variable
Edit target: global variable
Edit target: section or POU writ-
ten in ladder diagram
Name
Changing the variable name
Not supported.
Not supported.
Not supported.
Data Type Changing to a variable of a dif- Not supported. ferent type
Not supported.
Not supported.
Changing to a different size
Not supported.
Not supported.
Not supported.
AT
Enabling/disabling the AT speci- Not supported.
Not supported.
Not supported.
fication
Changing the allocated addresses
Not supported.
Not supported.
Not supported.
Initial Value Changing the initial value
Supported.
Supported.
Not supported.
Retain
Enabling/disabling the retain attribute
Not supported.
Not supported.
Not supported.
Constant
Enabling/disabling the constant Not supported. attribute
Not supported.
Not supported.
Network
Specifying/not specifying Net- Not supported.
Not supported.
Not supported.
Publish
work Publish
Edge
Changing the edge detection Not supported.
Not supported.
Not supported.
7
condition of the input variable
Comment Changing the comment
Supported.
Supported.
Supported.*1
*1 When the Use global variable comment check box is selected under External variable comments in Ladder/ST Editors in the option settings, you can select external variables in the Ladder Editor to change global variable comments.
Starting Online Editing
Go online with the Controller or Simulator and select Online Edit - Start from the Project Menu. Or, right-click while the object to edit online is displayed and select Online Edit - Start. This allows you to edit programs.
7-2-5 Online Editing
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� To perform online editing, the data in the NJ/NX/NY-series Controller you are connected to must be the same as the project data in the Sysmac Studio. If they are not the same, an error occurs and online editing does not start.
� When online editing begins, you can edit the items that are displayed in the Edit Pane. Example: To edit global variables, display the global variable table first and then start online editing.
� If there is no data to edit displayed in the Edit Pane, you can edit the selected item in the Multiview Explorer. When you begin online editing, the selected data is displayed in the Edit Pane.
� You cannot start online editing unless editable data is selected in the Multiview Explorer or displayed in the Edit Pane.
� You cannot change the item to edit during online editing. You must first stop online editing, change the item to edit, then start online editing again.
Precautions for Correct Use
If the program algorithm check is enabled, the program algorithm check is performed when online editing is started for any data with a different update date between the Controller and project. If the program algorithms match, online editing is started even if there are differences in rung comments, variable comments, or element comments. However, comments may be unintentionally overwritten when the online edits are transferred. To prevent this, disable the program algorithm check in the option settings. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details on the option settings.
Transferring Changes Made during Online Editing
Perform online editing, and then select Online Edit - Transfer from the Project Menu. Or, right-click while the location that you are currently editing online is displayed and select Online Edit - Transfer. The results of online editing are transferred to the Controller or Simulator. � If the item you changed during online editing is modified by any other Support Software (i.e., if Con-
troller data is modified after you start online editing), you cannot transfer the changes made during online editing. If that happens, end the current online editing session and start online editing again. � You can transfer changes made during online editing even if other items are modified by other Support Software.
Precautions for Correct Use
After you transfer the changes made during online editing, they are applied to the CPU Unit. Do not turn OFF the power supply to the Controller while the changes are being applied. While the changes are being applied, confirmation dialog boxes for the items that are transferred and non-volatile memory backup dialog boxes are displayed. If you turn OFF the power supply to the Controller while the changes are being applied, a major fault level Controller error will occur when the power supply is restored. If an error occurs, download the user program again.
Canceling Online Editing
Perform online editing, and then select Online Edit - Cancel from the Project Menu. Or, right-click while the location that you are currently editing online is displayed and select Online Edit - Cancel. All changes that were made after the online editing was started are canceled and the display before the online editing was started is restored.
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Displaying the Current Online Edit Pane
You can jump to the current online Edit Pane.
1 Select Online Edit - Go to Edit Pane from the Project Menu. Or, right-click and select Online Edit - Go to Edit Pane. The section or ST program for which online editing is currently in progress is displayed in the Edit Pane.
Simultaneous Online Editing by More Than One User
More than one user can perform online editing simultaneously under the following restrictions with an NJ/NX/NY-series Controller and the Sysmac Studio.
Operation
Editing condition
Restrictions
Details
Starting online edit- --ing
None
If the conditions of the above Starting Online Editing are satisfied, each user can start online editing even when one or more users already started online editing.
Transferring changes made with online editing
Users editing different POUs
Users editing the same POU or global variable
None
Only the user who transfers the changes first can perform the transfer.
---
Other users must cancel their changes and perform synchronization before they start online editing again.
Canceling online
None
None
---
editing
7
Restrictions in Online Editing
� You cannot delete variables from variable tables during online editing. � You cannot change the attributes of variables during online editing.
7-2-6 Changing the Operating Mode
Operating Modes
There are two operating modes for NJ/NX/NY-series Controllers, depending on if control programs are executed or not. These are RUN mode and PROGRAM mode.
Precautions for Safe Use Always confirm the safety of the system before you change the operating mode of the Controller.
Procedure for Changing the Operating Mode
Use the following procedure to change the operating mode of the connected Controller.
1 Select Mode - RUN Mode or Mode - PROGRAM Mode from the Controller Menu.
One of the following confirmation dialog boxes is displayed.
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7 Debugging
Changing from PROGRAM to RUN Mode Changing from RUN to PROGRAM Mode
2 Confirm that no problem will occur even if you change the operating mode, and then click the Yes Button. � When you change the operating mode, the values of all I/O devices except for those for variables with a Retain attribute are cleared. � I/O devices are refreshed even in PROGRAM mode. Check for any external influences on I/O device operations before you change the operating mode.
7-2-7 Monitoring Controller Status
Controller Status Monitor
Controller Status Monitor
You can monitor the connected Controller and displays the results in the Controller Status Pane. You can view the Controller Status Pane only when online with the Controller or connected to the Simulator.
Displaying the Controller Status Pane
The Controller Status Pane is displayed in the same area as the Toolbox when online with the Controller or connected to the Simulator. Online with the Controller
Connected to the Simulator
Controller Status Pane Extended Operations
Use the buttons ( and detailed views.
) in the title bar of the Controller Status Pane to switch between the basic
Detailed View When Connected to a Controller
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Detailed View When Connected to the Simulator
7 Debugging
Controller Status Information Detailed View
(c) (b) (a)
(f) (g) (h) (i) (j) (k) (l) (m) (n) (o) (p) (q)
(r)
Basic View
(b)/(c)
(a)
(f)
(d)
(d)
(e)
7
7-2-7 Monitoring Controller Status
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Display item
Displayed information and indicator colors
Remarks
a
Communications state
� Normal communications: Green
On the Basic View, only the color
� Communications error: Flashing red
of the indicator is displayed.
b
Errors, Controller error � No Controller error: Green
On the Basic View, only the color
� Partial or minor fault level Controller
of the indicator is displayed.
error: Yellow
� Major fault level Controller error: Red
c
Errors, user-defined error � No user-defined error: Green
� User-defined error: Red
On the Basic View, only the color of the indicator is displayed.
d
Controller operating mode � RUN mode: Yellow
� PROGRAM mode: Not lit
On the Basic View, only the mode is displayed.
e
Synchronization status � Synchronized: Green
Nothing is displayed for the Sim-
� Not synchronized/Not executed: Yellow ulator.
f
IP address
IP address
� NX701 Controller: IP address of port 1/IP address of port 2
� NY-series Controller: IP address of port 1/IP address of internal port 1
If the Controller has two EtherNet/IP ports, both addresses are displayed.
For the Simulator, Simulator is displayed on the Basic View and --- is displayed on the Detailed View.
g
Subnet mask
Subnet mask
� NX701 Controller: Subnet mask of port 1/Subnet mask of port 2
� NY-series Controller: Subnet mask of port 1/Subnet mask of internal port 1
If the Controller has two EtherNet/IP ports, both subnet masks are displayed.
--- is displayed for the Simulator.
h
Operation authority
Administrator, Designer, Maintainer, Operator, Observer, or unused
--- is displayed for the Simulator.
i
Primary periodic task exe- Execution time (s)
---
cution time
j
Primary period
Period time (s)
---
k
EtherNet/IP Tag Data Link � Communicating
--- is displayed for the Simulator.
� One or more connections are stopped, or no connection setting.
l
EtherCAT Process Data � Communicating
--- is displayed for the Simulator.
Communications
� One or more slaves are stopped, or no
slave setting.
m
Serial ID
Serial ID
--- is displayed for the Simulator.
n
Variable in Forced
Yes/None
---
Refreshing
o
Unit version
Unit version of CPU Unit
--- is displayed for the Simulator.
p
Project unit version in the The unit version set in the Sysmac Studio --- is displayed for the Simulator.
Controller
project stored in the CPU Unit
q
Hardware revision
The hardware revision of the CPU Unit
- is displayed if the hardware revision is in blank.
--- is displayed for the Simulator.
r
List of Controllers Con- CPU Unit name, Controller IP address, The Controller status is dis-
nected Online
Communications, Operating mode, Con- played for all online Controllers.
troller error, and User-defined error
The items are the same as those
in the Controller Status
Details.
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7-2-8 Task Execution Status Monitor
Task Execution Status Monitor
You can monitor the execution status of the tasks that execute programs on an NJ/NX/NY-series Controller or in the Simulator.
Displaying the Task Execution Status Monitor
1 Double-click Task Settings under Configurations and Setup in the Multiview Explorer. 2 Click the Task Execution Status Monitor Button ( ) in the Edit Pane.
The names of all tasks/programs that are currently in execution and their execution status are displayed.
7
7-2-8 Task Execution Status Monitor
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7-2-9 Task Execution Time Monitor
Task Execution Time Monitor
You can monitor the execution time of each task when the user program is executed on an NJ/NX/NY-series Controller or in the Simulator. When the Simulator is connected, you can also monitor the real processing time of tasks.*1 This allows you to perform a Controller performance test. *1 For an NY-series Controller, you cannot monitor the task execution time when the Simulator is connected.
Contents of the Task Execution Time Monitor
Connected to the Controller
Go online with the Controller and then perform the following procedure.
1 Double-click Task Settings under Configurations and Setup in the Multiview Explorer. 2 Click the Task Execution Time Monitor Button ( ) in the Edit Pane.
You can view the following information for all executing tasks: minimum values, average values, maximum values, set periods, exceeded periods, task execution times, and task period exceeded counts.* With an NJ-series Controller, you can also monitor the task execution time ratio for the entire Controller. * The task period exceeded count is the number of times that the task execution time exceeded the task
period. This is not the same as the number of times a Task Period Exceeded Error occurred. For details on the settings, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Connected to the Simulator
When connected to the Simulator, the time required from the beginning of task execution until it ends is estimated through a simulation. � You can display the estimated average execution time, maximum task execution time, and CPU
usage*1 for both the execution of periodic tasks and system services*1 that are executed from when task execution is started until it is completed. � You can use the estimated times as a guide in determining task periods.
� You can run the Simulator in Execution Time Estimation Mode. *1 This is displayed only for an NJ-series Controller.
Refer to Estimating Task Execution Times on page 7-84 for details.
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Precautions for Correct Use � The estimated times are not necessarily the same as the actual task execution times on the
physical Controller. Depending on the user program and I/O configuration, the execution times on the physical control may exceed the estimated maximum value. Use the estimated times as a guide in determining task periods. � If you use tag data links, the execution times on the physical control may exceed the estimated values.
7-2-10 Axis Status Monitor (MC Monitor Table)
Axis Status Monitor
The Axis Status Monitor is used to monitor the error status, input signal status, command values, and current values. Note To monitor axis status, the axis must be registered and transferred to the Controller.
1 Go online. 2 Right-click Axis Settings under Configurations and Setup - Motion Control Setup on the
Multiview Explorer and select MC Monitor Table from the menu. The Axis Status Monitor is displayed.
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Changing the Axis
Use the following procedure to change the axis to monitor.
1 Open the Axis Status Monitor.
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2 Right-click anywhere in the pane and select Select the Axes to Show from the menu.
The following dialog box is displayed. NX701 Controllers
NJ/NY-series Controllers and NX102 or NX1P2 Controllers
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Button
Description
Remarks
Select MC1: Primary Periodic Task
Selects only the axes for which motion control processing is executed in the primary periodic task (MC1).
This is displayed only for an NX701 Controller.
Select MC2: Priority-5 Periodic Task
Selects only the axes for which motion control processing is executed in the priority-5 periodic task (MC2).
This is displayed only for an NX701 Controller.
Select All
Selects all of the axes.
Clear All
Clears the selections of all of the
axes.
3 Select the axis you want to display in the Axis Status Monitor, and then click the OK Button.
Only the selected axes are displayed in the Axis Status Monitor.
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Data Tracing
Data Tracing
You can use data tracing to sample variables without any additional programming. You can choose between two trace methods: a triggered trace, where you set a trigger condition and data is saved before and after that condition is met, or a continuous trace, in which continuous sampling is performed without any trigger and the results are stored in a file on your computer. However, you can still display data retrieved on the Sysmac Studio and save those results to a file even if you use a triggered trace. These same functions can be used with the Simulator as well.
Executing a Data Trace
1 Right-click Data Trace Settings under Configurations and Setup in the Multiview Explorer and select Add - Data Trace from the menu. DataTrace0 is added to the Multiview Explorer.
2 Double-click DataTrace0 or right-click DataTrace0 and select Edit from the menu.
The Data Trace Tab Page is displayed.
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7-2-11 Data Tracing
Additional Information
If there are previous trace results, a confirmation dialog box is displayed to ask whether to load the previous trace results when the Data Trace Tab Page is displayed. When you click the No Button, the previous trace results are not loaded and the Data Trace Tab Page is displayed faster than when the Yes Button is clicked. To display the trace results after displaying the Data Trace Tab Page without loading the previous trace results, close the Data Trace Tab Page, open it again, and click the Yes Button to confirm loading the previous results.
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Trace Type Setting
Select from the following two different trace types. Single Trace Set a trigger condition to start sampling. Data from before and after the condition is met is saved. Sampling stops automatically when the specified number of samples is reached. The setting range of the number of samples is 100 to 10,000 per variable. Continuous Trace Sampling starts without any trigger and continues on even after 10,000 data points are collected. Sample data is transferred to a computer as it is collected and saved to a file.
Procedure
1 Click the Trace type Box and select either Single or Continuous.
Precautions for Correct Use Some data may not be sampled when using a continuous trace depending on your sampling interval and communications status.
Setting Sampling Intervals
You can set the interval to perform sampling on the target data. You can set the sampling interval with any of the three methods described below. Every Period of Task Specify a task. The period of that task is set as the sampling period. Time The time you enter is set as the sampling period. However, the time you enter is rounded off to an integer multiple of the primary periodic task. Use Sampling Instruction With this method, sampling is performed whenever the TraceSamp instruction is executed in the user program.
Procedure
1 Click the sampling interval selection box and select Every period of task, Time, or Use sampling instruction.
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2 If you select Every period of task, select the task you want to use as the sampling period in the task box. If you chose Time, enter a time in the Time field. The time you entered is automatically rounded off to the nearest integer multiple of the period of the primary period task. (The maximum value is 65,535 times the task period of the primary periodic task.)
Setting Number of Samplings
When you select Single for the trace type, set the number of samplings per variable to 100 to 10,000.
Setting Triggers
Setting Triggers To perform a triggered trace, you set a condition to trigger sampling. A suitable trigger condition is set to record data before and after an event.
Procedure
1 Select Single for the trace type.
A dialog box to set the trigger is displayed.
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2 Select the Enable trigger condition Check Box. 3 Enter the variable name to use as a trigger. 4 Set a condition for the variable. (Example: X1>100, x2<16#FF) 5 Set the Post-trigger data ratio Slider to the position of the trigger within the sampled data.
If the ratio is set to 100%, all data is sampled after the trigger condition is met. If the ratio is set to 0%, all data is sampled before the trigger condition is met.
Additional Information � The trigger changes to TRUE when the Trigger ON Button ( ) is clicked or when the Data
Trace Trigger (TraceTrig) instruction is executed. � You can also drag variables from the Variable Manager to the trigger condition area to register
them.
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Setting a Continuous Trace
The method to save the data traced during a continuous trace is set.
Procedure
Continuous Trace Settings Dialog Box
1 Set the number of samples to save in each file. 2 Set the maximum size to save in a file. 3 Set the maximum time period to save data for. 4 Select from the following two actions to take when the size or time limit is reached.
� Stop tracing: Stops sampling. � Delete old files: Continues sampling but deletes the oldest saved data to make room.
5 Select the folder where you want to save the file. 6 Enter the prefix for the file name.
The filename is output as follows: prefix start_time 5-digit_serial_number.csv (with no spaces).
Setting Variables to Sample
You must set the variable to trace. For information on the variables that you can set, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
Procedure
Trace Target Variable Table
Adding Variables for Tracing
1 Click the Add Target Button ( ).
A trace variable line is added to the list.
2 Enter the variable name. Start typing in the field to see a list of variable candidates. Select the variable you want to trace from this list.
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Additional Information
� You can also drag variables to the registration area from a variable table, from the Variable Manager, or from the trace target variable table of other data trace settings to register them.
� Drag the sampled variables to change the order in which they are displayed. Press the Shift Key or Ctrl Key to drag more than one variable at the same time.
� You can display sampled variables in ascending or descending order of the following items. � Check box � Analog/digital � Variable name
Click the title of the corresponding column to change the order.
Deleting a Variable for Tracing
1 Select the line of the variable you want to delete. 2 Click the Remove Target Button or press the Delete Key.
Starting and Stopping Tracing
You transfer the data trace settings to the Controller to start tracing. If you selected Single as the trace type, tracing waits for the trigger to begin sampling. If you selected Continuous, sampling begins immediately and all traced data is transferred to the computer as it is gathered and saved to a file.
Procedures
Starting a Trace
1 Go online with the Controller. 2 Click the Execute Button.
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Sampling is started. If displaying a graph during tracing is enabled, the graph is drawn as soon as sampling starts.
Stopping a Trace
1 Click the Stop Button. Traces also stop automatically in the following cases.
� When the trace type is Single and the number of samples reaches the specified number of samples
� When the trace type is Continuous, the maximum size or time period is reached, and the action to take when a limit has been reached is set to Stop Tracing
Additional Information
� If you select the Start tracing at switching from PROGRAM mode to RUN mode Check Box in the Data Trace Tab Page, data tracing begins automatically the next time the Controller enters RUN mode.
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� You can perform more than one data trace at the same time. (The number of data traces depends on the model of the CPU Unit.) You can change the trace number in the Data Trace Setup Dialog Box to perform data tracing with different settings even if another trace is being performed with a different number. With continuous tracing, you can run only one trace at the same time. You cannot perform traces for other trace numbers from the same computer during a continuous trace. (You can perform other traces from another computer.)
� If you attempt to start more than one data trace with the same trace number on the same Controller, the data trace does not start even if you click the button.
� You can click the Upload Trace Data Button ( ) while the data trace is stopped if there is sampled data on the Controller to upload the data trace settings (except for a continuous trace) and data for the specified trace number. The graph for this data is displayed.
� Remain online during a continuous trace until you stop the trace. If you do go offline during a continuous trace, go online and stop the current trace, and then start the continuous trace again.
Displaying Trace Results
You view the results of the traced data in either a chart or in 3D Motion Monitor. Refer to 3D Motion Monitor Display Mode on page 7-65 for information on the 3D Motion Monitor Display Mode. After sampling begins, sample data is immediately transferred and drawn on the graph. The trace target variable table shows the maximum, minimum, and average values for each variable.
Switching Graphs
You can toggle between the three different types of graphs: a digital chart for BOOL data, an analog chart for all other types of data, and a 3D Motion Monitor Display Mode for viewing the operation of motion axes. You can also view the digital and analog charts overlaid on top of each other.
Procedure
Click the required button.
The buttons are described in the following table.
Button
Description Displays and hides a digital chart for BOOL data.
Displays and hides an analog chart for non-BOOL data.
Displays and hides the overlayed display of the digital and analog charts.
Displays and hides a 3D motion monitor results for the operation check of motion control axes.
Selecting the Display Target
You can show or hide trace target variable graphs. Select or clear the check box for a trace target variable. Then, the graph appears or disappears accordingly.
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To select or clear the check boxes for all trace target variables at the same time, click the button in the title row, and select Select all or Clear all.
Additional Information You can also select the display target in the dialog box that is displayed when you select Settings from the menu button in the title row.
Changing the X Axis
Used the following procedure to change the X axis of the digital and analog charts. You can also specify a trace target variable.
Procedure
1 Select the data you want to use for the X axis in the X Axis Box.
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The digital or analog chart is redrawn using the specified data as the X axis.
Changing the Y Axis Display Mode
You can select whether to use a different Y axis for each variable or a common Y axis for all variables.
Procedure
1 Click the Independent Y Axis Mode Button. 2 Select the variable to display as the Y axis in the table. 3 You can change the display range for the Y axis for each variable. However, you cannot set the
Y offset.
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Zoom In and Zoom Out
You can zoom in and zoom out to view digital and analog charts. Digital charts can only be zoomed in and out along the X axis.
Procedure
1 You can click the Zoom In (
) or Zoom Out (
) Buttons instead.
� This changes the scale of each axis. Zooming in and out along the X axis is reflected in both the digital and analog charts.
� Click the Fit to Display Button ( ) to automatically scale the graph so that it completely fits on the display.
Additional Information
You can also use the following methods to zoom in and out of the graph. � Move your mouse over the axis you want to zoom in or zoom out, then scroll your mouse
wheel up or down to zoom in or out for that axis. � Move your mouse over the graph and scroll your mouse wheel up or down to zoom in or out
both the X and Y axes centered on the position of the cursor. � Hold down the Ctrl Key and drag the mouse to select a range to enlarge it.
Moving Chart Display Area
This allows you to move the display area of the digital and analog charts.
Procedure
1 Click anywhere inside the chart. The mouse cursor changes into a move cursor.
2 Drag up, down, left, or right to move the display area. Movement along the X axis is reflected in both the digital and analog charts.
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Specifying a Data Offset
You can shift data on the graph along the X and Y axes. Offsets can be applied only along the X axis for digital charts. This is a useful feature to use when you want to compare trends between data sets with different starting points. Procedure
1 Enter values for the X offset and Y offset settings in the trace target variable table.
The graph is updated to reflect the changes.
Cursor Display
A cursor is displayed to show the values of all variables at the specified X axis value. Procedure
1 Click the Cursor Button to show or hide this cursor.
2 Select the variable for which to check the value in the table. 3 Drag the cursor to the left or right to display the values for different positions along the X axis.
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The values for the variable at the cursor position are displayed.
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Moving the Cursor
You can move the cursor by dragging it on the chart or by using the playback controller.
Button
Time Slider
Playback
Pause
Stop
Frame Forward
Frame Reverse
Function
You can drag the slider to move the cursor. The left edge is the start of the trace data and the right edge is the end.
The cursor moves automatically at the speed that is specified in the Speed Box.
The cursor stops where it is.
The cursor returns to the start.
Moves the cursor to the next sampled point. Continue to click the button to continuously forward the frame.
Moves the cursor to the previous sampled point. Continue to click the button to continuously reverse the frame.
Displaying the Range Cursors
The range cursors show the difference between the two specified points. This is useful for displaying such information as the time between when a certain value changed to TRUE until it changed to TRUE again.
Procedure
1 Click the Show Range Cursors Button to show or hide this cursor.
2 Select the variable for which to check the value in the table. 3 Drag the two cursors to the left or right to display the difference in values in the range between
the two cursors.
The distance between the two cursors (dx, dy) is shown on the graph.
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Displaying the Trigger Location
You can display a Trigger Location Line (a green wave line) to indicate where the trigger changed to TRUE. This information is displayed automatically. You do not have to enter it.
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Displaying a Digital Data Legend
You can display a digital data legend.
Procedure
1 Click the Show Legends Button. The legends (variable names) are displayed on the left side of the digital chart.
Changing the Graph Colors
You can change the colors of the lines on the graph.
Click the color button for each graph color on the trace target variable table and then change the col-
ors on the Edit Colors Dialog Box.
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Changing the Display Position of the Trace Target Variable Table
You can change the display position of the trace target variable table to above or to the left of the graphs.
Operation Procedure
1 Click the Switch layout Button on the Data Trace Settings Tab Page.
The display position of the table changes each time you click the button.
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Exporting Trace Results
Trace results are saved within your project automatically when you save the project on the Sysmac Studio. If you want to save this data as a separate file, you can export the data to a CSV file.
Procedure
1 Click the Export Button.
A Save File Dialog Box is displayed.
2 Specify the file name and where you want to save the file.
Precautions for Correct Use � If you change any data trace settings after data tracing is completed and the graph is dis-
played and then export your data, the data exported will use different settings from when those results were created. Do not change any settings before exporting the data. � The exported CSV file of trace results is encoded in UTF-8 character codes.
Additional Information � The trace number and the specified number of samples are not exported. � The 3D equipment models are not exported.
Importing Trace Results
If you want to import trace results or settings that you have exported, you can import a CSV file that contains trace results data.
Procedure
1 Click the Import Button.
A Select File Dialog Box is displayed.
2 Select the CSV file you want to import.
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Precautions for Correct Use When you import a CSV file, import a file that was exported with the procedure described in Exporting Trace Results on page 7-62, above. If you edit an exported CSV file, you may not be able to import it.
Additional Information � If you import trace results when sampled variables are already registered or existing trace
results are displayed, the sampled variables and the graphs are imported and added while other settings are not imported. Do not allow the total number of registered sampled variables and sampled variables of imported trace results to exceed the maximum numbers that can be registered. You cannot import data if the total number exceeds the limit. � If you want to add data from a file to the trace results but the time axes are not the same, enter an X axis offset to adjust the data accordingly.
Importing Continuous Trace Data
You can consecutively import continuous trace results from more than one file. You can select the trace range to display from the box to change the data that is displayed.
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1 Click the Import Button, select one of the CSV files of continuous trace data, and import it.
The data from the selected file is displayed and the selected range is displayed in the Continuous Trace Range Selection Box.
2 Select the trace range for which to display the results from the list for the box.
The corresponding CSV file for the trace range is read and the graph is displayed. Precautions for Correct Use � You cannot use the above procedure for CSV files that do not contain continuous trace data. � Place all of the CSV files that contain the separated continuous trace data in the same folder.
Do not change the names of the CSV files that were created. If you do, they cannot be read with the above procedure.
Additional Information The last trace range is displayed in the Continuous Trace Range Selection Box immediately after the continuous trace is completed.
Printing Trace Results
You can print out data trace settings along with digital and analog charts.
Procedure
1 Select Print from the File Menu.
2 Expand Data Trace Settings in the tree in the Print Tab Page and select the check box beside the trace data you want to print.
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3 Click the Print Button.
3D Motion Monitor Display Mode
You set the axis variables for each element of the 3D equipment model, and then set the 3D equipment into motion according to those axis motions. Refer to Creating 3D Equipment Models on page 7-72 for the procedure to create 3D equipment models.
� This motion is linked to the data trace time chart graph. � You can also display the path of a marker on the 3D equipment at the same time. � You can also display a two-dimensional path marker for each projection of the 3D display.
Precautions for Correct Use This function is not supported by the Sysmac Studio (64 bit). The Display 3D Motion Monitor Button is not displayed.
Additional Information
Sysmac Studio (64 bit) version 1.40 or higher support 3D Simulation which enables to check operations or motions of 3D equipment models and parts in 3D Visualizer. Refer to the Sysmac Studio 3D Simulation Function Operation Manual (Cat. No. W618) for details and the conditions of use on 3D Simulation.
Procedure for 3D Motion Monitor Display Mode
Procedure
1 Add an axis to the Multiview Explorer and then set the parameters of the axis variable.
Refer to 5-7 Motion Control Setup on page 5-73 for the setting procedure.
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2 Create a program to operate the equipment.
Refer to Section 4 Programming for the programming procedures.
3 Create the 3D equipment model with a data trace. 4 Register the trigger setting and variables to trace for the data trace.
Refer to 7-2-11 Data Tracing on page 7-51 for the operating procedures for data tracing.
5 Go online with the Controller, change the operating mode to RUN mode, and execute the user program.
6 Start tracing the data with the data trace to sample the data. 7 Check the trace results on the Data Trace Tab Page. 8 Click the Play Button in the Data Trace Tab Page.
The various items move synchronously on the display.
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Play Button
(a)
(b)
(c)
(e)
(d)
Items that move synchronously
(a)
The cursor on the trace graph
(b)
The elapsed time from the start of the trace
(c)
The 3D machine model coordinate values
(d)
The 2D display cursor
(e)
The 3D equipment model
Additional Information
� You can also perform 3D motion monitoring when the Sysmac Studio is connected to the Simulator. When the Sysmac Studio is connected to the Simulator, perform steps 4 and 5 for the Simulator instead of the Controller.
� You can export trace data to save it in a CSV file and then import the data later to check operation. Refer to 7-2-11 Data Tracing on page 7-51 for the operating procedures to import and export trace data.
� If 3D Motion Monitor is displayed on other Data Trace Tab Pages, the 3D motion monitor graph is displayed only on the tab page with the focus. During that time, the following message is displayed on the other Data Trace Tab Pages: "The 3D Motion Monitor is displayed on another view. Click this view to display the 3D Motion Monitor again here."
Recording 3D Equipment Model Operation
Click the Record Button to save the 3D equipment model operation into an AVI file. Click the Stop Button to stop recording.
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2D Path Display
The 2D paths of the markers for the projections in the 3D display are also shown. The 2D path appears when you select X-Y, Y-Z, or X-Z in the box to switch between 3D/2D path displays on the 3D Motion Monitor View. Optimizing Camera Position and Scale The axis scale resolution and camera position are automatically optimized so that the entire path fits onto the display. Viewpoint Manipulation Restrictions On the 2D path display, you can only zoom in or zoom out. You cannot move or rotate your viewpoint. Hidden Virtual 3D Machines Even if virtual 3D machines are currently shown on the 3D path display, these virtual 3D machines are not shown on the 2D path display.
Display When X-Y Is Selected
This is what appears when you select X-Y in the box to switch between 3D/2D path displays on the 3D Motion Monitor View. In this case, the horizontal axis is the X axis and the vertical axis is the Y axis.
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Display When Y-Z Is Selected
This is what appears when you select Y-Z in the box to switch between 3D/2D path displays on the 3D Motion Monitor View. In this case, the horizontal axis is the Y axis and the vertical axis is the Z axis.
Display When X-Z Is Selected
This is what appears when you select X-Z in the box to switch between 3D/2D path displays on the 3D Motion Monitor View. In this case, the horizontal axis is the X axis and the vertical axis is the Z axis.
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Operations on the 3D Motion Monitor View Viewpoint Operations
The movement of the mouse cursor affects the viewpoint depending on which of the three viewpoint operation buttons is currently selected.
From left to right, these buttons are: Move, Rotate, Zoom In/Zoom Out.
How the viewpoint changes when you drag your mouse depends on which of these buttons you click.
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Button Move Viewpoint Button
Rotate Viewpoint Mode Button
Zoom In/Zoom Out Button
Overhead View Button
Icon
Function
The mouse cursor changes when you click this button. This
button allows you to drag the mouse around to change your
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viewpoint up, down, left, or right in the 3D rendering area.
The mouse cursor changes when you click this button. This button allows you to drag the mouse around to rotate your viewpoint around the center of the 3D display area of the Preview Area.
The mouse cursor changes when you click this button. This button allows you to drag the mouse around to zoom in or zoom out in the 3D display area.
Click this button to automatically move the camera so that you can display the entire equipment model from overhead in the Preview Area.
You can also use the following keyboard shortcuts to change how you want to change the viewpoint. Shift: Move Ctrl: Rotate Shift + Ctrl: Zoom In/Zoom Out
If your mouse has a mouse wheel, you can scroll the wheel up or down to zoom in and zoom out.
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Displays
Click the Add Display Button (
) to add another display that is the same as the current display.
You can now change the viewpoint independently for these two displays. Example: Overhead View and End Effector Focus
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2D Path Display
In the View Mode Box, change 3-D to X-Y, Y-Z, or X-Z to display the motion path on a 2D plane.
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Reading Trace Data
You can click the trace data loading button ( ) to load the most recent trace data and update the 3D Motion Monitor View.
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Item
Load only the command values Check Box
Description
If you select this check box and read the trace data, only the command values are used to draw the operation and trajectory of a 3D equipment model.
Precautions for Correct Use
Even if you redisplay the 3D Motion Monitor View, the data is not updated until the trace data loading button is clicked. Even if you change the 3D equipment model or otherwise redisplay the 3D Motion Monitor, the 3D Motion Monitor display may not agree with the actual trace data. To change the trace data, click the trace data loading button to update the display.
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Additional Information
If the trace data is updated while the 3D Motion Monitor is displayed, e.g., when the data trace is completed, traced variables are deleted, or trace results are imported, a dialog box will appear to confirm loading the trace data. Click the Yes Button in the dialog box to load the most recent trace data and update the display.
Creating 3D Equipment Models
You can create a 3D equipment model at the control target to monitor with 3D motion monitoring.
Precautions for Correct Use This function is not supported by the Sysmac Studio (64 bit). The Display 3D Motion Monitor Button is not displayed.
Procedure
1 Start the data trace and click the Display 3D Motion Monitor Button ( ).
2 Click the Settings Button ( select Add from the menu.
) for the 3D equipment model in the 3D Motion Monitor View and
The 3D Equipment Model Display appears.
3 Click the Overhead View Button ( ) in the Preview Area at the bottom of the 3D Equipment Model Display.
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The camera is positioned so that the entire device model can be seen from overhead in the Preview Area.
4 Set the parameters, and then click the OK Button. The 3D equipment model is added. The parameters are described below.
The 3D Equipment Model Window is made up of three sections. The procedures to set up these sections are given below.
3D Machine Model List
3D Machine Model Parameter Settings
Actual position in 3D Machine selected for preview
3D Machine Model List
� You can edit the 3D machine model names in this list. If the name you enter conflicts with another
name elsewhere, an icon ( ) is displayed to indicate the error.
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� You can click any check box in the list to select a 3D machine model. The color of the check box
that you select turns blue, and the parameter settings for that 3D machine model are shown in the
yellow-framed area on the right side of the figure above.
� Clear the check boxes beside the 3D machine models you do not want to display when you perform a 3D equipment motion test. Make sure that unwanted 3D machine models do not appear in the Preview Area.
� Click the Add Button to add a 3D machine model to the list.
� Click the Delete Button to delete a 3D machine model from the list. After you click the button, click the line of the 3D machine model you want to delete.
� When the 3D machine model display first appears, the first 3D model name in the list is selected automatically.
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3D Machine Model Parameter Settings
Select a 3D machine type in the Type Box. Next, set the parameters for the 3D machine length, rotation direction for rotational axes, and corresponding axes to link axis variables with the movable parts of the 3D machine. The specific parameters depend on the type of 3D machine.
Additional Information For an axes group in the Motion Control Function Module, select 2, 3, or 4 axes.
The following is an example of the parameter settings for an XYZ stage + rotational axis (upward) 3D machine.
Item X Stage: Length Y Stage: Length Rotate Axis: Rotate Direction Corresponding axis settings
Present position Orientation
Setting
1000
1000
CW (or CCW)
Enter the following variables directly into the text boxes, or press the Ctrl + Space Keys and select them from the list.
Axis MC_Axis000 for X stage, Axis MC_Axis001 for Y stage, Axis MC_Axis002 for Z axis, Axis MC_Axis003 for rotational axis
The axes that you added in the previous section, Axis Settings for 3D Equipment Models, will appear in the boxes in the Value Column.
0,0,0
0,0,0
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7-2 Operations Used for Both Online and Offline Debugging
Preview
The 3D machine you have set up appears in the 3D coordinate system (world coordinates). The position and orientation of the 3D machine is determined by the coordinate values.
Operations in the 3D Display
Button Selection Mode Button
Move Viewpoint Button
Rotate Viewpoint Mode Button Zoom In/Zoom Out Button Overhead View Button Coordinate System Buttons
Icon
Function
The mouse cursor changes when you click this button. This allows you to select the 3D machines or other models in the Preview Area with your mouse. Use this button to switch between Move Viewpoint Mode (described below) and Selection Mode.
The mouse cursor changes when you click this button. This button allows you to drag the mouse around to change your viewpoint up, down, left, or right in the 3D display area in the Preview Area.
The mouse cursor changes when you click this button. This button allows you to drag the mouse around to rotate your viewpoint around the center of the 3D display area of the Preview Area.
The mouse cursor changes when you click this button. This button allows you to drag the mouse around to zoom in or zoom out in the 3D display area of the Preview Area.
Click this button to automatically move the camera so that you can display the entire device model from overhead in the Preview Area.
Click one of these buttons to change to a right-handed or left-handed coordinate system for the equipment model display.
� Rotation direction for right-handed coordinate system:
Right-hand thread direction
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� Rotation direction for left-handed coordinate system: Left-
hand thread direction
3D Space Size
You can change the coordinate axes of the 3D space and the size of the grid plane. If you change the size of the 3D space, the length of the coordinate axes and the size of the grid in the Preview Area also change.
Scale Resolution
You can change the scale resolution of the coordinate axes.
Unit
Select the coordinate axis scale unit from the following units: m, nm, mm, cm, m, inches, or feet.
Precautions for Correct Use
If you create a new 3D equipment model on Sysmac Studio version 1.14, the unit will be fixed at millimeters.
Present Position
The position gives the home position where the 3D machine model is placed in the 3D coordinate system (world coordinates) in the Preview Area. You can change this position by entering the difference (X, Y, Z) from the world coordinate home (0, 0, 0) where you would like the placement home for the model to be. The position in the Preview Area is represented by two purple square pyramids.
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Orientation
The orientation is the angle of rotation of the 3D machine model local axes (Rx, Ry, Rz) centered around the placement home point in 3D world coordinates.
Precautions for Correct Use The rotation direction for a left-handed coordinate system is different for Sysmac Studio version 1.13 or lower and Sysmac Studio version 1.14 or higher. � Sysmac Studio version 1.13 or lower: Left-handed coordinate system, right-hand thread direc-
tion � Sysmac Studio version 1.14 or higher: Left-handed coordinate system, left-hand thread direc-
tion Therefore, if you open a 3D equipment model that was created on Sysmac Studio version 1.13 or lower on Sysmac Studio version 1.14 or higher, the sign of all orientation values is reversed.
Placement Home
Click the shape made up of two purple square pyramids in the Preview Area. The local axes (X, Y, Z) are displayed. Drag these local axes with your mouse to place the object directly in the Preview Area. Select between position and orientation to modify the actual position and angle of rotation of the model.
Setting Example In the following example, we add one orthogonal robot (XYZ + rotational axis) 3D machine and create equipment made up of two orthogonal robots.
1 Click the Add Button ( ) in the 3D Machine Model List to add another 3D machine.
A new model is added to the 3D Machine Model List.
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2 Select a 3D machine type in the Type Box.
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3 Move the position of the 3D machine 500 (mm) along the X axis. Enter 500 into the X text box in the Present Position Area. Confirm that the 3D machine changed positions in the Preview Area.
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4 Click the OK Button.
The information you entered is saved, and the 3D Equipment Model Display closes. A table representing the two orthogonal robots is added and the coordinate values for the end effector position of each robot appears in the 3D Motion Monitor.
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7-3 Offline Debugging
Offline debugging allows you to debug a program when you are not connected online to a Controller. You can debug on a Simulator to check control program logic before transferring the project to the Controller.
Caution
Although the Simulator simulates the operation of the Controller, there are difference from the Controller in operation and timing. After you debug the user program on the Simulator, always check operation on the physical Controller before you use the user program to operate the controlled system. Accidents may occur if the controlled system performs unexpected operation. The Simulator instructions are not processed on the physical Controller and all outputs from the instructions will be FALSE. After you debug the user program on the Simulator, always check operation on the physical Controller before you use the user program to operate the controlled system. Accidents may occur if the controlled system performs unexpected operation. Simultaneous simulation for offline debugging of sequences and the HMI can be performed to simulate the linked operation of the Controller and HMI. However, there are differences in the operation and timing between this simulation and the actual combination of the HMI and Controller. After you debug operation with the simulation, always check operation on the physical Controller and HMI before you use them in the actual system. Accidents may occur if the controlled system performs unexpected operation.
7-3-1 Debugging with Program Simulation
To debug a control program, it is best to simulate the control program on the computer first to check the operation logic and parameter settings. This process is called simulation debugging. The Sysmac Studio comes with a Simulator that emulates all CPU Unit functions.
Simulation Procedures
Use the following procedure to start the Sysmac Studio and connect to the Simulator.
1 Start the Sysmac Studio and create a project.
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2 Select Simulation Pane from the View Menu.
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The Simulation Pane is displayed below the Toolbox Pane on the right of the window.
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7-3-1 Debugging with Program Simulation
3 Use the Sysmac Studio to set the Controller Configurations and Setup and create a program. 4 Select Build Controller from the Project Menu to build the user program.
If you changed the programs, select Build Controller from the Project Menu to build them again.
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5 If you want to execute a specific task or only a part of a section or program, select the item for
simulation under Programming - Tasks in the Multiview Explorer. (Refer to Setting Simulation Programs on page 7-80.)
6 Click the Run Button in the Simulation Pane. Or, select Run from the Simulation Menu.
7 After the Simulator is started and connected, the Online Indicator in the Controller Status Pane is lit green and "Simulator" is displayed. In this status, the project is completely transferred to the Simulator and RUN mode continues.
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8 To stop the simulation, click the Stop Button in the Simulation Pane.
The connection to the Simulator is broken and the Simulator is exited.
9 To end the simulation, click the Close Button (�) in the Simulation Pane.
Precautions for Correct Use You can start a simulation even if the user program exceeds the memory size. Check memory usage before you transfer the user program to the Controller. Refer to 8-4 User Memory Usage Monitor on page 8-22 for the confirmation procedure.
Additional Information You can start the Simulator in PROGRAM mode during simulation execution. Select Run in PROGRAM mode from the Simulation Menu. Select Mode - RUN Mode from the Controller Menu to change to RUN mode after starting the Simulator in PROGRAM mode.
Setting Simulation Programs
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.
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Procedure for Setting Simulation Programs
1 Select Simulation Pane from the View Menu.
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The Simulation Pane is displayed.
A check box is displayed to the left of the names of programs listed under tasks in the Multiview Explorer to designate programs for simulation. These check boxes are selected by default.
2 Clear the check boxes in the Multiview Explorer for any tasks, programs, or sections you do not want to simulate.
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Simulations are performed only for the selected tasks and programs.
Setting the Debug Programs
Debug Programs
A debug program is program code used for offline debugging. This code contains instructions to perform virtual input processing on inputs received from outside of the Controller, force user-defined errors, and perform other such debugging tasks. The debug program attributes can be set for each program. These programs can be executed only on the Simulator. Simulation programs are treated as normal programs by the Simulator. Assign them to a task to execute them. Debug programs are not included in the Simulator's estimation of execution times. This can increase the accuracy of the time estimates.
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Procedure for Setting Debug Programs
1 Right-click the program to debug in the Multiview Explorer and select Settings For Debugging - Enable from the menu.
The program is given a debug program attribute.
2 Double-click the debug program.
The Ladder Editor or ST Editor is displayed.
3 Enter program code to test (virtual input processing, forcing user-defined errors to occur, etc.).
� After you have written a program as a debug program, you can right-click the debug program and select Settings For Debugging - Disable to change the program to a normal program.
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4 Assign the completed debug program to a task.
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Debug Program Example with Special Instructions
The following example shows a debug program that uses special simulation instructions. You can use the simulation instructions only in the Debug Program Editor. Refer to A-6 Simulation Instructions on page A-33 for details.
Main Program Example
An external signal is used to record the latch position for axis 0. Execution of positioning continues.
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Debug Program Example
When SIMSEL_En turns ON, an external input signal is sent to LatchID (1) for axis 0.
You can check the operation of the debug program by performing a data trace.
Latched position recorded.
External latch input signal turned ON.
Estimating Task Execution Times
The time required from the beginning of task execution until it ends is approximated through a simulation. � You can display the estimated average and maximum task execution time for both the execution of
periodic tasks and for system services*1 that are executed from when task execution is started until it is completed. � You can use the estimated times as a guide in determining task periods. Run the Simulator in Execution Time Estimation Mode after you have calibrated execution time estimation. *1 This is displayed only for an NJ-series Controller.
Precautions for Correct Use
� The estimated 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 control may exceed the estimated maximum value. Use the estimated times as a guide in determining task periods.
� With an NX-series Controller, you can display estimated values only for the primary periodic task.
� You cannot display the estimated values on NY-series Controllers. � You can calculate the estimated values for the priority-5 periodic task of an NX701 Controller
on paper. Refer to Estimating the Task Execution Time of the Priority-5 Periodic Task of an NX701 Controller on page 7-89.
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Additional Information
� The system services for NX701 Controllers are executed in parallel with other processes. They are not displayed in the Task Execution Time Monitor because they do not affect the task execution time.
� You can calculate the estimated values for the task execution time of an NY-series Controller on paper. Refer to the NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on the calculation method.
Calibrate for Execution Time Estimates
To calculate estimated program execution times, calibration is performed for the relative performance of the physical Controller and the CPU of the computer. To increase the accuracy of execution time estimation, perform this procedure at least once after you install the Sysmac Studio and once after each automatic update.
Additional Information
Perform the following operations before you calibrate for execution time estimation. � Except for this utility, exit all applications that are running on the computer, including the Sys-
mac Studio. This utility will continue operation even if you close the Sysmac Studio. � If you are using a notebook computer, set the power supply to remain ON continuously.
Procedure
1 Select Calibration from the Simulation Menu.
The calibration tool for execution time estimation is started.
2 Follow the instructions in the dialog box and click the Execute Button.
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7-3-1 Debugging with Program Simulation
Calibration is started. Approximately 10 minutes is required to complete calibration.
Displaying Estimated Task Execution Times
To run the Simulator in Execution Time Estimation Mode, set the following configurations so that they agree with the actual configurations and create the programs to execute. � EtherCAT axes and slave configuration � CPU Unit and Unit configuration
Additional Information Exit all applications that are running on the computer except for the Sysmac Studio. Other applications may affect the accuracy of estimates.
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Procedure
1 Select Run in Execution Time Estimation Mode from the Simulation Menu.
The Simulation Pane is displayed and simulation is started in the Execute Time Estimation Mode.
The Execution Time Estimation Mode is displayed.
If the Unit has a hardware revision, a dialog box is displayed to select the hardware revision. Select the hardware revision of the CPU Unit you will use.
2 Double-click Task Settings under Configurations and Setup in the Multiview Explorer.
The Task Settings Tab Page is displayed in the Edit Pane.
3 Click the Task Execution Time Monitor Button ( ).
The Task Execution Time Monitor is displayed.
The Task Execution Time Monitor contains the following items.
Item Task Execution Time
Real Processing Times of Tasks System service execution ratio*1 Tag data link service execution ratio*1, *2
Description
� Average and Maximum: The estimated, average and maximum execution times for each task are displayed from when execution of the primary periodic task was started.
� Set Period: The task period that is set in the Task Setup is displayed.
� Task Execution Count: The number of times the task is executed is displayed.
The I/O refreshing time, system common processing times, user program execution time, motion control processing time, and the total of all those times are displayed.
The system service execution time ratio that is set in the System Service Monitoring Settings of the Controller Setup is displayed.
The predicted value of the percentage of the tag data link execution time in the task execution time is displayed.
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Item
Description
Estimated CPU usage rate*1
The percentage of the total of the following times in the task period is displayed.
� Estimated maximum value of the task processing time
� Required system service processing time (for system service monitoring)
� Tag data link service execution time
If 100% is exceeded for the total of these values, it means that there is not sufficient time for the task processing time, the system service monitoring settings, and the tag data link service execution time.
Resetting Execution Times
Click the Reset Button. The average and maximum task execution times and the real processing times of the tasks are initialized and estimated again.
Expanded number of I/O points for CJ- Enter the total number of input and output words for CJ-series
series Unit*1
Units.
Built-in EtherNet/IP*1, *2
Set the parameters for calculating the predicted value of the tag data link execution time.
*1 This is displayed only for an NJ-series Controller.
*2 A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use this function.
4 If you are using a CJ-series Unit with an NJ-series Controller, click the Expanded number of I/O points for CJ-series Unit Button.
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The Expanded Number of I/O Points for CJ-series Unit Dialog Box is displayed.
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5 Create the user-defined variables for the specified CJ-series Special Units, enter the total size of the expansion area for AT specifications (e.g., fixed I/O allocations for DeviceNet Units), and the click the OK Button.
The size of the expansion areas is used to calculate the I/O refresh time for the specific CJseries Special Units.
6 If you are using tag data links, click the Built-in EtherNet/IP Button.
The Tag Data Link Settings Dialog Box is displayed.
Edit the parameters for the tag data links, and then click the OK Button. The parameters that you set are used to calculate the tag data link service execution time. If you are using a CJseries EtherNet/IP Unit, click the Expanded number of I/O points for CJ-series Unit Button and make the settings for the tag data links. Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for information on the parameters.
7 Make sure that the task execution times do not exceed the task execution processing times (i.e., the task periods).
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Estimating the Task Execution Time of the Priority-5 Periodic Task of an NX701 Controller
To estimate the task execution time for the priority-5 periodic task of an NX701 Controller, use the transmission delay times of the EtherCAT master that are displayed on the Sysmac Studio. For information on how to calculate the estimated task execution times on paper, refer to the NJ/NXseries CPU Unit Software User's Manual (Cat. No. W501). This section describes how to display the transmission delay times of the EtherCAT master.
1 Right-click the master or a slave and select Calculate Transmission Delay Time of the Master in the EtherCAT Tab Page.
2 The transmission delay times of PDO communications cycle 1 and PDO communications cycle 2 are displayed in the Output Tab Page. 7
Additional Information You cannot select this menu command if there is an error in the EtherCAT configurations and setup.
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Changing the Simulation Speed
Changing the Simulation Speed
When debugging, you may want to run the Simulator at a slower speed than normal. To do this, drag the Simulation Speed Slider in the Simulation Pane. You can 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.
Procedure
1 Drag the Simulation Speed Slider in the Simulation Pane.
The simulation speed on the computer will change between 0.1x and 1x.
Setting Breakpoints
Setting Breakpoints
You can set breakpoints to stop execution of a simulation, e.g., to see the status after a specific program is executed.
Procedure
There are three ways to set breakpoints. � Right-click an element in a ladder diagram rung or a specific line of ST code, and select Break-
points - Set/Clear Breakpoint. A breakpoint is added at the specified position in the program. � Select a ladder diagram element or line of ST code and select Simulation - Set/Clear Break-
point from the Main Menu. � Select a ladder diagram element or line of ST code and click the Set/Clear Breakpoint Button in
the Simulation Pane.
Use the following procedure to set a breakpoint in the ST Editor.
1 Click the Run Button in the Simulation Pane. 2 Place your cursor on the line number of the line where you want to set a breakpoint in the ST
Editor.
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3 Select Set/Clear Breakpoint from the Simulation Menu.
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7-3 Offline Debugging
7-3-1 Debugging with Program Simulation
A breakpoint is set on the line designated by the cursor in the ST Editor, as shown below. The program stops at the breakpoints you set.
Enabling/Disabling Breakpoints
You can disable breakpoints while maintaining their set positions and enable them back again.
The program continues to run without stopping even if it reaches disabled breakpoints during simula-
tion.
You can enable or disable breakpoints in the Ladder Editor or ST Editor.
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Procedure to Enable or Disable a Breakpoint
1 Right-click an element in a ladder diagram rung or a specific line of ST code where a breakpoint is set, and select Breakpoints - Enable/Disable Breakpoint from the pop-up menu.
The breakpoint is disabled and the breakpoint icon changes to the disabled status.
Icon Breakpoint
Enabled
Disabled
Conditional breakpoint
To enable the breakpoint again, select Enable/Disable Breakpoint from the pop-up menu again.
Additional Information You can also use the following method to enable or disable breakpoints. � Select Enable/Disable Breakpoint from the Simulation Menu. � Press the Ctrl + F9 Keys.
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Step Execution
Step Execution
You can execute a program one line at a time in the ST Editor or one instruction at a time in a ladder diagram.
1 When offline or when you execute a program through the Simulator, click the Step Execution Button in the Simulation Pane when the program is stopped or when it is paused at a breakpoint.
The cursor moves to the next execution step in the ST Editor.
2 Select Watch Tab Page from the View Menu. The Watch Tab Page is displayed so that you can check for changes in the value of variables. Additional Information The position where the program is paused is highlighted in yellow.
Continuous Step Execution
Use the following procedure to perform continuous step execution.
1 When offline or when you execute a program through the Simulator, click the Continuous Step Execution Button in the Simulation Pane when the program is stopped at a breakpoint, paused, or stopped during step execution.
The cursor moves to the next execution step in the ST Editor after a fixed period of time (1 second). The time required to move to the next step depends on the program.
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Pausing
Use the following procedure to pause simulations.
1 Click the Pause Button in the Simulation Pane when a simulation is in progress.
The cursor stops moving. Execution of the program is paused, but the Simulator does not close.
Step In Execution
Use the following procedure to perform step execution of source code inside a function or function block.
1 When you execute a program through the Simulator, click the Step In Button in the Simulation Pane when the program is at a function or function block instance when execution is stopped for a breakpoint, paused, or stopped during step execution.
Step Out Execution
Use the following procedure to leave a function or function block currently in Step In Execution.
1 Click the Step Out Button in the Simulation Pane when the simulation is stopped in a function
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block currently in step in execution.
One-period Execution
Use the following procedure to execute the current task for one period. This function pauses execution at the start of the program in the next period.
1 When offline or when you execute a program through the Simulator, click the Execute One Scan Button in the Simulation Pane when the program is stopped at a breakpoint, paused, or stopped during step execution.
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Setting Conditional Breakpoints
Conditional breakpoints allow you to set conditional expressions at breakpoints that are set in a program.
1 Click the Breakpoint Window Button in the Simulation Pane.
The Breakpoint Window is displayed with a list of the breakpoints that you have already set.
2 Select a breakpoint. Click the Set Conditional Breakpoint Button.
The following dialog box for editing is displayed.
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For this example, here we have entered a conditional expression of VarA = 13. (VarA is the variable name.)
3 In the Edit Condition Area, enter the condition for breaking, and then click the Add Button.
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4 Check to confirm that your conditional expression was added under List of Conditions, and then click the OK Button.
5 Click the Run Button in the Simulation Pane.
Execution pauses at the specified location when any of the specified breakpoint conditions are met.
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Batch Transfer of the Present Values of Variables
You can save the values of variables at specific times during simulations in a file, or you can write the values of variables that were saved in a file back to the Simulator. This allows you to write the initial values of variables, e.g., for test applications, before you start a simulation. The data that is gotten or written includes the retained and non-retained variables in the program for which the simulation is performed.
Getting the Present Values of Variables
1 Click the Pause Button in the Simulation Pane. Or, select Pause from the Simulation Menu. 2 Click the Transfer All Variable Present Values Button in the Simulation Pane. Or, select
Transfer All Variable Present Values from the Simulation Menu.
The Transfer All Variable Present Values Dialog Box is displayed.
3 Click the Read Button.
The Save As Dialog Box is displayed.
4 Enter a file name, and then click the Save Button.
A file is created that contains the values of the variables the instant that the Read Button was clicked.
5 Click the Close Button.
The Transfer All Variable Present Values Dialog Box is closed. Click the Run Button in the Simulation Pane. The simulation is started again.
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Writing the Present Values of Variables
1 To display the Transfer All Variable Present Values Dialog Box, perform the first two steps in the procedure to get the present variables.
2 Click the Write Button.
The Open File Dialog Box is displayed.
3 Select the file that contains the saved variable values, and then click the Open Button.
The values of the variables that were saved in the file are written. If you click the Run Button in the Simulation Pane, the simulation is restarted with the written variable values.
Precautions for Correct Use If any of the variables that are saved in the selected file are different from the variables in the program when the variable values are written, only the values of the variables that are in the program will be written.
Additional Information � You can use a text editor to edit the file that is saved. This allows you to delete unnecessary
variables so that you can write only specific variables. � In Sysmac Studio version 1.17 or higher, the following restrictions apply to mutual use of data
between the Backup Variables and Memory and Transfer All Variable Present Values functions. � Although the Backup Variables and Memory function supports the XML and CSV file for-
mats, the Transfer All Variable Present Values supports only the CSV file format.
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7-3-2 Offline Debugging of Sequence and Motion Control Programs
You can visualize the operation of sequence and motion control programs in a Data Trace Tab Page. You use a Data Trace Tab Page for offline debugging when connected to the Simulator. You can use any of the following three formats on the Data Trace Tab Page. � Time chart graph for each variable � Path graph for each axis � 3D machine operation on 3D graph
Precautions for Correct Use This function is not supported by the Sysmac Studio (64 bit). You cannot create a 3D equipment model.
Additional Information Sysmac Studio (64 bit) version 1.40 or higher support 3D Simulation which enables to check operations or motions of 3D equipment models and parts in 3D Visualizer. Refer to the Sysmac Studio 3D Simulation Function Operation Manual (Cat. No. W618) for details and the conditions of use on 3D Simulation.
Axis Settings for 3D Equipment Models
You must perform axis settings to link axis variables for motion control to a machine model of a 3D equipment model. The following is an example of how to set up four axes in a 3D equipment model.
1 Add the axes in the Motion Control Setup.
Right-click Axis Settings under Configurations and Setup - Motion Control Setup and select Add - Axis Settings from the menu.
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As shown below, a new axis called MC_Axis000 (0) is added.
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2 Perform the same steps three more times to add axes MC_Axis001 (1) to MC_Axis003 (3).
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3 Specify the axis settings.
Right-click Axis Settings and select Axis Setting Table from the menu. Enter the following settings for axes MC_Axis000 (0) to MC_Axis003 (3).
Item Axis Use Axis type Unit
Setting Used axis Virtual servo or servo axis mm
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Procedure
1 Add an axis to the Multiview Explorer and then set the parameters of the axis variable.
Refer to 5-7 Motion Control Setup on page 5-73 for the setting procedure.
2 Create a program to operate the equipment.
Refer to Section 4 Programming for the programming procedures.
3 Create the 3D equipment model with a data trace.
Refer to Creating 3D Equipment Models on page 7-72 for the procedure to create 3D equipment models.
4 Register the trigger setting and variables to trace for the data trace.
Refer to 7-2-11 Data Tracing on page 7-51 for the operating procedures for data tracing.
5 Execute a simulation.
Refer to Simulation Procedures on page 7-78 for the execution procedures.
6 Start tracing the data with the data trace to sample the data. 7 Check the trace results on the Data Trace Tab Page. 8 Click the Play Button on the Data Trace Tab Page.
The following move synchronously: the cursor on the trace graph, the 3D machine model, and the cursor in the 2D view. Refer to 3D Motion Monitor Display Mode on page 7-65 for the operating procedures for 3D motion monitoring.
7-3-3 Offline Debugging for Sequence Control and Vision Sensor 7
You can simulate the linked operation of sequence control and a Vision Sensor to debug them offline. Use the following procedure. 1. Add the Vision Sensor to the configuration of EtherCAT slaves. 2. Set up the Vision Sensor. 3. Use the control bits to enter a measurement trigger and confirm the results.
The actual procedure from adding the Vision Sensor to the configuration of EtherCAT slaves to checking the results is given below.
FQ-M-series Vision Sensors
1 Add an FQ-MS12x-ECT... Vision Sensor to the configuration of EtherCAT slaves.
Refer to 5-2 EtherCAT Configuration and Setup on page 5-4 for the procedure to register EtherCAT slaves.
7-3 Offline Debugging
7-3-3 Offline Debugging for Sequence Control and Vision Sensor
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2 Set up the Vision Sensor.
Double-click FQ-MS12x-ECT... that was added to the Multiview Explorer.
The Setup Tab Page for the FQ-MS12x-ECT... is displayed for the Edit Pane. Make all of the required setting.
Refer to the FQ-M-series Specialized Vision Sensor for Positioning User's Manual (Cat. No. Z314) for the setup procedures.
After you complete setting up the FQ-MS12x-ECT..., change to RUN Mode to perform offline debugging. Refer to the FQ-M-series Specialized Vision Sensor for Positioning User's Manual (Cat. No. Z314) for the setup procedures.
3 Start the monitor.
Right-click the FQ-MS12x... in the Multiview Explorer and select Start Monitoring from the menu.
4 After the monitor starts, specify the measurement image.
Click the Select Image File Icon, and select the image.
5 Select Run from the Simulation Menu.
The Simulator starts.
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6 Manipulate the control bits in the sequence controls to execute measurements. The measurement results are displayed in the Monitoring Area.
7-3 Offline Debugging
7-3-3 Offline Debugging for Sequence Control and Vision Sensor
Refer to the FQ-M-series Specialized Vision Sensor for Positioning User's Manual (Cat. No. Z314) for the items that you can execute during offline debugging.
FH-series Vision Sensors
1 Add an FH-XXXX Vision Sensor to the configuration of EtherCAT slaves.
� Drag a FH-XXXX from the Toolbox to the EtherCAT Tab Page.
7
� Select the master on the EtherCAT Tab Page, and then double-click FH-XXXX in the Toolbox.
Refer to 5-2 EtherCAT Configuration and Setup on page 5-4 for details on the procedure to register EtherCAT slaves.
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2 Set up the Vision Sensor.
Double-click Scene data or System data under NodeX:FH-XXXX - Line X in the Multiview Explorer.
The Setup Tab Page for the scene or system data is displayed in the Edit Pane. Make all of the required settings. Refer to the Vision System FH Series Operation Manual for Sysmac Studio (Cat. No. Z343).
3 Write the program to operate the device and build the program.
Refer to Section 4 Programming for the programming procedures.
4 Open the Monitor Window.
Right-click Line X under FH-XXXX in the Multiview Explorer and select Monitor window from the menu.
5 Specify the measurement image.
Click the Select Image File Icon, and select the image.
6 Select Run from the Simulation Menu.
The Simulator starts.
When the Simulator is connected, it creates an internal EtherCAT connection between the NJ/NX/NY-series Controller and FH-series Sensor Controller and the NJ/NX/NY-series Controller enters an Operational state. Refer to 7-3-1 Debugging with Program Simulation on page 7-78 for the procedures to use the Simulator.
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7 Manipulate the control bits in the sequence controls to execute measurements. The measurement results are displayed in the Monitor Window.
7-3 Offline Debugging
7-3-3 Offline Debugging for Sequence Control and Vision Sensor
Precautions for Correct Use
You can execute simulations of sensor control programs only for the Vision Sensor that you are
currently editing. You cannot perform simulations for more than one FH Vision Sensor at the
same time.
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Additional Information
If Run Mode in the Response Area (Status Flag: Run Mode) is OFF when you execute a simulation, open the Monitor Window. Run Mode will turn ON when you open the Monitor Window.
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7-3-4 Offline Debugging for Sequence Control and Displacement Sensor
You can simulate the linked operation of sequence control and a Displacement Sensor to debug them offline. Use the following procedure. (1) Add the Displacement Sensor to the configuration of EtherCAT slaves. (2) Set up the Displacement Sensor. (3) Input the control flags as necessary and check the measurement results. The actual procedure from adding the Displacement Sensor to the configuration of EtherCAT slaves to checking the results is given below.
1 Add an ZW-CE1x Displacement Sensor to the configuration of EtherCAT slaves.
Refer to 5-2 EtherCAT Configuration and Setup on page 5-4 for the procedure to register EtherCAT slaves.
2 Set up the Displacement Sensor.
Double-click the ZW-CE1x that you added to the EtherCAT Tab Page. The Setup Tab Page for the ZW-CE1x is displayed in the Edit Pane. Make all of the required setting. Refer to the ZW-series Confocal Fiber Type Displacement Sensor User's Manual (Cat. No. Z332) for the setup procedures.
3 Set up the simulation data.
When you execute the simulation, specify the file in which to store the measurement values that are output by the ZW Displacement Sensor. Refer to the ZW-series Displacement Sensor User's Manual (Cat. No. Z332) for the setup procedures. If the file is not specified, "0 mm" is output as the task measurement values during simulation.
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The following format must be used. File format: CSV Data format: As shown below (Data for up to 120,000 indices can be read.)
Index,
Task1
Task2,
Task3,
0,
0.12345,
0.213,
0,
1,
0.12345,
0.213,
0,
2,
0.12345,
0.213,
0,
3,
0.12345,
0.213,
0,
119999,
0.12345,
0.213,
0,
Task4 0, 0, 0, 0, 0,
The data for one index is output to the file for each simulation cycle. When all of the data has been output, the data is output again from the beginning.
4 Select Run from the Simulation Menu.
The Simulator starts.
5 Check the I/O Map.
Double-click I/O Map on the Multiview Explorer. The I/O Map is displayed in the Edit Pane. The simulation data is updated on the display. Check to see if the program operates as intended.
Additional Information
7
This simulation can be used to check the behaviour of ZW control signals. Measurement processing for the control signals is not simulated. (This includes zero reset processing for the zero reset signal and hold processing for timing signals.)
7-3 Offline Debugging
7-3-4 Offline Debugging for Sequence Control and Displacement Sensor
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7-3-5 Offline Debugging with Sequence Control and NA-series PT Simulator (Simultaneous Simulation of Controller with NA-series PT)
You can simulate the linked operation of sequence controls and an NA-series PT to perform offline debugging for the sequence program and NA-series PT application at the same time. Select an NA-series PT in the same project and perform the following procedure.
1 Select Run with NA Simulator from the Simulation Menu.
A dialog box to select the NA-series PT is displayed.
2 Select the NA-series PT for which to perform the simulation and click the OK Button.
The simulators for the Controller and NA-series PT will start.
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The Simulation Pane has a button that is used dedicatedly for simultaneous simulation of the Controller with an NA-series PT. Refer to Dedicated Window for Simultaneous Simulation with NA-series PT on page 7-109 for information on this pane. Refer to the NA-series Programmable Terminal Software User's Manual (Cat. No. V118) for the features of an NA-series PT that you can use in simultaneous simulation with the NA-series PT Simulator.
3 To stop simultaneous simulation with the NA-series PT Simulator, click the Stop Button in the Simulation Pane. The NA-series PT Simulator is ended and simultaneous simulation with the NA-series PT Simulator is ended. To execute simultaneous simulation with the NA-series PT Simulator again, select Run with NA Simulator from the Simulation Menu.
Dedicated Window for Simultaneous Simulation with NA-series PT
When you perform simultaneous simulation with an NA-series PT, the following dedicated window is displayed. In this window, you can perform offline debugging for the Controller and an NA-series PT at the same time.
(a)
(b)
(c)
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Item
Description
(a) Enable/Disable All Controller Breakpoints Button
Use this button to enable or disable all breakpoints that are set for the Controller at once.
Enable/Disable All HMI Breakpoints Use this button to enable or disable all breakpoints that are set for
Button
the NA-series PT at once.
NA Integrated Simulation Breakpoint Window Button
Use this button to display the dedicated breakpoint window for simultaneous simulation with an NA-series PT. Refer to NA Integrated Simulation Breakpoint Window on page 7-110 for details.
(b) Simulation buttons for Controllers
These buttons are the same as those in the Simulation Pane for Controllers. Refer to the descriptions of the simulation buttons in Simulation Procedures on page 7-78.
(c) Simulation buttons for NA-series PTs
These buttons are the same as those in the Simulation Pane NAseries PTs. Refer to the NA-series Programmable Terminal Software User's Manual (Cat. No. V118) for details.
7-3 Offline Debugging
7-3-5 Offline Debugging with Sequence Control and NA-series PT Simulator (Simultaneous Simulation of Controller with NA-series PT)
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NA Integrated Simulation Breakpoint Window
When you perform simultaneous simulation with an NA-series PT, the following dedicated breakpoint window is displayed. In this window, you can display the breakpoints for the Controller and an NA-series PT at the same time to perform condition setting.
(a)(b)(c) (d) (e)(f)
Button name (a) Set Conditional Breakpoint
(b) Clear Breakpoint (c) Delete All Breakpoints
(d) Jump to Source Code
(e) Enable/Disable All Controller Breakpoints
(f) Enable/Disable All HMI Breakpoints
Description
The Set Conditional Breakpoint Dialog Box is displayed. Refer to Setting Conditional Breakpoints on page 7-94 for the condition setting procedure.
Use this button to clear the selected breakpoint.
Use this button to delete all breakpoints for the Controller or NAseries PT.
Use this button to display the location in the Editor where the selected breakpoint is set.
Use this button to enable or disable all breakpoints that are set for the Controller at once.
Use this button to enable or disable all breakpoints that are set for the NA-series PT at once.
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7-3-6 Integrated NS-series PT Simulation for Offline Debugging of Sequence Control and NS-series PTs
You can simulate the linked operation of a sequence program and an NS-series Programmable Terminal to debug the sequence program and screen data offline. This is done by using the screen data that was created for the NS-series PT with the CX-Designer Support Software with the following procedure. Refer to the CX-Designer User's Manual (Cat. No. V099) for the procedures to create screen data for the NS-series PT.
1 Select Start NS Integrated Simulation from the Simulation Menu.
If the CX-Designer is not running, the Start NS Integrated Simulation Dialog Box is displayed.
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2 Click the Browse Button series PT simulation.
and select the CX-Designer project file to use in the integrated NS-
Then select the host name that was set in the CX-Designer Communications Setup Dialog Box from the Host Name Box. Refer to the CX-Designer User's Manual (Cat. No. V099) for the procedures to create a CX-Designer project file and for information on setting host names.
7-3 Offline Debugging
7-3-6 Integrated NS-series PT Simulation for Offline Debugging of Sequence Control and NS-series PTs
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3 Click the Run Button.
The Simulator starts and the program that was built for the Simulator is downloaded. Then the CX-Designer is started and the Test Screen is displayed.
Refer to the CX-Designer User's Manual (Cat. No. V099) for information on the capabilities of integrated NS-series PT simulation.
4 To stop the integrated NS-series PT simulation, click the Stop Button in the Simulation Pane.
The integrated NS-series PT simulation stops. To restart the integrated NS-series PT simulation, click the Run Button in the Simulation Pane, or select Start NS Integrated Simulation from the Simulation Menu.
Precautions for Correct Use
The NJ-series Controller must be registered as the host type in the CX-Designer project file that is used for integrated NS-series PT simulation.
Additional Information
� If the CX-Designer is already running when the integrated NS-series PT simulation is started, the project that is currently open in the CX-Designer will be used in the integrated NS-series PT simulation.
Execution is not possible if the CX-Designer is already running in more than one window. Start the CX-Designer only for the project for which you will execute the integrated NS-series PT simulation.
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7-3-7 3D Simulation
Sysmac Studio (64 bit) version 1.40 or higher provides the 3D Simulation function for checking operations or motions of 3D equipment models and parts on 3D Visualizer. To use the Sysmac Studio 3D simulation, you need to additionally purchase a license of Sysmac Studio 3D Simulation Option. Refer to the Sysmac Studio 3D Simulation Function Operation Manual (Cat. No. W618) for details on the 3D simulation.
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7-3 Offline Debugging
7-3-7 3D Simulation
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7-4 Preparations for Online Debugging
Preparing for Online Debugging
The Sysmac Studio and NJ/NX/NY-series Controllers separate the variables that you use in the programs from the I/O information for external devices. Therefore, it is necessary to define the connection between variables and I/O information.
7-4-1 Assigning Variables and Real I/O
Assigning Variables and Real I/O
Defining the connection between logic and physical devices means to define the connection between the variables used in the programs and the actual I/O information of the physical devices. Specifically, this involves assigning global variables and I/O ports.
Procedure to Start Assigning Variables and Real I/O
1 Double-click I/O Map under Configurations and Setup on the Multiview Explorer.
Precautions for Correct Use To perform this operation, the Units in the actual configuration must already be registered under Controller Configurations and Setup - CPU/Expansion Racks.
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Procedure to Assign Variables and Real I/O
Use the following procedure to assign a variable in the Variable Column to the I/O device in the Port Column.
1 Click cell for the I/O device in the Variable Column. Or, move the cursor to the cell and press the F2 Key. This places you in Edit Mode and displays a list of the global variables.
7-4 Preparations for Online Debugging
7-4-1 Assigning Variables and Real I/O
2 Select a global variable from the list. (Click the global variable or move your cursor to the variable you want to select and press the Enter Key.) The specified variable is displayed as shown below.
You can also enter a variable directly. The list will be narrowed based on the text you enter so that you can more easily find the variable you need.
� To display I/O ports, you must register the Units in advance in CPU/Expansion Racks under Configurations and Setup in the Multiview Explorer. After registering a Unit, all I/O ports of that Unit are registered automatically.
� Click the icons in the Port Column ( , ) to expand or collapse the display of I/O port configura- 7
tion for the CPU Rack, Expansion Rack, or Unit.
� For variables to appear in the selection lists, you must first register them in the global variable table.
� You can also enter a variable directly from the I/O map to create a new global variable.
I/O Map Columns
The contents of the I/O Map columns are described below.
Column Position Port
Description R/W Data type
Meaning
Display information on the position of the Unit (for Rack or Unit lines only).
Displays the networks and Units that the I/O port belongs to in a nested hierarchy. If more than one variable is registered to the same port, a caution icon and tooltip are displayed.
Displays a description of the I/O port.
Displays the Read/Write attribute of the I/O port as shown below. Read only: R, Write only: W, Read/Write: RW
Displays the data type of the I/O port. The basic data types and arrays of the basic data types are displayed.
Editable No No
No No No
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Column Variable
Variable comment Variable type
Meaning
Editable
� You can enter a variable directly into the Variable cell to Yes assign that variable to the port.
� If the variable you enter is already assigned to another port, or if that variable is already defined under a different data type, an error icon and tooltip are displayed.
� The variable assigned to the I/O port is displayed here. If no variable is assigned to the I/O port, this cell is blank.
� Select Mapping List from the popup menu to display all variables assigned to the selected port.
� Displays comments for the variable. You can edit the com- Yes ments.
� If there is text in the Variable cell, you can edit the comment cell.
� Displays the variable table that the device variable
Yes
belongs to. You can edit the table. Select one of the follow-
ing variable tables from the box. Global variables and reg-
istered programs, functions, and function blocks
� If a variable is assigned to the I/O port, the variable table that the variable belongs to is displayed. If no variable is assigned to the I/O port, this cell is initially blank. If it is blank, the global variable table is selected.
7-4-2 Assigning Axis Variables and I/O Devices
Assigning Axis Variables and I/O Devices
You can define Axis Variables that are used in the program and the I/O devices that actually operate the device.
Assign Axis Variables to Drives mounted as EtherCAT slaves and NX-series Position Interface Units.
Procedure to Assign Axis Variables and I/O Devices
As an example, the procedure to assign EtherCAT slaves to the Axis Variables that are registered in the Multiview Explorer is given below.
1 Double-click the Axis Variable under Configurations and Setup - Motion Control Setup Axis Settings in the Multiview Explorer. Or, right-click the Axis Variable and select Edit from the menu.
2 The Basic Axis Settings ( ) are displayed. Enter the axis number, axis use, axis type, and feedback information. You can select from the lists. Select the EtherCAT slave to assign from the list in the Input device Text Box.
The specified variable is displayed as shown below.
� You must register the axis to use for the axis variable in advance under Configurations and Setup - Motion Control Setup - Axis Settings in the Multiview Explorer. When you register an axis, the variable for that axis is automatically registered as well.
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� For the EtherCAT slave to appear in the list in the Input device Text Box, an EtherCAT slave Axis Function Unit must be registered in advance under Configurations and Setup - EtherCAT in the Multiview Explorer. After registering an Axis Function Unit, the EtherCAT slave of that Unit is registered automatically.
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7-4 Preparations for Online Debugging
7-4-2 Assigning Axis Variables and I/O Devices
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7-5 Performing Online Debugging
You can check and adjust the operation of programs you develop by establishing an online connection between the Sysmac Studio and your NJ/NX/NY-series Controller, then changing variables to TRUE or FALSE, changing present values, and performing other debugging tasks. This involves the following operations. � Transferring data to/from the Controller � Testing axis operation � Checking I/O wiring � Checking I/O assignments � Resetting the Controller � Restarting Units
WARNING
Check the user program for proper execution before you use it for actual operation.
If you use EtherCAT slaves, check the specifications of those slaves in manuals or other documentation and confirm that the system will not be adversely affected before you transfer parameters.
Caution
Sufficiently confirm safety at the connected slave or Unit before you change the value of an I/O port or device variable. Not doing so may result in injury.
Always confirm safety at the destination node before you transfer parameters or data from the Sysmac Studio to another node. Not doing so may result in injury.
Precautions for Safe Use
� Unexpected operation may result if you transfer inappropriate network configuration settings. Even if appropriate network configuration settings are set, confirm that the controlled system will not be adversely affected before you transfer the data.
� Always confirm the safety of the system before you change the operating mode of the Controller.
� Always confirm safety at the destination node before you transfer parameters or data from the Sysmac Studio to another node on the network configuration. Not doing so may result in injury.
� Before you restart operation, make sure that the required data, including device variables, the user program, and parameters, is transferred to a CPU Unit, Special I/O Unit, CPU Bus Unit, or externally connected device that was replaced.
� After you transfer the user program, the CPU Unit is restarted and communications with the EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave specifications. The time that communications are cut off depends on the EtherCAT network configuration. If the EtherCAT network configuration contains only OMRON EtherCAT slaves, communications are cut off for a maximum of 45 seconds. Before you transfer the user program, confirm that the system will not be adversely affected.
� If you transfer only selected programs from the programs that did not match for the synchronization function, there is no way to check on the Sysmac Studio the integrity with the programs that you do not transfer. After you transfer the programs, confirm safety before you change the CPU Unit to RUN mode.
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7-5-1 Transferring/Comparing Data to/from the Controller
You can transfer the user program, system configuration, and variable information to the Controller, or transfer data from the Controller to the Sysmac Studio to have the same data in the Sysmac Studio and the Controller.
Synchronizing (Uploading/Downloading after Automatic Verification)
Synchronizing
"Synchronize" means to automatically compare the data for the Sysmac Studio on the computer with the data in the NJ/NX/NY-series Controller and transfer the data in the direction that is specified by the user. Use the following procedure. � Download: Select Synchronization from the Controller Menu, and then click the Transfer To
Controller Button. � Upload: Select Synchronization from the Controller Menu, and then click the Transfer From
Controller Button.
Precautions for Correct Use
Do not perform any other operations on the Sysmac Studio while the Synchronization Window is active. An error occurs and synchronization may be impossible.
Additional Information
� As shown above, the Synchronization Menu Command is used to both upload and download
data on the Sysmac Studio. The following terms are used in the NJ/NX/NY-series Controller manuals:
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� Transferring data from the Sysmac Studio to the Controller: Download
� Transferring data from the Controller to the Sysmac Studio: Upload
� Information on synchronization is updated in the project file when synchronization is performed. After you perform synchronization, save the project file before you close it. If you do not save the project file, a message that says that the program execution IDs are different and that all data will be transferred is displayed the next time you perform synchronization.
Automatic Verification Procedure
1 Physically connect the computer to the Controller and then select Online from the Controller Menu. (Or click the Button.)
The Sysmac Studio goes online with the Controller.
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2 Select Synchronization from the Controller Menu. (Or, click the Button on the toolbar.)
The Synchronization Window is displayed and verification of the user program and parameter settings between the Sysmac Studio and the Controller is started. You can press the Cancel Button to cancel the operation.
Additional Information If you change comments or undo changes in a program, the verification results will show that the data is different even when the algorithm of the program is the same. At this time, you can execute a program algorithm check to see if the algorithm is the same. The program algorithm check is enabled or disabled in the option settings. If it is enabled, the program algorithm check is performed for any data with a different update date between the Controller and project. If there is a lot of data with different update dates, an execution confirmation dialog box is displayed. Time is sometimes required for the program algorithm check. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for details on the option settings. In the following cases, the results will always show that the data does not match for the program algorithm check. � The version of Sysmac Studio that was used to create the data is different between the Con-
troller and the project. � If a Differentiation Flag is added to and deleted from a program, but the order of the operations
is different between the Controller and the project.
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Verification Results
The verification results are displayed as shown below. When valid data is not present, - is displayed.
Sysmac Studio (computer) data
CPU Unit (Controller) data
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7-5-1 Transferring/Comparing Data to/from the Controller
Check boxes for data transfer
Transfer Buttons
Repeat Verification Button
Close Button
Verification Results Example
The verification results are displayed as shown in the following example.
Column Computer: Data Name
Item Project name on the Sysmac Studio
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Computer: Update Date
The last time that the project was built on the Sysmac Studio
Controller: Data Name
The project name on the NJ/NX/NY-series Controller
Controller: Update Date
The last time that the project on the NJ/NX/NY-series Controller was built
Compare
*
* If there are differences in the synchronized data, a following page for details.
Button is displayed in the Details Column. Refer to the
Verification Units
The units for comparison that are shown in the Synchronization Window are listed in the following table.
Synchronization data name
Controller name EtherCAT Master Settings EtherCAT Slave Settings Slaves
CPU/Expansion Racks*1 CPU Rack*1
Level
1 2 2 3
2 3
Qty
1 1 1 N
1 1
Detailed comparison None None None None
None None
Remarks
The settings of the selected slaves are transferred.
For an NJ-series Controller, transferred to memory used for CJ-series Units.
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Synchronization data name
NX Units*2 Units*3
Units*3 Expansion Racks*3
Units*3 Units*3
Controller Setup Operation Settings Built-in EtherNet/IP Port Settings Built-in I/O Settings*4 Option Board Settings*4 Memory Settings*2
Motion Control Setup Axis Settings Axes Group Settings
Cam Data Settings CamProfile
Event Settings Task Settings POUs
Programs Programs Variable table Section Programs Variable table Program Body
Functions Function Variable table LadderBody Function Variable table Program Body
Function Blocks FunctionBlock Variable table LadderBody FunctionBlock Variable table Program Body
Data Data Types
Level
4 4 5 3 4 5 2 3 3 3 3 3 2 3 3 2 3 2 2 2 3 4 5 5 4 5 5 3 4 5 5 4 5 5 3 4 5 5 4 5 5 2 3
Qty
N 1 N 1 1 N 1 1 1 1 1 1 1 1 1 1 N 1 1 1 1 N 1 N N 1 1 1 N 1 1 N 1 1 1 N 1 1 N 1 1 1 1
Detailed comparison None
None
None
None
None
None
None None None None
None
None
None None None None None None None None None None Available Available None Available Available None None Available Available None Available Available None None Available Available None Available Available None Available
Remarks
Ladder programs Ladder programs Ladder programs ST programs ST programs ST programs Ladder programs Ladder programs Ladder programs ST programs ST programs ST programs Ladder programs Ladder programs Ladder programs ST programs ST programs ST programs
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Synchronization data name
Global Variables
Libraries
The data from this level depends on the structure of the library. (The data that can be verified is the same as the data that is given above.)
Level
3 2
Qty
1 1
Detailed comparison
Available
None
*1 This is displayed only for an NJ-series Controller and NX102 or NX1P2 Controller. *2 This is displayed only for an NX102 or NX1P2 Controller. *3 This is displayed only for an NJ-series Controller. *4 This is displayed only for an NX1P2 Controller.
Remarks
Icons and Display Text Colors
The verification results are displayed with icons and display text colors.
Icon None
Text color
Status
Description
White
Synchronized
The Sysmac Studio data and NJ/NX/NY-series Controller data are the same.
Red
Difference
The Sysmac Studio data and NJ/NX/NY-series Controller data are not the same. The following cases are displayed as differences.
� When there is even one difference in the data for a verification item
� When the display order of synchronized data is not the same (If the display order is not the same, the data is displayed in the order on the Sysmac Studio.)
Green
Data missing
The data exists either only in the NJ/NX/NY-series Controller
or only on the Sysmac Studio.
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Gray
Build not completed
The project is not built or an error has occurred.
Non-synchronized This icon is displayed for parameters for CJ-series Special
data
Units and EtherCAT slaves.
Repeating Verification
Click the Recompare Button to repeat the verification.
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Uploading and Downloading Data
If there are any differences in the data, the following dialog box is displayed after automatic verification. Example for an NJ-series Controller
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Procedure
1 Select the items to check for synchronization. The transfer process depends on which of these items are selected. This is shown in the following table.
Synchronization Check Items
Item
Default
When transfer is enabled
Description
Clear the present values of variables with Retain attribute (Valid for Transfer to Controller).
Not selected.
Values written to Controller
If this check box is selected, the present values of Retain variables are cleared after the data is downloaded.
Do not transfer the program source (Valid for Transfer to Controller). All data will be re-transferred when this operation is charged. *1
Not selected.
Values written to Controller
If this check box is selected, programs are not displayed when they are uploaded from another computer. However, variables and settings are transferred even if this check box is selected.
Do not transfer the following. (All Selected. items are not transferred)
Transferred both If this check box is selected, the following param-
direction
eters and data are not transferred.
� NX Unit application data on the CPU Rack*2 and CJ-series Special Unit parameters*3 and EtherCAT slave backup parameters*4
� Unit operation settings and NX Unit application data on Slave Terminals.
� CJ-series Special Unit and EtherCAT slave*5, *6 parameters
� Unit operation settings and application data for NX Units
Do not transfer the EtherNet/IP Selected.
Transferred both If this check box is selected, the EtherNet/IP con-
connection settings (i.e., the tag
directions
nection settings are not transferred. For informa-
data link settings).
tion on EtherNet/IP connection settings, refer to
the NJ/NX-series CPU Unit Built-in EtherNet/IP
Port User's Manual (Cat. No. W506) or NY-series
Industrial Panel PC / Industrial Box PC Built-in
EtherNet/IP Port User's Manual (Cat. No. W563).
7
*1 When this check box is changed from Selected to Not selected without transferring the program source to
the Controller, all data is transferred.
*2 This is displayed only for an NX102 or NX1P2 Controller. *3 This is displayed only for an NJ-series Controller.
*4 Data is not transferred if the data in the Controller and on the Sysmac Studio are not the same.
*5 Parameters for ZW-series Displacement Sensors are not transferred regardless of whether this check box is selected or not. To transfer parameters for a Displacement Sensor, right-click the Displacement Sensor and select Online from the pop-up menu. A Synchronization Dialog Box is displayed. Click the Transfer from Sensor or Transfer to Sensor Button to transfer the parameters.
*6 Parameters for FQ-M-series Vision Sensors and FH-series Vision Sensors are not transferred regardless of whether this check box is selected or not. When the data is uploaded, the parameters for Vision Sensors in the project are initialized. Connect the computer and Vision Sensor via Ethernet to transfer the parameters for a Vision Sensor. Display the Online View from the Edit Menu of the Vision Sensor, and then click the Transfer from Sensor or Transfer to Sensor Button. For an FQ-M-series Vision Sensor, change to Setup Mode first.
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2 Select the items to transfer from the verification results in the Details Area of the Synchronization Window.
� If the data in the computer is correct � If the data in the Controller is correct
Click the Transfer To Controller Button (download). Click the Transfer From Controller Button (upload).
The Sysmac Studio data and Controller data will be the same after the transfer.
This is displayed if the synchronization process is completed successfully.
Precautions for Correct Use
� If the data does not match when the comparison is completed, the only action that is possible is to write the data that is required to make the data from the Sysmac Studio match that on the NJ/NX/NY-series Controller. If any other write functions are executed at this time, an execution error occurs (you cannot change present values). To continue, you must first clear this state. To do so, select Release Access Right from the Controller Menu.
� If a program algorithm check was performed, the check boxes for the programs for which the algorithm check was performed are selected to transfer the data regardless of the comparison results. Even if there are differences in rung comments, variable comments, or element comments, the comparison results will show a match. If you don't want to overwrite comments when the data is transferred, clear the selection of the check box of the program unit.
� If an error occurs during data transfer, the EtherNet/IP connection settings are not transferred. If an error occurs, transfer the EtherNet/IP connection settings from the Built-in EtherNet/IP Port Connection Settings Tab Page.
� If the following data are transferred to the Controller after they are added, deleted or changed, the retention operation for the present values of variables may be different depending on the unit version of the CPU Unit: members of a structure variable or union variable with the retain attribute, or elements of an array variable with the retain attribute. For details on the retention operation, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501-E1-16 or later) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
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Additional Information � If the following are the same, the program POUs can be transferred individually.
� Data types � Global variables � All function block POUs � All function POUs � All libraries
Closing the Synchronization Window
Click the Close Button to close the Synchronization Window.
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Verification Details
You can perform detailed verifications for POUs (i.e., ST and ladder programs, functions, and func-
tion blocks). Click the button in the Compare Column (
) in the Synchronization Window.
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The Verify Details Pane is displayed.
Displays differences in the next program.
Program in Sysmac Studio
Program in Controller
Click this button to return to the Synchronization Window.
The differences in the program on the Sysmac Studio are displayed with the following background colors.
Background color No change Red
Green Blue
Meaning The rung or line is the same on the Sysmac Studio and the Controller. The rung or line exists on both the Sysmac Studio and the Controller, but there are differences. The rung or line exists only on the Sysmac Studio. The rung or line exists only in the Controller.
Additional Information If there are no differences, Identical is displayed in a message dialog box.
Device Output Holding during Transfer
CPU Units with unit version 1.13 or later, when combined with Sysmac Studio version 1.17 or higher, can hold device output when transferring data from the computer to a Controller under specific settings and conditions. Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details on the settings and conditions for holding device output.
Precautions for Correct Use
Confirm that the system will not be adversely affected before you transfer the parameters.
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Additional Information
If the data being transferred from the computer to the Controller contains any setting that prevents the CPU Unit from holding device output, a confirmation message is displayed. To enable the CPU Unit to hold device output in this case, cancel the transfer, change the setting that prevents the CPU Unit from holding device output back to the previous setting, and execute the transfer again.
If the confirmation message still appears, use the following procedure to create the project data again before you execute the transfer.
(1) Export the current project. Refer to 3-3-7 Exporting a Project File on page 3-19 for the export procedure.
(2) Leaving the current project intact, launch another copy of the Sysmac Studio, connect it to the Controller, and transfer data from the Controller to the computer. Go offline after the data is transferred. Refer to 6-2-8 Going Online without a Project on page 6-8 for the procedure. A new project is now created. In the next step and later, you will perform operations on the new project.
(3) Apply the changes that you made under POUs and Data in the Multiview Explorer to the project created in step (2). Perform offline comparison with the project created in step (2) and the file that you exported in step (1) and use the merge function to apply the changes that you made under POUs and Data to the project created in step (2). Refer to 4-9 Offline Comparison on page 4-153 for the offline comparison and merging procedures.
(4) Apply the changes that you made under items other than POUs and Data to the project that you created in step (2). Compare the current project with the project created in step (2) on the display and, for setting items in the current project to which changes do not prevent the CPU Unit from holding device output, apply the changes to the project created in step (2).
(5) From the project created in step (2), go online and transfer the data to the Controller.
Continuing Safety Process Data Communications during Transfer
7
If you are using an NX-series Safety Control Unit, if certain conditions are met, safety process data communications will be continued during data transfer from the computer to a Controller.
Safety process data communications between an NX-series Safety Control Unit and an EtherCAT master or NX bus master
In the combination of CPU Units with unit version 1.13 or later and Sysmac Studio version 1.17 or higher, when all of the following conditions are met
� The synchronization check item Do not transfer the following. (All items are not transferred.) is selected.
� Only the following items have been changed since the previous synchronization.
EtherCAT CPU/Expansion Racks I/O Map Event Settings Task Settings POUs
Data
Item Backup Parameter Settings of EtherCAT slaves Special Unit Settings of CJ-series Units
Program Assignment Settings Programs Functions Function Blocks Data Types Global Variables
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Item Libraries EtherNet/IP Connection Settings Built-in EtherNet/IP Port Settings DB Connection Settings If you change an item other than the above to cause a mismatch, the CPU Unit cannot continue safety process data communications when transferring data from the computer to the Controller.
Additional Information
If the data being transferred from the computer to the Controller contains any setting that prevents safety process data communications, a confirmation message is displayed. To continue safety process data communications in this case, cancel the transfer, change the setting that prevents continuing safety process data communications back to the previous setting, and execute the transfer again.
If the confirmation message still appears, use the following procedure to create the project data again before you execute the transfer. (1) Export the current project. Refer to 3-3-7 Exporting a Project File on page 3-19 for the
export procedure. (2) Leaving the current project intact, launch another copy of the Sysmac Studio, connect it to
the Controller, and transfer data from the Controller to the computer. Go offline after the data is transferred. Refer to 6-2-8 Going Online without a Project on page 6-8 for the procedure. A new project is now created. In the next step and later, you will perform operations on the new project. (3) Apply the changes that you made under POUs and Data in the Multiview Explorer to the project created in step (2). Perform offline comparison with the project created in step (2) and the file that you exported in step (1) and use the merge function to apply the changes that you made under POUs and Data to the project created in step (2). Refer to 4-9 Offline Comparison on page 4-153 for the offline comparison and merging procedures. (4) Apply the changes that you made under items other than POUs and Data to the project that you created in step (2). Compare the current project with the project created in step (2) on the display and, for setting items in the current project to which changes do not prevent the CPU Unit from continuing safety process data communications, apply the changes to the project created in step (2). (5) From the project created in step (2), go online and transfer the data to the Controller.
Safety process data communications between Safety Control Units through EtherNet/IP network
When the following condition is met during use of the NX102 CPU Unit or NX-CSG Communication Control Unit, in addition to the conditions specified in Safety process data communications between an NX-series Safety Control Unit and an EtherCAT master or NX bus master � The synchronization check item Do not transfer the EtherNet/IP connection settings (i.e., tag data
link settings) Check Box is selected. Or, if the Do not transfer the EtherNet/IP connection settings (i.e., tag data link settings) Check Box is not selected, the comparison results of the EtherNet/IP connection settings for each EtherNet/IP port match.
Additional Information
If a CPU Unit with more than one built-in EtherNet/IP port is used and you apply changes in the EtherNet/IP connection settings to the Controller, changes in the EtherNet/IP connection settings for all ports are transferred at the same time.
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Transfer Option for Comment and Programming Group Information
You can exclude the comments in programs, variable comments, and programming group information from the data that is transferred to the Controller. This option is set for each Controller that is registered in a project.
1 Go online, right-click the device icon in the Multiview Explorer, and select Property from the menu.
The Property Dialog Box is displayed.
2 Select the Do not transfer the comments and the programming group information to the controller Check Box in the Property Dialog Box that is displayed and click the OK Button.
3 Build the project.
You can transfer the data without the comments and the programming group information.
Precautions for Correct Use � The setting of this option cannot be changed in the synchronization option settings in the Syn-
chronization Window.
� This option is different from the option settings on the Tools menu in that it must be set for 7
each Controller in every project. � Even in the case any comment or programming group information is not transferred, use of
this option does not affect the operation of the Controller.
Additional Information � If you select the Do not transfer the comments and the programming group information to the
controller Check Box and transfer the data to the Controller, the comments, element comments, and programming group information will not be restored when you upload the data from the Controller. � You cannot set this transfer option for library projects. The Property menu command is grayed out. The transfer of comments in a library is controlled by the settings of this transfer option for the Controller in the project that accesses the library.
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Synchronizing, Transferring, and Comparing the EtherCAT Configuration
These functions allow you to synchronize data between the Sysmac Studio and an NJ/NX/NY-series Controller through various methods. You can transfer actual network configurations from the NJ/NX/NY-series Controller to the Sysmac Studio and transfer slave backup parameter settings between the Sysmac Studio and the NJ/NX/NY-series Controller.
Procedure to Display the Compare and Merge with Actual Network Configuration Dialog Box
1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit from the menu. The EtherCAT Tab Page is displayed in the Edit Pane.
2 Right-click the master in the EtherCAT Tab Page and select Compare and Merge with Actual Network Configuration. The actual network configuration is read and compared with the network configuration on the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Network Configuration Dialog Box.
3 If there are slaves for which the comparison results do not match, correct the network configuration on the Sysmac Studio or correct the actual network configuration until the comparison results for all slave match.
To correct the network configuration in the Sysmac Studio, you can drag slaves from the actual network configuration to the Sysmac Studio network configuration, or you can delete slaves from the Sysmac Studio network configuration. If you correct the actual network configuration, click the Close Button, return to the EtherCAT Tab Page and start the Compare and Merge with Actual Network Configuration Dialog Box again to confirm the comparison results again.
4 Click the Close Button.
The EtherCAT Tab Page is displayed.
Additional Information
You can right-click a Unit in the actual configuration in the Compare and Merge Window and select Apply actual network configuration to use the actual network configuration information as the configuration information in the project. If you use this menu command, all of the variable assignments for I/O ports and I/O allocation settings in the task settings in the project will be cleared.
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Additional Information
Matched, Deleted, Added, Moved, and Node/port not matched are displayed in the Comparison results Column to give the results of comparing the network configuration on the Sysmac Studio with the actual network configuration. The following items are compared.
� Node addresses
� Vendor IDs
� Product codes
� Revisions
� Connection ports
The results that are displayed in the Comparison results Column have the following meanings.
Matched: All of the comparison items match for the slave. Deleted: The slave exists only in the network configuration on the Sysmac Studio. Added: The slave exists only in the actual network configuration. Moved: The slave is connected in a different order. Node/port not matched: There is a difference in the connected Unit or connected port on the connected Unit for the slave.
Precautions for Correct Use
� Make sure that the communications cables between the master and slaves are connected correctly before you perform this operation. The Compare and Merge with Actual Network Configuration Dialog Box is not displayed if the connections are not correct. Refer to the NJ/NXseries CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562) for information on the correct connection methods.
� The Compare and Merge with Actual Network Configuration Dialog Box is not displayed if
there is a slave in the actual network configuration for which the node address is not set or if the same address is set for more than one slave in the actual network configuration. Make
7
sure that node addresses are set correctly for the slaves in the actual network configuration
before you perform this operation.
� When the compare and merge operation is performed, the synchronization between the Sysmac Studio and the Controller is lost. Synchronize the Sysmac Studio and Controller before you perform any online operations for the slaves. Refer to 7-5-1 Transferring/Comparing Data to/from the Controller on page 7-119 for information on the synchronization operation.
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1 Select the slave in the EtherCAT Tab Page. 2 Click the Edit Backup Parameter Settings Button in the Slave Parameter Settings Area on the
right of the EtherCAT configuration.
The Edit Backup Parameter Settings Tab Page for the selected slave is displayed.
3 Click the Compare Button.
The parameters in the Sysmac Studio are compared with the parameters from the slave. If any parameters are not the same, they are indicated with "" in the results.
4 Click the Transfer from Slave Button to transfer the backup parameter settings from the slave to the Sysmac Studio.
Click the Transfer to Slave Button to transfer the backup parameter settings from the Sysmac Studio to the slave.
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Synchronizing, Transferring, and Comparing the EtherCAT Slave Terminal Configuration
These functions allow you to synchronize data between the Sysmac Studio and an NJ/NX/NY-series Controller through various methods. You can transfer the actual Slave Terminal configuration from the NJ/NX/NY-series Controller to the Sysmac Studio and transfer NX Unit settings between the Sysmac Studio and the NJ/NX/NY-series Controller.
Procedure to Display the Compare and Merge with Actual Unit Configuration Dialog Box
1 Double-click the EtherCAT Coupler Unit under EtherCAT in the Multiview Explorer. Or, rightclick the EtherCAT Coupler Unit under EtherCAT and select Edit from the menu.
The Slave Terminal Tab Page is displayed in the Edit Pane.
2 Right-click in the Slave Terminal Tab Page and select Compare and Merge with Actual Unit Configuration. The actual Unit configuration is read and compared with the Unit configuration on the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Unit Configuration Dialog Box.
Additional Information
Matched, Removed, Added, Disabled, Compatible, and Not compatible are displayed in the
Result column to give the results of comparing the Unit configuration on the Sysmac Studio with
the actual Unit configuration.
The following items are compared. � Model numbers
7
� Unit versions
The results that are displayed in the Result Column have the following meanings.
Matched: All of the comparison items match for the Unit.
Removed: The Unit exists only in the Unit configuration on the Sysmac Studio.
Added: The Unit exists only in the actual Unit configuration.
Disabled: The Unit exists only in the Unit configuration on the Sysmac Studio and it is disabled.
Compatible: A replaceable Unit whose unit version in the actual Unit configuration is later than the unit version in the Unit configuration in the Sysmac Studio.
Not compatible: A non-replaceable Unit whose unit version in the actual Unit configuration is earlier than the unit version in the Unit configuration in the Sysmac Studio.
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Transferring and Synchronizing in the Compare and Merge with Actual Unit Configuration Dialog Box
You can insert Units in the actual Unit configuration into the configuration on the Sysmac Studio. You can also adjust the Unit configuration on the Sysmac Studio to match the actual Unit configuration.
1 Drag a Unit in the actual Unit configuration in the comparison results on the Compare and Merge with Actual Unit Configuration Dialog Box to the configuration on the Sysmac Studio. The selected Unit is inserted into the configuration on the Sysmac Studio.
2 To synchronize the entire Unit configuration, click the Apply Actual Unit Configuration Button.
The Unit configuration on the Sysmac Studio will be made the same as the actual Unit configuration.
3 Click the OK Button.
This returns you to the Unit Editor.
Precautions for Correct Use If the unit version of the Unit in the actual Unit configuration is not supported by the Sysmac Studio when you select the Apply Actual Unit Configuration Button, you can replace it with an earlier unit version. However, the Unit may not operate properly depending on the unit version. In such a case, you need to update the Sysmac Studio to have the same unit version for the Unit on the Sysmac Studio and the Unit in the actual Unit configuration.
Additional Information
If the Unit in the actual Unit configuration and the Unit in the configuration in the Sysmac Studio have the same model number, but different unit versions, you can apply the unit version in the actual Unit configuration to the Unit configuration in the Sysmac Studio. Right-click in the Compare and Merge with Actual Unit Configuration Dialog Box and select Apply Actual Unit Version from the menu.
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Transferring and Comparing Unit Operation Settings
For each Unit in the Slave Terminal configuration, you can compare the Unit settings with the settings in the actual Unit and you can transfer the settings.
1 Right-click a Unit on the Slave Terminal Tab Page and select Edit Unit Operation Settings.
The Unit Operation Settings Tab Page is displayed for the selected Unit.
2 Click the Compare Button.
The settings in the actual Unit are displayed in the Comparison Result column.
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3 To change the settings in the actual Unit to match those on the Sysmac Studio, click the Transfer to Unit Button. To change the settings on the Sysmac Studio to those in the actual Unit, click the Transfer from Unit Button. The settings are transferred and the comparison results will show that they are the same.
For details on the parameters and settings for each Unit, refer to the user's manual for the specific 7
Unit.
Precautions for Correct Use If you execute Transfer to Unit, the Unit is restarted after the data is transferred. At that time, I/O communications with the communications master will stop. What is restarted depends on the selected Unit and the unit version of the EtherCAT Coupler Unit. Refer to the NX-series EtherCAT Coupler Units User's Manual (Cat. No. W519) for details.
Additional Information
Instead of going online with the Controller, you can connect directly to the EtherCAT Coupler Unit with a USB cable to transfer and compare the Unit operation settings. Refer to A-7 Directly Connecting to an EtherCAT Slave Terminal on page A-52 for the procedure to connect directly to the EtherCAT Coupler Unit.
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Synchronizing, Transferring, and Comparing the CPU Rack Configuration of an NX102 or NX1P2 Controller
These functions allow you to synchronize data between the Sysmac Studio and the Controller through various methods. You can transfer the actual NX Unit configuration of the CPU Rack from the Controller to the Sysmac Studio and transfer NX Unit settings between the Sysmac Studio and the Controller.
Procedure to Display the Compare and Merge with Actual Unit Configuration Dialog Box
1 Double-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multiview Explorer. Or, right-click CPU Rack and select Edit from the menu. The CPU and Expansion Racks Tab Page is displayed in the Edit Pane.
2 Right-click in the CPU and Expansion Racks Tab Page and select Compare and Merge with Actual Unit Configuration. The actual Unit configuration is read and compared with the Unit configuration on the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Unit Configuration Dialog Box.
Additional Information
Matched, Removed, Added, Disabled, Compatible, and Not compatible are displayed in the Result column to give the results of comparing the Unit configuration on the Sysmac Studio with the actual Unit configuration. The following items are compared. � Model number � Unit version
The results that are displayed in the Result Column have the following meanings. Matched: All of the comparison items match for the Unit. Removed: The Unit exists only in the Unit configuration in the Sysmac Studio. Added: The Unit exists only in the actual Unit configuration. Disabled: The Unit exists only in the Unit configuration in the Sysmac Studio and it is disabled. Compatible: A replaceable unit whose unit version in the actual Unit configuration is later than the unit version in the Unit configuration on the Sysmac Studio. Not compatible: A non-replaceable Unit whose unit version in the actual Unit configuration is earlier than the unit version in the Unit configuration in the Sysmac Studio.
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Transferring and Synchronizing in the Compare and Merge with Actual Unit Configuration Dialog Box
You can insert Units in the actual Unit configuration into the configuration in the Sysmac Studio. You can also adjust the Unit configuration in the Sysmac Studio to match the actual Unit configuration.
1 In the Compare and Merge with Actual Unit Configuration Dialog Box, drag a Unit in the actual Unit configuration in the comparison results onto the configuration in the Sysmac Studio.
The Unit is inserted into the configuration in the Sysmac Studio.
2 To synchronize the entire Unit configuration, click the Apply Actual Unit Configuration Button.
The Unit configuration in the Sysmac Studio is now the same as the actual Unit configuration.
3 Click the OK Button.
This returns you to the Unit Editor.
Precautions for Correct Use
If the unit version of the Unit in the actual Unit configuration is not supported by the Sysmac Studio when you select the Apply Actual Unit Configuration Button, you can replace it with an earlier unit version.
However, the Unit may not operate properly depending on the unit version. In such a case, you need to update the Sysmac Studio to have the same unit version for the Unit on the Sysmac Studio and the Unit in the actual Unit configuration.
Additional Information
If the Unit in the actual Unit configuration and the Unit in the configuration in the Sysmac Studio
have the same model number, but different unit versions, you can apply the unit version in the
actual Unit configuration to the Unit configuration in the Sysmac Studio. Right-click in the Compare and Merge with Actual Unit Configuration Dialog Box and select Apply Actual Unit Ver-
7
sion from the menu.
Transferring and Comparing NX Unit Operation Settings
For each Unit on the CPU Rack, you can compare the Unit settings with the settings in the actual Unit and you can transfer the settings.
1 Right-click a Unit in the CPU and Expansion Racks Tab Page and select Edit Unit Operation Settings. The Unit Operation Settings Tab Page is displayed for the selected Unit.
2 Click the Compare Button.
The settings in the actual Unit are displayed in the Comparison Result column.
3 To change the settings in the actual Unit to match those on the Sysmac Studio, click the Transfer to Unit Button. To change the settings on the Sysmac Studio to those in the actual Unit, click the Transfer from Unit Button. The settings are transferred and the comparison results will show that they are the same.
For details on the parameters and settings for each Unit, refer to the user's manual for the specific Unit.
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Precautions for Correct Use If you execute Transfer to Unit, the Unit is restarted after the data is transferred. At that time, communications between the Unit and the CPU Unit will stop.
Comparing the Unit Operation Settings for All NX Units
You can compare the operation settings for all of the mounted NX Units with respect to the actual configuration and the configuration in the Sysmac Studio. To perform this comparison, it is required that the actual Unit configuration and the Unit configuration in the Sysmac Studio match.
1 Right-click a Unit in the CPU and Expansion Racks Tab Page and select Compare operation settings of all NX Units. The comparison results are displayed in a dialog box. If there are any Units whose Unit settings mismatch, the unit number and model of the Units are listed.
Additional Information Units for which the unit mounting setting is set to Disabled are not the target of comparison.
Synchronization, Transferring, and Comparing the CPU Rack and Expansion Rack Configuration of NJ-series Controllers
These functions allow you to synchronize data between the Sysmac Studio and an NJ-series Controller through various methods. You can transfer the actual unit configuration from the NJ-series Controller to the Sysmac Studio and transfer Special Unit settings between the Sysmac Studio and the NJ-series Controller.
Procedure to Display the Compare and Merge with Actual Unit Configuration Dialog Box
1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select Edit from the menu. The Unit Editor is displayed in the Edit Pane.
2 Right-click anywhere in the Unit Editor where there is no Unit and select Compare and Merge with Actual Unit Configuration. The actual Unit configuration is read and compared with the Unit configuration on the Sysmac Studio. The results are displayed in the Actual Unit Configuration Compare and Merge Window.
3 Click the Apply actual Unit configuration Button to synchronize with the actual configuration. 4 Click the OK Button. This returns you to the Unit Editor.
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Precautions for Correct Use
If you select to unify to the actual Unit configuration, all of the settings for any Units that are deleted as a result will be discarded (including the input response times, Special Unit settings, device variable assignments in the I/O map, and control task assignments in the Task setup). If the slot position of a Basic I/O Unit is different, first correct the Unit configuration on the Sysmac Studio so that the slot positions agree in the comparison and then specify unifying to the actual Unit configuration.
Additional Information
Matched, Unit removed, Unit added, Position changed, and Version not matched are displayed in the Result Column to give the results of comparing the Unit configuration on the Sysmac Studio with the actual Unit configuration. The following items are compared.
� Rack numbers
� Slot numbers
� Model numbers
� Unit versions of Special Units � Unit numbers of Special Units
The results that are displayed in the Result Column have the following meanings.
Matched: All of the comparison items match for the Unit.
Unit removed: The Unit exists only in the Unit configuration on the Sysmac Studio.
Unit added: The Unit exists only in the actual Unit configuration.
Position changed: A Unit has the same model number, Unit version, and unit number, but the rack number or slot number is different.
Version not matched: The unit version of the Unit does not match.
7
Procedure for Comparison and Transfer of the Special Unit Settings
1 Double-click a Unit in the Unit Editor, or right-click and select Edit Special Unit Settings.
The Edit Special Unit Settings Tab Page for the selected Unit is displayed.
2 Click the Compare Button.
The parameters in the Sysmac Studio are compared with the parameters from the NJ-series Controller. If any parameters are not the same, they are indicated by "" in the results.
3 To synchronize the Controller settings with the set values in the Sysmac Studio, click the Transfer To Controller Button. This transfers the set values from your computer to the Controller.
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7-5-2 Testing Axis Operation (MC Test Run)
You can send commands directly from the Controller without any ladder diagrams to operate a motor in order to check wiring or perform simple operation tests on any OMRON Servo Drive assigned to an axis.
Precautions for Safe Use
� Confirm the axis number carefully before you perform an MC Test Run. � An MC Test Run operation involves motor operation. Refer to the operation manual before you
execute an MC Test Run. Be particularly careful of the following points. � Confirm safety around all moving parts. � When you click the Run Button, the motor begins actual operation at the specified velocity.
Only begin motor operation if you are absolutely sure there is no danger if you start the motor. � Always have an external emergency stop device available. � Sometimes you may be unable to stop the motor from your computer. Install an external emergency stop device so that you can stop the motor immediately if needed. � Only operate the motor when you can clearly confirm the motor operation so that you can react quickly in the case of any danger that may arise due to operation of the motor. � Perform test run operations after establishing EtherCAT communications. � A communications error will occur if you attempt to begin operations without EtherCAT communications. Always establish EtherCAT communications first. � Precautions during MC Test Run Operation � During test run execution, only the Sysmac Studio has any control of the operation. Any commands from motion control instructions are ignored. � Make sure that you are operating the correct axis.
Precautions for Correct Use
� Before you start an MC Test Run, make sure that the operation parameters are set correctly. � If you transfer the axis parameters or slave parameters to the slave during an MC Test Run
from another copy of the Sysmac Studio, the MC Test Run will end when the transfer is completed and the axes will stop. This also applies if the parameters are transferred from the Sysmac Studio running on a different computer.
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How to Perform MC Test Run
To begin a test run, the following items must be registered or set, and then transferred to the Controller. (Refer to 5-7 Motion Control Setup on page 5-73 for detailed settings.)
� Registration of the axes � Registration of the slave (Servo) to use � Links between the axis and slave You cannot start an MC Test Run in the following condition. � When the Simulator is online � During an MC Test Run � During a Servo Drive Test Run Let's look at an example that performs jogging of MC_Axis000 to demonstrate how to do a test run.
1 Eliminate any building errors in the project.
If you will create a new project, delete the programs.
2 Go online. 3 Right-click MC_Axis000 under Configurations and Setup - Motion Control Setup - Axis
Settings on the Multiview Explorer and select Start MC Test Run from the menu.
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A warning message is displayed.
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7-5-2 Testing Axis Operation (MC Test Run)
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4 Check the items and then click the OK Button.
The MC Test Run Tab Page is displayed.
5 Select the target axis (MC_Axis000) at the upper left of the MC Test Run View. 6 Click the Servo ON Button.
The Servo turns ON and motor control is enabled.
7 Click the Jogging Tab, and then perform the following operations.
� Click and hold the Rotate CW Button ( the button.
). The motor rotates clockwise as long as you hold
� Click and hold the Rotate CCW Button ( ). The motor rotates counterclockwise as long as you hold the button.
8 Right-click MC_Axis000 under Configurations and Setup - Motion Control Setup - Axis Settings on the Multiview Explorer and select Stop MC Test Run from the menu.
Test Run Mode is left.
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7 Debugging
MC Test Run Tab Page Functions
The MC Test Run View is made up of the Status Monitor and Test Run sections.
Status Monitor Section
The status monitor displays axis status, motion errors and details on them, and corrections for any errors that have occurred. You can also reset motion control errors and start the Servo error monitor.
Function Status
Motion Error List Reset Errors
Description
Displays information about the status of an axis (ready to execute, axis disabled, stopped, in a discrete motion, in continuous motion, homing, decelerating to a stop, decelerating to a stop due to an error, home defined, and stopped at home).
Displays a list of errors that have occurred in the motion control functions. The Message Details Area gives details on the error and the Countermeasure and Remedy Area contains information about how to fix the error.
Resets all errors that have occurred in the motion control functions. Select an error from the list of errors that have occurred to display detailed information about that error in the Message Details Area. Possible solutions to that error can be found in the Countermeasure and Remedy Area.
Test Run Section
A test run allows you to operate a motor using the motion control patterns listed below without any programming. You can switch between each pattern by clicking on the different tabs in this section.
Pattern
Description
Jogging
Jogs the Servomotor. This operation is only performed while the button is clicked and held.
Absolute positioning
Performs positioning towards the target position at the specified acceleration/deceleration rate. Specify the target position as an absolute value.
7
If the rotary counter mode is used for an axis in the test run, you can select the direction of rotation for the axis.
Relative Positioning
Performs positioning towards the target position at the specified acceleration/deceleration rate. Specify the target position as a relative value from the actual position.
Homing
Performs homing based on the homing settings in the axis parameters.
You can use the following functions to switch between different motions for the axis in operation.
Function Stopping Button Servo ON/OFF Button Servo Drive Status
Contents Decelerates the axis in operation to a stop. Toggles the Servo ON and OFF. Displays connected Servo parameters.
7-5-2 Testing Axis Operation (MC Test Run)
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Precautions for Safe Use
� Confirm safety around all moving parts. When you click the Run Button, the motor begins actual operation at the specified speed. Only begin motor operation if you are absolutely sure that there is no danger if you start the motor.
� Always have an external emergency stop device available. Sometimes you may be unable to stop the motor from your computer. Install an external emergency stop device so that you can stop the motor immediately if needed.
� Operate the motor only when the motor is in plain sight for you to observe. Operate the motor only when you can clearly confirm the motor operation so that you can react quickly in the case of any danger that may arise due to operation of the motor.
� Perform test run operations after establishing EtherCAT communications. A communications error will occur if you attempt to begin operations without EtherCAT communications. Always establish EtherCAT communications first.
� Be aware of all the precautions that you need to take during operation. During test run execution, only the Sysmac Studio has any control of the operation. Any commands from motion control instructions are ignored.
� Make sure that you are operating the correct axis. Before you start any tests, make sure that the axis number of the axis that you are controlling is correct.
7-5-3 Checking I/O Wiring
Checking I/O Wiring
You can check I/O wiring to make sure that I/O devices, such as Units on the CPU Rack, EtherCAT slaves, and Units on the Slave Terminals, are connected properly with external devices.
Procedure to Check I/O Wiring
1 Go online and then double-click I/O Map under Configurations and Setup in the Multiview Explorer. Or, right-click I/O Map under Configurations and Setup and select Edit from the menu.
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2 In the I/O Map, perform operations such as Set/Reset, present value change, and forced refreshing on output devices. Refer to 7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing on page 7-23 for the procedures to execute Set/Reset, present value change, and forced refreshing in the I/O Map. The results of the operations that you performed are input to external devices. Make sure that the operation results are input correctly to the intended external device. If the results are not input correctly, review the wiring connection between the device and the external device.
3 Check the input results from external devices that are connected to input devices.
The values of the corresponding devices on the I/O Map are changed. Make sure that the value of the intended device is changed correctly. If the value is not changed correctly, review the wiring connection between the device and the external device. Refer to 7-2-1 Monitoring on page 7-4 for details on monitoring in the I/O Map.
7-5-4 Checking I/O Assignments
Checking I/O Assignments
You can use an I/O assignment check to check the assignments of external I/O devices and variables.
Procedure to Check I/O Assignments
1 Execute a wiring connection check between Units and external devices. 2 Open the Watch Tab Page while online.
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7-5 Performing Online Debugging
7-5-4 Checking I/O Assignments
3 In the Watch Tab Page, register the variables that are assigned to output devices. Refer to 7-21 Monitoring on page 7-4 for details on the procedure to register variables in the Watch Tab Page.
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4 Perform operations such as Set/Reset, present value change, and forced refreshing on variables that you registered in the Watch Tab Page. Refer to 7-2-3 Changing Present Values and Set/Reset Using Forced Refreshing on page 7-23 for the procedures to execute Set/Reset, present value change, and forced refreshing in the Watch Tab Page. The results of the operations that you performed are input to external devices. Make sure that the operation results are input correctly to the intended external device. If the results are not input correctly, review the variable assignments to the device.
5 In the Watch Tab Page, register the variables that are assigned to input devices. 6 Check the input results from external devices that are connected to input devices.
The values of variables that you registered in the Watch Tab Page are changed. Make sure that the variable values are changed correctly. If the values are not changed correctly, review the variable assignments to the device. Refer to 7-2-1 Monitoring on page 7-4 for details on monitoring in the Watch Tab Page.
7-5-5 Resetting the Controller
A Controller reset emulates the operations and status when the power supply to the Controller is cycled. This can be performed only in PROGRAM Mode. You cannot reset the Controller in RUN Mode. You also cannot reset the Controller when connected to the Simulator.
Procedure
1 Select Reset Controller from the Controller Menu.
A confirmation dialog box is displayed.
2 Confirm that no problem will occur even if you reset the Controller, and then click the Yes Button.
Precautions for Safe Use � Always confirm safety before you reset the Controller. � Always confirm the safety of the system before you reset Controller. � It takes up to approximately 10 to 20 s to enter RUN mode after the power is turned ON.
During that period, the outputs behave according to the slave and 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.
Additional Information After a reset is performed, the Sysmac Studio goes offline.
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7-5-6 Restarting Units
Use the following procedure to restart Units. If you change operation settings for an NX Unit or CJ-series Unit, it may be necessary to restart the Unit depending on the setting to which you made a change.
Restart an NX Unit
1 Right-click a Unit and select Restart NX Bus/NX Unit from the menu.
A restart confirmation dialog box is displayed.
2 Click the Yes Button.
The Unit is restarted.
Additional Information
� If NX Units are mounted on an NX102 or NX1P2 CPU Unit, right-clicking the CPU Unit and then selecting Restart NX Bus/NX Unit, all the NX Units mounted on the CPU Unit are restarted.
� Refer to 8-12-4 Maintenance Operations for EtherCAT Slave Terminals on page 8-64 for details on restarting NX Units on an EtherCAT Slave Terminal.
Restarting CJ-series Special Units
You can restart CJ-series Special Units by using the restart instruction in the user program. Some CJ-
series Special Units can be restarted from the Sysmac Studio.
1 Right-click a Unit and select Edit Special Unit Settings from the menu.
7
The Special Unit Settings Tab Page is displayed.
2 Click the Restart Button.
Additional Information
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details on using the restart instruction in the user program.
7-5 Performing Online Debugging
7-5-6 Restarting Units
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Other Functions
This section describes Sysmac Studio functions other than system design functions.
8-1 SD Memory Card Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 8-1-1 SD Memory Card Window Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8-2 Clock Information Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8-3 Security Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8 8-3-1 Operation Authority Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8 8-3-2 Authentication of User Program Execution IDs . . . . . . . . . . . . . . . . . . . . . . . 8-14 8-3-3 Write Protection of the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16 8-3-4 Data Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8-4 User Memory Usage Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8-5 Printing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8-5-1 Items You Can Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23 8-5-2 Print Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8
8-5-3 Printing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8-5-4 Print Preview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
8-6 Clearing Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29 8-6-1 Clearing All Memory of the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29 8-6-2 Clearing All Memory of NX Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-30 8-6-3 Clear All Memory Operation for the Units in a Slave Terminal . . . . . . . . . . . . 8-31
8-7 Releasing Access Rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
8-8 Displaying Unit Production Information . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33 8-8-1 Displaying CPU Unit Production Information . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8-8-2 Displaying EtherCAT Slave Production Information . . . . . . . . . . . . . . . . . . . . 8-35 8-8-3 Displaying Production Information for Configuration Units in EtherCAT Slave
Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8-9 Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36 8-9-1 Controller Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37 8-9-2 SD Memory Card Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40 8-9-3 Backing Up Variables and Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-42 8-9-4 Importing/Exporting Backup Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50
8-10 Transferring All Controller Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-53 8-10-1 Transferring Data from the Computer to a Controller . . . . . . . . . . . . . . . . . . 8-53 8-10-2 Transferring Data from the Controller to the Computer . . . . . . . . . . . . . . . . . 8-54
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8 Other Functions
8-11 NX Unit Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-55
8-12 EtherCAT Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-56 8-12-1 Disconnecting a Slave from and Reconnecting a Slave to the Network . . . . . 8-56 8-12-2 Packet Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-58 8-12-3 Diagnostic and Statistical Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-59 8-12-4 Maintenance Operations for EtherCAT Slave Terminals . . . . . . . . . . . . . . . . . 8-64
8-13 Grouping for POUs and Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . 8-66 8-13-1 Displaying the Programming Group Tab Page . . . . . . . . . . . . . . . . . . . . . . . . 8-66 8-13-2 Grouping POUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-67 8-13-3 Grouping Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-70
8-14 Project Shortcut View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-73 8-14-1 Displaying the Project Shortcut View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-74 8-14-2 Adding User Folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-75 8-14-3 Renaming User Folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-75 8-14-4 Copying and Pasting User Folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-75 8-14-5 Cutting User Folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-76 8-14-6 Deleting User Folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-76 8-14-7 Editing Comments on User Folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-77 8-14-8 Adding Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-77 8-14-9 Editing Items from Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-79 8-14-10 Copying and Pasting Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-80 8-14-11 Cutting Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-80 8-14-12 Deleting Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-81 8-14-13 Editing Comments on Shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-81 8-14-14 Jumping from a Shortcut to the Multiview Explorer . . . . . . . . . . . . . . . . . . . . . 8-82
8-15 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-83 8-15-1 Troubleshooting Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-83 8-15-2 Controller Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-84 8-15-3 Controller Event Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-88 8-15-4 User-defined Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-92 8-15-5 User-defined Event Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-93 8-15-6 Event Setting Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-94 8-15-7 Displaying and Editing the Event Setting Table . . . . . . . . . . . . . . . . . . . . . . . . 8-96 8-15-8 Event Log Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-99
8-16 Changing Variable Comments and Data Type Comments . . . . . . . . . . . 8-101 8-16-1 Exporting Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-101 8-16-2 Editing the Comment File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-101 8-16-3 Importing Comment Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-102 8-16-4 Switching the Displayed Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-103
8-17 Exporting Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-104 8-17-1 Exporting Global Variables for the Network Configurator . . . . . . . . . . . . . . . 8-104 8-17-2 Exporting Global Variables for the CX-Designer . . . . . . . . . . . . . . . . . . . . . . 8-104
8-18 Importing ST Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-105
8-19 Importing IEC 61131-10 XML Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-106 8-19-1 Importing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-106 8-19-2 Compare before Importing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-107
8-20 Importing Motor Sizing Tool Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-109
8-21 Updating the Configurations and Setup Transfer Data . . . . . . . . . . . . . . 8-111
8-22 EtherNet/IP Connection Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-112
8-23 Sysmac Studio Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-113
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8 Other Functions
8-1 SD Memory Card Operations
8-1 SD Memory Card Operations
SD Memory Card Operations
The SD Memory Card function is provided so that you can operate files in an SD Memory Card that is mounted in the NJ/NX-series Controller and transfer and copy files between the SD Memory Card and the computer.
With an NY-series Controller, a Virtual SD Memory Card is used to perform the same function as an SD Memory Card. In the following description, an SD Memory Card should be replaced by a Virtual SD Memory Card when you use an NY-series Controller.
8-1-1
SD Memory Card Window Procedures
1 Select SD Memory Card from the Controller Menu when online.
The SD Memory Card Window is displayed.
Toolbar Address Bar
Current Folder Display Area
Status Bar
Overview of the SD Memory Card Window 8
Toolbar
Use the buttons in the toolbar or shortcut keys to execute SD Memory Card file operations.
Button Operation (shortcut) Back (Alt + )
Function Returns to previous file or folder.
Forward (Alt + )
Goes forward to next file or folder.
Up (Backspace)
Goes to one higher folder.
Update (F5)
Updates the display to the latest information.
Properties (Alt + Enter)
Initialize SD Memory Card*2 (Ctrl + Alt + A) Delete (Del)
Used to display the properties and change the attributes*1 of the selected file or folder (cannot be used when no file or folder is selected or when more than one file or folder is selected). Formats the SD Memory Card.
Deletes the selected files or folders.
Copy (Ctrl + C)
Copies the selected files or folders.
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8-1-1 SD Memory Card Window Procedures
8 Other Functions
Button Operation (shortcut) Paste (Ctrl + V)
Function Pastes the copied files or folders.
New Folder (Ctrl + Alt + F) Creates a new folder in the current location.
Rename (F2)
SD Memory Card Backup (Alt + Shift + B) *3 Compare SD Memory Card Backup (Alt + Shift + C) *3 Exit (Alt + F4)
Changes the name of the selected file or folder (cannot be used when no file or folder is selected or when more than one file or folder is selected). Backs up the Controller data in the SD Memory Card.
Compares the data in a backup file in the SD Memory Card to the Controller data.
Ends SD Memory Card operations.
*1 You cannot change the attribute for an NY-series Controller.
*2 You cannot use the operation for an NY-series Controller. The button is grayed out.
*3 Refer to 8-9-2 SD Memory Card Backup Functions for the procedures for the SD Memory Card backup functions.
Address Bar
The address bar displays the current folder on the SD Memory Card. You can also specify the folder you need.
Current Folder Display Area
This area displays a list of the files in the current folder on the SD Memory Card. The following items are displayed. Click a title to sort the files by that item.
Title Name Size Type Date Attribute
Description File/folder name (long file names) Actual file size (Kbytes) Type of file registered on the computer Time and date the file was modified R: Read only
Status Bar
The status bar displays information on the files in the current folder on the SD Memory Card. The following items are displayed.
Item Status
Volume Label Free Area
Description Number of objects in the file list (number of files and folders)
Note "SD Memory Card is not mounted or not formatted" is displayed if an SD Memory Card is not inserted, power is not supplied to the SD Memory Card , or the SD Memory Card is not formatted.
The volume label of the SD Memory Card*1 The size of free area in the SD Memory Card (KB)
*1 The volume label is not displayed for an NY-series Controller.
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SD Memory Card Procedures
Formatting an SD Memory Card
1 Click the Format Button ( ).
A confirmation dialog box is displayed.
8 Other Functions
2 Click the Start Button.
Displaying Properties
1 Select the file or folder. 2 Click the Properties Button ( )
The properties of the selected file or folder are displayed.
When a Folder Is Selected
When a File Is Selected
8-1 SD Memory Card Operations
8-1-1 SD Memory Card Window Procedures
8
Copying Files and Folders in the SD Memory Card
1 Select files or folders and click the Copy Button ( ). 2 Specify the copy destination, and then click the Paste Button ( ).
The selected files or folders are copied.
Copying Files and Folders between the SD Memory Card and the Computer
Copying Files and Folders from the SD Memory Card to the Computer
1 Select files or folders in the SD Memory Card Window, and then click the Copy Button ( ). 2 Specify the copy destination in Windows Explorer, and then paste the files or folders (Ctrl + v).
The selected files or folders are pasted.
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8-5
8 Other Functions
Copying Files and Folders from the Computer to the SD Memory Card
1 Select and copy files or folders in Windows Explorer (Ctrl + c). 2 Specify the copy destination in the SD Memory Card Window, and then click the Paste Button
( ). The selected files or folders are pasted.
Precautions for Correct Use � Multibyte characters (e.g., Japanese) cannot be used in the CPU Unit even if they can be
used on the computer. � You can create up to 511 files in the root directory.
You cannot create this many files if you use MS-DOS 8.3 file names or long file names.
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8 Other Functions
8-2 Clock Information Settings
The computer's clock information is also displayed. You can read and set the Controller's clock.
Displaying and Setting Clock Information
This function can be used only online.
1 Select Controller Clock from the Controller Menu of the Sysmac Studio.
The computer's clock information is displayed here.
The Controller's clock information is displayed here.
2 To set the time zone, select the time zone of the Controller and click the Apply Button for the time zone.
3 To set the clock in the Controller, set the clock information for the Controller and then click the Apply Button for the date and time. Click the Synchronize with computer Button and then click the Apply Button to synchronize the Controller's clock information with the computer's clock information.
Precautions for Correct Use
Withe an NY-series Controller, you cannot set the time zone and apply the clock information of
the computer to the Controller. Refer to the NY-series Industrial Panel PC / Industrial Box PC
Software User's Manual (Cat. No. W558) for details on the clock function of the NY-series Con-
troller.
8
8-2 Clock Information Settings
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8 Other Functions
8-3 Security Settings
To protect assets and prevent incorrect operation, you can protect user programs and data in the Controller and restrict operations in the Sysmac Studio.
Overview of Security Settings
An overview of the applications and functions of security settings is given below.
Function Operation authority verification
User program execution ID
Write Protection of the CPU Unit Data protection
Application
Outline of function
Prevention of incorrect oper- This limits the operations that each operator can
ation
use based on the authority of the operator.
Prevention of the theft of assets
This ensures that a user program cannot be operated on another CPU Unit even if copied.
Prevention of incorrect oper- You can prevent the Sysmac Studio from over-
ation
writing data in the CPU Unit.
Prevention of the theft of assets
You can set passwords for individual POUs (programs, functions, and function block definitions) and cam profiles to prevent them from being displayed, changed, or copied.
8-3-1 Operation Authority Verification
If you change the data in the Controller, operating errors may cause human injury or physical damage. You can restrict the operations that each operator can perform based on the authority of the operator to prevent operating mistakes.
Operation Authority Verification
Operation Authority Verification
You can restrict online operations with operation rights to prevent damage to equipment or injuries that may be caused by operating mistakes.
An operation authority password is required to go online. If you pass password verification, you can perform online operations according to your operation authority. The Administrator sets a password for each operation authority. Users are notified of the operation authority name and password according to their skills. Verification of operation authority is performed when you access the Controller from another computer, because the Operation Authority Verification Settings are transferred to the Controller and stored there.
Precautions for Correct Use
� You can set operation authority verification only online. � Only the Administrator can change operation authority verification or transfer it to the Control-
ler. � You cannot go online if you forget the operation authority password. Record the password in
case you forget it.
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8 Other Functions
8-3 Security Settings
Types of Operation Authorities
There are five levels of operation authority for the Sysmac Studio, as given below (in order starting with the greatest level of authority). � Administrator � Designer � Maintainer � Operator � Observer (A password is not required.)
Applicable Online Operations
The functions, authorities, and operation restrictions that require verification are given below.
Supported: Operation possible, VR: Verification required for each operation, NP: Operation not possible
Monitoring status Monitoring Controller status Monitoring the status of Special I/O Units and slaves Troubleshooting and event logs Reading CPU Unit names
Administrator Supported Supported
Designer Supported Supported
Supported Supported
Supported Supported
Maintainer Supported Supported
Operator Supported Supported
Supported Supported Supported Supported
Observer Supported Supported
Supported Supported
Operations to monitor I/O
Administrator Designer Maintainer Operator Observer
Reading I/O
Supported
Supported Supported Supported NP
Writing I/O
Supported
Supported Supported VR
NP
Changing BOOL variables to TRUE/FALSE (SET/RESET)
Supported
Supported Supported VR
NP
Forced refreshing (TRUE/FALSE/Clear) Supported
Supported Supported NP
NP
Monitoring programs, functions, and function blocks
Supported
Supported Supported Supported NP
Differential monitoring
8
Controller operations RUN mode PROGRAM mode Online editing Data trace operations (starting, stopping, forcing triggers, and uploading settings) Releasing access rights Clearing all memory Resetting the Controller Resetting errors (troubleshooting) Clearing event logs (error logs) Controller clock SD Memory Card operations Updating CPU Unit names Setting user program execution IDs Setting write protection of the CPU Unit MC Test Run
Administrator Supported Supported Supported Supported
Supported Supported Supported Supported Supported Supported Supported Supported Supported Supported Supported
Designer Supported Supported Supported Supported
Supported NP Supported Supported Supported Supported Supported Supported NP Supported Supported
Maintainer VR VR VR Supported
NP NP NP Supported Supported NP Supported NP NP Supported VR
Operator NP NP NP Supported
NP NP NP VR NP NP Supported NP NP NP NP
Observer NP NP NP NP
NP NP NP NP NP NP NP NP NP NP NP
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8-3-1 Operation Authority Verification
8 Other Functions
Controller operations Restarting NX Units User calibration (NX Analog I/O Unit) Restarting CJ-series EtherNet/IP Units
Administrator Supported Supported Supported
Designer Supported Supported Supported
Maintainer Supported Supported Supported
Operator NP NP NP
Observer NP NP NP
Transfer operations Synchronization
Administrator Designer Maintainer Operator Observer
Supported
Supported Supported NP
NP
Note Uploading and downloading are supported (including transferring only part of a project).
Transferring parameter settings of a CJ- Supported
Supported Supported NP
NP
series Unit mounted on the CPU/Expan-
sion Rack to the Controller
Transferring parameter settings of a CJ- Supported
Supported Supported NP
NP
series Unit mounted on the CPU/Expan-
sion Rack from the Controller
Transferring operation settings of an NX Supported
Supported Supported NP
NP
Unit mounted on the CPU/Expansion
Rack to the Controller
Transferring operation settings of an NX Supported
Supported Supported NP
NP
Unit mounted on the CPU/Expansion
Rack from the Controller
Transferring data to the Controller from Supported
Supported Supported NP
NP
the EtherCAT Configuration Display Tab
Page
Transferring data from the Controller
Supported
Supported Supported NP
NP
from the EtherCAT Configuration Display
Tab Page
Transferring data to the Controller from Supported
Supported Supported NP
NP
the Slave Terminal Unit Settings
Transferring data from the Controller
Supported
Supported Supported NP
NP
from the Slave Terminal Unit Settings
Writing the setting of the Setting Change Supported
Supported Supported NP
NP
during RUN Mode parameter in the Con-
troller Setup
Transferring operation authority verifica- Supported
NP
NP
tion settings
NP
NP
Backup and restore operations
Backing up and restoring Controller data and comparing data with Controller data
Backing up data to SD Memory Card and comparing data with data in SD Memory Card
Backing up variables and memory
Restoring variables and memory
Administrator Supported Supported
Supported Supported
Designer Supported Supported
Supported Supported
Maintainer Supported Supported
Supported NP
Operator NP NP
NP NP
Observer NP NP
NP NP
Slave Terminal operations Clear All Memory Operation Restarting User calibration (Analog I/O Unit)
Administrator Supported Supported Supported
Designer Supported Supported Supported
Maintainer Supported Supported Supported
Operator NP NP NP
Observer NP NP NP
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8 Other Functions
Password Setting Ranges
Item Valid number of characters Applicable characters
Description 8 to 32 Single-byte alphanumeric characters (case sensitive)
Procedure for Setting New Authorities
1 Select Security - Setting of Operation Authority from the Controller Menu.
The Setting of Operation Authority Dialog Box is displayed.
8-3 Security Settings
8-3-1 Operation Authority Verification
2 Select the Enable the verification of operation authority Check Box and double-click Administrator in the Operation authority Column.
3 Enter the Administrator's password in the New password textbox. Enter the same password in
the confirmation field, and click the OK Button.
4 Set the default operation authority to use when the password is not entered.
8
The operation authority that is set here is used when entering the password is omitted during verification when going online.
5 Set the password for the operation authority to set.
A password is required for operations that require a higher operation authority than the operation authority that is set for when the password is not entered. A password is not required for operations that require an operation authority that is equal to or less than the operation authority that is set for when the password is not entered. Leave the password entry box blank.
6 Click the Transfer To Controller Button to write the settings into the Controller.
A dialog box for completion of setting operation authority verification is displayed.
To enable the settings, go online with the Controller again.
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8 Other Functions
Procedure for Changing Authority Verification Settings
You cannot change authority verification settings unless you are the Administrator.
1 Select Security - Setting of Operation Authority from the Controller Menu.
The Administrator Authentication Dialog Box is displayed.
2 Enter the Administrator's password, and click the OK Button. 3 Use the same procedure as for a new password to set the password in the Setting of Operation
Authority Dialog Box.
Verification When Going Online
When operation authority verification is set on the Controller, operation authority verification is performed when going online. If verified, you can perform online operations according to your authority.
Procedure for the Verification Dialog Box
The Verification Dialog Box is displayed when you attempt to go online.
1 Select the operation authority, enter the password, and click the OK Button.
If the password is correct, online operations are enabled. If you cancel password entry or do not enter a password, the default operation authority will apply to online operations. The following warning is displayed if the password does not match. Click the OK Button and then either continue with operations or go online again. Click the OK Button to go online as an Observer.
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8 Other Functions
Verification for Individual Operations
Verification is performed each time a user with a certain authority or lower performs an operation that may damage equipment or cause injury due to incorrect operation. Refer to Applicable Online Operations on page 8-9 for information on the applicable operations. Be careful when you enter the password in the Verification Dialog Box. The Sysmac Studio is locked for 10 minutes if you enter the wrong password 5 times.
If you select an operation that cannot be used with the current authority, the following error message is displayed and the operation is not performed.
Go online again and change the operation authority before you perform the operation.
Operation Lock
You can set a lock on verification to prevent user operations if there are no user operations for the time
that is specified in the Setting of Operation Authority Dialog Box. This prevents the wrong user from
mistakenly performing operations. If operation is locked, you need to perform verification again. Opera-
tion authority must be set to use the operation lock. It cannot be used alone.
8
Procedure to Set the Operation Lock
1 Select Setting of Operation Authority from the Controller Menu.
The Setting of Operation Authority Dialog Box is displayed.
8-3 Security Settings
8-3-1 Operation Authority Verification
2 Select the Enable Option in the Operation Lock Area, enter the Lock time, and click the Transfer To Controller Button.
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8 Other Functions
8-3-2 Authentication of User Program Execution IDs
If you enter a specific ID for the Controller in advance (called a user program execution ID), only a user program that is assigned that ID can be executed on the Controller.
Sysmac Studio
CPU Unit
A user program execution ID is registered in the CPU Unit.
Transfer
User program
User program execution ID assigned to user program.
User program execution ID
User program execution ID User program
User program execution IDs
The CPU Unit can execute the user program only when these two match.
This function can be used to achieve the following: � A Controller can be restricted to execute only a specific user program. � You can prevent a user program from use on a different Controller (hardware). This function is different from the protection functions in that the user program can be viewed and edited.
Setting Ranges for User Program Execution IDs
Item Valid number of characters Applicable characters
Description 8 to 32 characters Single-byte alphanumeric characters (case sensitive)
Setting User Program Execution IDs for User Programs
User program execution IDs for user programs are set offline.
Precautions for Correct Use � A user program execution ID can be set only one time for a user program. � Record the user program execution ID to ensure you do not lose it. � We recommend that you backup the project file before you set the user program execution ID.
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8 Other Functions
1 Select Security - ID for User Program Execution from the Controller Menu.
The User Program Execution ID for Program Dialog Box is displayed.
8-3 Security Settings
2 Enter the user program execution ID. 3 Enter the same ID in the User Program Execution ID (Confirmation) field, and then click the OK
Button. Use the following settings to enable user program execution ID verification.
1 Set the same ID as the Controller.
Refer to Setting User Program Execution IDs for Controllers on page 8-15, below.
2 Synchronize (download) the user program for which the user program execution ID is set.
Setting User Program Execution IDs for Controllers
User program execution IDs for Controllers are set online.
Precautions for Correct Use � If operation authority verification is set, you must go online as the Administrator.
8
� Be sure to record the user program execution ID to ensure you do not lose it. You cannot change the user program execution ID even if you lose it.
� The user program execution ID that is set for the Controller is deleted by the Clear All Memory Operation.
1 Select Security - ID for User Program Execution from the Controller Menu.
The Set User Program Execution ID for Controller Dialog Box is displayed.
2 Enter the same ID as the user program execution ID that is set for the user program, and click the OK Button.
3 Cycle the power supply to the Controller to enable the setting in the Controller.
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8-3-2 Authentication of User Program Execution IDs
8 Other Functions
8-3-3 Write Protection of the CPU Unit
You can prevent the Sysmac Studio from overwriting data in the CPU Unit.
Sysmac Studio
CPU Unit
CPU Unit
When power is turned ON
Write-protected
Write-protected Writing is not possible.
Settings for Write Protection at Startup
You can automatically enable write protection for the CPU Unit when the Controller is turned ON to prevent write operations from the Sysmac Studio.
1 Select Operation Settings under Configurations and Setup - Controller Setup.
The Basic Settings Pane for the Controller's Operation Settings is displayed.
2 Select the Use Option for Write protection at startup in the Security Settings Area. 3 Execute Transfer to Controller to enable the setting.
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Clearing Write Protection
You can temporarily clear the write protection on a CPU Unit that is write-protected.
1 Select Security - CPU Unit Write Protection from the Controller Menu while online.
2 Click the Yes Button.
This removes write protection. The following dialog box is displayed.
Setting Write Protection
You can temporarily set write protection on a CPU Unit that is not write-protected from the Sysmac Studio.
1 Select Security - CPU Unit Write Protection from the Controller Menu while online.
2 Click the Yes Button.
8
This sets write protection. The following dialog box is displayed.
8-3 Security Settings
8-3-3 Write Protection of the CPU Unit
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8 Other Functions
8-3-4 Data Protection
Data Protection
The data protection function allows you to set passwords for individual data units to restrict displaying, changing, and copying them (access restrictions). You can enter the password to temporarily clear the protection from a data unit. Data protection is set and canceled offline.
Access Restrictions
The following table describes the access restrictions.
Access restriction Display prohibition
Change prohibition Copy prohibition
Operation The restricted data cannot be displayed.
The restricted data cannot be changed. The data can be displayed but not changed on the display. The restricted data cannot be copied.
Remarks
This restriction applies to jumping from other windows, displaying detailed comparison results, viewing search results, and printing previews.
This restriction also applies to online editing and replacement operations.
Data That Can Be Protected
The following table lists the data that you can protect from being displayed, changed, and copied. Protection is implemented by setting a password for each data unit.
Cam settings Programs Functions Function blocks Libraries with source code
Data Cam profiles
Ladder diagrams ST Ladder diagrams ST Ladder diagrams ST Ladder functions ST functions Ladder function blocks ST function blocks
Remarks Only change prohibition can be set. The restrictions apply to the local variable tables.
The protection settings for objects in accessed libraries cannot be changed.
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8 Other Functions
Procedure to Set Protection
1 Select the data to protect, and then select Security - Set/Release Data Protection from the Controller Menu. Or right-click the data to protect, and select Security - Set/Release Data Protection from the menu. The Data Protection Setting Dialog Box is displayed.
2 Select the Use data protection Check Box and select the access restrictions. Enter the password, and then click the OK Button. Data protection is set and the icon on the protected data changes in the Multiview Explorer.
8-3 Security Settings
8-3-4 Data Protection
Precautions for Correct Use
You will not be able to temporarily clear protection or remove the protection setting if you forget 8
the password. Protection settings are also transferred for synchronization operations. If you forget the passwords for protected data that was transferred to the Controller, you will no longer be able to display or change the protected data. Record the password in case you forget it.
Temporarily Clearing Protection
To perform operations on protected data, you can enter the password to temporarily clear the protection.
1 Perform the restricted operation for the protected data. If changing the data is restricted, rightclick the data and select Security - Temporary Release of Change Prohibition from the menu. The Temporary Release of Data Protection Dialog Box is displayed.
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8 Other Functions
2 Enter the password that was set when data protection was set.
The access restrictions are temporarily cleared. The following table gives the lengths of time for which the access restrictions are temporarily cleared.
Access restriction Display prohibition Change prohibition
Copy prohibition
Length of time that protection is cleared
While the project is open
While the project is open or until Finish Temporary Release of Change Prohibition is selected from the menu
The password must be entered for each copy operation.
The Sysmac Studio is locked for 10 minutes if you consecutively enter the wrong password 5 times for the same Controller. The Temporary Release of Data Protection Dialog Box is displayed again in 10 minutes.
The icons for protected data change as shown in the following table.
Data Ladder diagrams
Protected
ST
Ladder debugging programs
ST debugging programs
Cam profiles
Precautions for Correct Use
Even if the access restrictions to prohibit displaying data are set, the dialog box to temporarily clear data protection is not displayed for detailed comparison results, printing, or printing previews. For detailed comparison results, clear the protection before you execute the comparison operation. For printing and printing previews, display the data from the Multiview Explorer and temporarily clear protection before you use printing or print previews.
Temporarily Releasing All Protection for a Specific Password
If the same password is used to protect different data, you can temporarily release protection for all of that data.
The data for which protection is released is all data for which access restrictions prohibit displaying or changing the data, except for the library data under the Controller.
1 Select Security - Temporary Release of Display/Change Prohibition from the Controller Menu.
The Temporary Release of Data Protection Dialog Box is displayed.
2 Enter the password for which to release protection.
The access restrictions for the password that you enter are released temporarily. To release protection for another password, repeat the procedure from step 1. The protection is released until the effective period for temporarily releasing protection is reached or until you select Security -Finish Temporary Release of Display/Change Prohibition from the Controller Menu. All protection that was temporarily released is restored when you select Finish Temporary Release of Display/Change Prohibition.
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8 Other Functions Procedure to Cancel Protection
1 Select the data for which to cancel protection, and then select Security - Set/Release Data Protection from the Controller Menu. Or right-click the data for which to cancel protection, and select Security - Set/Release Data Protection from the menu. The Temporary Release of Data Protection Dialog Box is displayed.
2 Enter the password, and click the OK Button.
The Data Protection Setting Dialog Box is displayed.
3 Clear the Use data protection Check Box and click the OK Button.
Data protection is cleared and the protection icon returns to the normal icon.
8
8-3 Security Settings
8-3-4 Data Protection
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8 Other Functions
8-4 User Memory Usage Monitor
User Memory Usage Monitor
An estimate of the space that is used by the user program that you are editing in the Sysmac Studio is displayed in relation to the size of the Controller's memory. If the size of the user program exceeds the size of memory and it is transferred to the Controller, an error will occur in the Controller when you operate the Controller.
Precautions for Correct Use The values that are displayed for memory usage are estimates. Use them as guidelines for current memory usage. Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for the restrictions on the size of the user program.
Displaying Memory Usage
1 Select Memory Usage from the Project Menu.
Memory usage is displayed.
8-22
Item Number of Data Type Definitions Number of Non-retained Variable Definitions Memory of Non-retained Variable Number of Retained Variable Definitions (Address Unspecified) Memory of Retained Variable Number of POU Instances Program Memory Number of Module Files
Displayed information Displays the number of data types that are used. Displays the number of non-retained variables that are used.
Displays the usage of non-retained variable memory. Displays the number of retained variables with unspecified addresses that are used. Displays the usage of retained variable memory. Displays the number of POU instances that are used. Displays the usage of memory by the program. Displays the number of module files to execute. The files are created for POUs and sections, and the display changes according to the number of POUs and sections.
Sysmac Studio Version 1 Operation Manual (W504)
8 Other Functions
8-5 Printing
This section describes printing operations.
8-5-1 Items You Can Print
You can print the following items. You can select any of the items to print. � EtherCAT network configuration and Unit operation settings � Special Unit parameters settings*1 � CPU/Expansion Racks*2 � I/O map � Controller Setup � Motion Control Setup (axis settings) � Cam data settings � Event settings � Task settings � Data trace settings � Programs, functions, and function blocks in Ladder Editor � Programs, functions, and function blocks in ST Editor � Local variable tables (programs, functions, and function blocks) � User-defined data types in Data Type Editor � Global variable table *1 This is displayed only for an NJ-series CPU Unit. *2 This is displayed for NJ-series and NX102 or NX1P2 CPU Units.
Additional Information
� Refer to 8-15 Troubleshooting for information on printing during troubleshooting.
8
� For device-specific printing functions other than those for Controllers, refer to the manual for
the device.
8-5 Printing
8-5-1 Items You Can Print
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8 Other Functions
8-5-2 Print Setup
You can specify settings such as whether to print a cover page and table of contents, as well as the margins and font when printing. Use the following procedure to set up printing.
1 Select Page Settings from the File Menu.
The Print Setup Tab Page is displayed.
2 Use the buttons on the left to select the settings.
Button General Button
Icon
Description Set whether to print a cover page and table of contents.
Margin Button
Click to set the page margins and header/footer margins.
Header Button
Click to set the header contents.
Footer Button
Click to set the footer contents.
Font Button
Click to set the font to use for printing.
3 Specify each setting.
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Print Setup Items
This section describes print setup items.
General
8 Other Functions
Setup Item Print the cover page
Print the table of contents
Description
Set whether to print a cover page. The following items are printed on the cover page.
� Project name � Project properties � Current Sysmac Studio version
Set whether to print a table of contents. The headings and page numbers of the items to print are printed in the table of contents.
Margin
8
Setup Item Margin Header/Footer Margin
Description
Set the top, bottom, left, and right margins of the printed pages.
Set the margin from the top of the page to the header and the margin from the bottom of the page to the footer.
8-5 Printing
8-5-2 Print Setup
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8 Other Functions
Header/Footer
Set the text to print in the header and footer. For each, you can specify the text to print at the left side, center, and right side of the page.
You can use the following field codes in the header and footer.
Item Date Time Page number Total pages Printed item Project name Controller name Controller model name POU name
Section name
Field code &d &t &# &o &l &j &v &y
&p
&s
Printing example
Remarks
2015/02/24
The printing date is printed.
16:38
The printing time is printed.
1
---
4
---
I/O Map
---
New Project
---
new_Controller_0 ---
NJ501-1500(1.09) The model and unit version of the Controller are printed.
Program0
This is printed only on the pages where POUs are printed.
Section1
This is printed only on the pages where sections are printed.
Font
Click the Font Setting Button and set the font to use when printing in the Font Setting Dialog Box that is displayed. You can set the font type, style, effects, and size.
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8-5-3 Printing
Use the following procedure to print.
1 Select Print from the File Menu.
8 Other Functions
2 Select the check boxes for the items to print. 3 Click the Print Button.
The Print Dialog Box is displayed.
8
8-5 Printing
8-5-3 Printing
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8 Other Functions
4 Select the printer to use, and then click the Print Button.
The selected items are printed. Printing Examples:
8-5-4 Print Preview
Use the following procedure to display a print preview.
1 Select Print from the File Menu. 2 Select the check boxes for items to display in the print preview.
3 Click the Preview Button.
A printing preview of the selected items is displayed.
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8 Other Functions
8-6 Clearing Memory
Clearing Memory
You can use the Clear All Memory menu command to initialize the data in the CPU Unit and mounted Units to the defaults from the Sysmac Studio.
8-6-1 Clearing All Memory of the CPU Unit
The Clear All Memory menu command initializes the user program, Controller Configurations and Setup, variables, and absolute encoder home offsets in the CPU Unit, as well as the data in NX Units, to the defaults.
Items Cleared by the Command and Their Status after Clearing Memory
Data
Status after Clear All Memory operation
User program
One program is assigned to the primary periodic task (task period: 4 ms). The program will be empty.
Controller configurations and setup
The default settings are restored. Security information (protection, verification, etc.) is also initialized.
System-defined variables Depends on the type of variable
Variables
Device variables User-defined variables
Clearing the variable tables deletes the device variables.
User-defined variables are deleted when the variable tables are cleared.
Absolute encoder home offset
Cleared.
NX Units*1
Memory data in all NX Units on the CPU Rack is cleared.
Event logs
Event logs you selected in Clear All Memory operation are cleared.
*1 Applicable when NX Units are mounted on an NX102 or NX1P2 CPU Unit.
Precautions for Safe Use
8
After you clear the memory, the Controller operates in the same way as immediately after you create the system configuration with the Controller in the factory default condition.
Precautions for Correct Use
� The Clear All Memory Operation can be performed only in PROGRAM mode.
� The Clear All Memory Operation cannot be performed when write protection of the CPU Unit is set in the Security Settings. Clear the write protection of the CPU Unit and then perform the Clear All Memory Operation.
� When the Clear All Memory command is executed, the value of the absolute encoder home offset is cleared. To retain the value of the absolute encoder home offset before the Clear All Memory operation, use the Controller backup function before you execute the Clear All Memory command. To restore the previous value of the absolute encoder home offset after the Clear All Memory operation, restore the file that were backed up with the Controller backup function. Refer to 89-1 Controller Backup Functions on page 8-37 for details on the Controller backup function.
� The details of NX Unit areas initialized in the Clear All Memory operation and the state after initialization depend on the Unit. Refer to the user's manual for the specific NX Unit for details.
8-6 Clearing Memory
8-6-1 Clearing All Memory of the CPU Unit
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8 Other Functions
Procedure for Clearing Memory
1 Go online and select Clear All Memory from the Controller Menu.
The Clear All Memory Confirmation Dialog Box is displayed.
2 Check the areas to initialize. Select the check box to clear the event logs. 3 Click the OK Button to clear the memory.
After the memory is cleared, the following dialog box is displayed.
4 Click the OK Button.
The Clear All Memory Operation cannot be performed in RUN mode.
8-6-2 Clearing All Memory of NX Units
Data on an NX Unit mounted on the CPU Unit or an NX Unit on the Slave Terminal is initialized on an individual Unit basis.
1 When the Controller is connected online, right-click on the target NX Unit and select Clear All Memory. The Clear All Memory dialog box is displayed.
2 Check the areas to initialize, and click the Execute Button.
A dialog box to confirm execution is displayed.
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8 Other Functions
3 Click the Yes Button.
The Memory All Clear operation is completed, and the NX Unit is restarted.
Precautions for Correct Use For NX Units mounted on an NX1P2 CPU Unit, Memory All Clear operation cannot be performed on an individual Unit basis. Clear all memory of the CPU Unit.
8-6-3 Clear All Memory Operation for the Units in a Slave Terminal
You can initialize the data in specified Units or all of the Units on a Slave Terminal.
1 Go online, right-click a Unit on the Slave Terminal Tab Page and select Clear All Memory. To perform the Clear All Memory Operation for all of the Units, right-click the Communications Coupler Unit and select Clear All Memory. The Clear All Memory Dialog Box is displayed.
8-6 Clearing Memory
8-6-3 Clear All Memory Operation for the Units in a Slave Terminal
8
2 Check the areas to be initialized and then click the Execute Button. To clear the event log, select the Clear the event logs Check Box. To perform the Clear All Memory Operation for all of the Units, select Coupler + NX Units for the Area Selection for Coupler. A confirmation dialog box is displayed.
3 Click the Yes Button.
The Units will be restarted when the Clear All Memory Operation is completed.
Precautions for Correct Use
� Refer to the user's manual for details on the specific Units for the areas that are initialized and the status after initialization before the Clear All Memory Operation is performed.
� The Units are restarted after the Clear All Memory Operation is completed. This will cause I/O communications with the communications master to stop. What is restarted depends on what memory is cleared and the unit version of the EtherCAT Coupler Unit. Refer to the NX-series EtherCAT Coupler Units User's Manual (Cat. No. W519) for details.
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8-7 Releasing Access Rights
Releasing Access Rights
Access rights may be retained by the Controller if the online connection is abnormally broken between the Controller and the Sysmac Studio. In this case, normally access from the Sysmac Studio is no longer possible. Use the Sysmac Studio to release the access rights in the Controller.
Procedure for Releasing Access Rights
1 Select Release Access Right from the Controller Menu.
2 Click the Yes Button.
The following dialog box is displayed when the access rights are released.
3 Click the OK Button.
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8-8 Displaying Unit Production Information
You can display the production information on the CPU Unit, the Units mounted on the CPU Unit, or EtherCAT slaves in the Production Information Dialog Box. Production information refers to the model, version, lot number, and other information. The following describes the common operations to screens and the displayed items for each Unit.
Dialog Box
The Production Information Dialog Box has the outline view and the detail view.
8-8 Displaying Unit Production Information
8-8-1 Displaying CPU Unit Production Information
Outline View
Detail View
Click the Show Outline Button or the Show Detail Button to change between the outline and detail views.
Output File
8
You can save production information to a file.
1 Click the Output file Button in the Production Information Dialog Box.
The Save File Dialog Box is displayed.
2 Enter a file name, and then click the Save Button.
A file with a .csv extension is saved.
8-8-1 Displaying CPU Unit Production Information
NX/NY-series Controllers
Use the following procedure to display the production information on the CPU Unit or Industrial PC. If NX Units are mounted on it, the production information on the NX Units is displayed. For the NX1P2 CPU Unit, the production information on Option Boards is also displayed.
Display Method
1 Right-click CPU Rack under CPU/Expansion Racks in the Multiview Explorer and select Display Production Information.
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The Production Information Dialog Box is displayed.
Displayed Items
The following items are displayed.
CPU Unit/Industrial PC
NX Unit*1
Option Board*2
� Model number and Unit version � Lot number � Serial number � Hardware revision � Software version � Total power-ON time*3
� Model number and Unit version � Lot number � Serial number � Hardware version � Software version � Total power-ON time
� Model number and Unit version � Lot number � Serial number � Hardware version � Software version
*1 This is displayed only when NX Units are mounted on an NX102 or NX1P2 CPU Unit. *2 This is displayed only when Option Boards are mounted on an NX1P2 CPU Unit. *3 This is displayed only for an NX102 or NX1P2 CPU Unit.
Refer to the manual for the specific Unit for details on the displayed items.
NJ-series Controllers
Use the following procedure to display the production information on the CPU Unit and CJ-series Special Units.
Display Method
1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select Edit from the menu.
The Unit Editor is displayed in the Edit Pane.
2 Right-click any location where there is no Unit in the Unit Editor and select Production Information.
The Production Information Dialog Box is displayed.
Displayed Items
The following items are displayed.
CPU Unit
CJ-series Special Unit
� Unit model number and unit version � Lot number � Hardware version and hardware revision*1 � Software version
� Rack number, slot number, and unit number � Unit model number and unit version � Lot number � Unit revision � PCB revision � Software revision
*1 The hardware revision is not displayed for the Unit that the hardware revision is in blank.
Refer to the manual for the specific Unit for details on the displayed items.
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8-8 Displaying Unit Production Information
8-8-2 Displaying EtherCAT Slave Production Information
Use the following procedure to display the node addresses, models,* and serial IDs that are set in the EtherCAT slaves.
*If the model of a slave cannot be determined (e.g., if there is no ESI file), the vendor ID, product code, and revision number are displayed.
Display Method
1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed in the Edit Pane.
2 Right-click the master in the EtherCAT Tab Page and select Display Production Information.
The Production Information Dialog Box is displayed.
Displayed Items
The following items are displayed. � Model number and revision � Serial number � Hardware version � Software version
Refer to the manual for the specific slave for details on the displayed items.
8-8-3 Displaying Production Information for Configuration Units in EtherCAT Slave Terminals
Use the following procedure to display the production information in Units mounted on an EtherCAT Slave Terminal.
Display Method
1 Double-click the EtherCAT Coupler Unit under EtherCAT in the Multiview Explorer. Or, right-
8
click the EtherCAT Coupler Unit under EtherCAT and select Edit from the menu.
The Slave Terminal Tab Page is displayed in the Edit Pane.
2 Right-click in the Slave Terminal Tab Page and select Display Production Information from the menu.
The Production Information Dialog Box is displayed.
Displayed Items
The following items are displayed. � Model number and Unit version � Lot number � Serial number � Hardware version � Software version � Total power-ON time
Refer to the manual for the specific Unit for details on the displayed items.
8-8-2 Displaying EtherCAT Slave Production Information
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8-9 Backup Functions
With the backup functions, you can back up, restore, and compare the user program and other NJ/NX/NY-series Controller data to replace hardware, such as the CPU Unit, or to restore device data.
The following functions are supported.
Function
Description
Controller backup functions *1
You can back up, restore, or compare all of the data in the Controller.
SD Memory Card backup functions *1
You can back up all of the data in the Controller to an SD Memory Card mounted on an NJ/NX-series Controller or to a Virtual SD Memory Card in an NY-series Controller, and compare the data.
Variable and memory backup functions *2
You can back up and restore the contents of retained memory locations in the Controller.
Importing and exporting backup files
You can import backup files from Controller backups or SD Memory Card backups to projects on the Sysmac Studio or export data from projects on the Sysmac Studio to backup files.
*1 A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required.
*2 The data that is backed up for variable and memory backup is included in the data that is backed up for Controller backups.
Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on the backup functions, the applicable models for the backup functions, and the data that is backed up and restored.
WARNING
Always confirm safety at the destination node before you transfer a user program, configuration data, setup data, device variables, or values in memory used for CJ-series Units from the Sysmac Studio. The devices or machines may perform unexpected operation regardless of the operating mode of the CPU Unit.
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Precautions for Safe Use � The absolute encoder home offsets are stored in the Controller and backed up by a Battery as
absolute encoder information. 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 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. � When you restore only part of the data that was backed up, confirm that no problems will occur if you do not restore all of the backup data. Otherwise, malfunction of the device may occur. � If inappropriate backup data is set when you restore backup data to a Unit, unexpected machine operation may result. Confirm that the machine will not be adversely affected before you transfer the data. � 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.
8-9-1 Controller Backup Functions
You can back up the data from the Controller to a file and restore the contents of the backup file. Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on the backup functions, the applicable models for the backup functions, and the data that is backed up and restored.
Backing Up Data
1 Connect the Sysmac Studio to the Controller to back up, and then select Backup - Backup Controller from the Tools Menu. 8
A dialog box is displayed for you to specify the folder in which to save the backup file.
8-9 Backup Functions
8-9-1 Controller Backup Functions
2 Select the folder and then click the OK Button.
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The Backup Dialog Box is displayed. Example for an NJ-series Controller
3 Select the data to back up, and then click the Execute Button.
The backup is started. When the backup is completed, a Verification Confirmation Dialog Box is displayed.
If you click the Yes Button, a dialog box is displayed to confirm the data to compare. Refer to Verifying Data, below, for the verification procedure.
Additional Information � The backup file name is automatically determined for the Controller for which the data is
backed up. You cannot change the file name. � Backup files are not compatible between different series of Controllers.
Restoring Data
Before you restore data, change the operating mode of the Controller to PROGRAM mode.
1 Connect the Sysmac Studio to the Controller to restore, and then select Backup - Restore Controller from the Tools Menu. A dialog box is displayed to select the folder in which the backup file is saved to restore the data.
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2 Select the folder and then click the OK Button.
The Restore Dialog Box is displayed. Example for an NJ-series Controller
8 Other Functions
3 Select the data to restore, and then click the Execute Button.
The restoration operation is started and the execution progress is displayed. When the execution progress display disappears, the restoration operation is completed.
Precautions for Correct Use
� If the model number or unit version of the CPU Unit of the Controller is not the same as those of the Controller from which the backup file was created, a confirmation dialog box is displayed. Confirm that the Controller is the correct one before you restore the data.
� If restoring the data results in changing the IP address of the EtherNet/IP port, communications may be disconnected. Confirm that the system will not be adversely affected even if the IP address changes before you restore the data. If the Sysmac Studio is connected to a Controller with unit version 1.14 or later, you can
remove the IP address settings for the built-in EtherNet/IP port from the restore target data. To 8
do so, clear the IP address in Built-in EtherNet/IP Port Settings Check Box under Target Data. Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NYseries Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details.
� You cannot cancel the operation after you have started to restore the data.
8-9 Backup Functions
8-9-1 Controller Backup Functions
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Verifying Data
1 Connect the Sysmac Studio to the Controller for which to compare the data, and then select Backup - Compare with Backup File from the Tools Menu. A dialog box is displayed to select the folder in which the backup file is saved to compare the data.
2 Select the folder and then click the OK Button.
The Compare Dialog Box is displayed. Example for an NJ-series Controller
3 Select the data to compare, and then click the Execute Button.
The comparison is started.
The comparison results are displayed in the Output Tab Page after the comparison is completed.
8-9-2 SD Memory Card Backup Functions
With the SD Memory Card backup functions, you can use SD Memory Cards or Virtual SD Memory Cards to back up, restore, and verify Controller data. These functions are supported by the Controller itself. You can also execute SD Memory Card backups and verifications on the Sysmac Studio.
Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on the data that is backed up and the procedure to restore the data.
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Backing Up Data
1 In the SD Memory Card Window, display the folder in which to create the backup file and then click the SD Memory Card Backup Button ( ) on the toolbar. The SD Memory Card Backup Dialog Box is displayed.
2 Click the Execute Button.
The backup is started. When the backup is completed, a Backup Completed Dialog Box is displayed.
Precautions for Correct Use
You cannot backup data when data is already being backed up, restored, or compared for the same Controller. An error message is displayed and the process is not performed.
Additional Information
The backup file name is automatically determined for the Controller for which the data is backed
up. You cannot change the file name.
8
Verifying Data
1 In the SD Memory Card Window, display the file that contains the data to compare and then click the Compare SD Memory Card Backup Button ( ) on the toolbar. The Compare SD Memory Card Backup Dialog Box is displayed.
8-9 Backup Functions
8-9-2 SD Memory Card Backup Functions
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2 Click the Execute Button.
The comparison is started. The comparison results are displayed in the Output Tab Page after the comparison is completed.
8-9-3 Backing Up Variables and Memory
Backing Up Variables and Memory
When you replace an NJ/NX/NY-series Controller, you can back up the retained memory in the Controller to a file and restore the backed up data from the file to the new Controller.
Precautions for Correct Use � Store and manage the variable/memory backup file and the project file used to create it as a
set. � You can also use the variable/memory backup file to restore memory from a copy of the proj-
ect file used to create it, or even if the name of the project file is changed. � If you change a variable, delete a variable, or otherwise edit a backed up variable in the proj-
ect file used to create the backup, that variable is not restored to memory. The information on variables or memory that was not restored is recorded as errors.
Additional Information If you add members of structure variables and transfer them to a CPU Unit with unit version 1.10 or earlier, the present values of existing members of structure variables are initialized. You can restore the present values of the members by backing up the present values of the structure variables with a Retain attribute before you download the new members, and then selecting the structure variables to restore afterward and restoring the present values. Select the Present value of Retain attribute variables Check Box. For CPU Units with unit version 1.11 or later, the present values of existing members of structure variables are retained. For details on the retention operation for present values, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501-E1-16 or later) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558).
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Backup Data
You can back up or restore following retained memory.
Contents of the Retained Memory of the Connected Controller
Type of retained memory
Description
Remarks
Present values of Retain attribute The values of retained variables
variables
defined in the Sysmac Studio
You can individually select the variables to back up.
Present values in the DM, EM, and Holding Memory used for CJseries Units*1
Data in the DM, EM, and Holding Memory area that can be assigned to CJ-series Special Units in NJseries CPU Units
The entire memory areas are backed up.
Values in the DM, EM, and Holding Memory area that are assigned in the CJ-series Unit memory settings for an NX102 Controller
The entire areas that are configured as the memory used for CJ-series Units are backed up.
Values in the DM and Holding Memory area that are assigned in the CJ-series Unit memory settings for an NX1P2 Controller
Absolute encoder home offset value
Compensation value that was tuned with the absolute encoder
Data is not backed up for NJ10190 CPU Units.
*1 This is displayed only for an NJ-series Controller and NX102 or NX1P2 Controller.
Backing Up Data
Procedure
1 Select Backup - Backup Variables and Memory from the Tools Menu on the Sysmac Studio.
8
The Backup Dialog Box is displayed.
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8-9-3 Backing Up Variables and Memory
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2 Select the check boxes for the memory items to back up.
3 Click the View File Selection Dialog Button (
). The Save As Dialog Box is displayed.
Specify the file path name and file name.
If you select the Present value of Retain attribute variables Check Box as a backup target, you can select the target variables using the Select Variables Button. Refer to Selecting the Retained Variables to Back Up on page 8-46 for details.
And if you select only the Present value of Retain attribute variables Check Box, besides XML, you can select CSV as a file format.
You can change the values of the retained variable by editing the saved CSV file. Refer to Editing the Values of the Retained Variables That Were Backed Up on page 8-47 for details.
4 Click the Execute Button. The variables are backed up.
When the backup is completed, the results are displayed in the Execution Result Area.
Additional Information
� To back up the data, the contents of the NJ/NX/NY-series Controller and the project must match. If it does not match, stop the backup and synchronize the data to make it match.
� With Sysmac Studio version 1.05 or higher, you can start a backup when changes are added after unifying the data by executing synchronization.
� With the following conditions, only the present value of a member with the largest data size can be the union backup data.
� Sysmac Studio version 1.25 or higher
� Comparison results between contents of the projects in the Sysmac Studio and the NJ/NX/NY-series Controller match.
Restoring Data
Restore Procedure
1 Select Backup - Restore Variables and Memory from the Tools Menu on the Sysmac Studio.
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The Restore Dialog Box is displayed.
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8-9 Backup Functions
8-9-3 Backing Up Variables and Memory
2 Select the check boxes for the items to restore.
3 Click the View File Selection Dialog Button (
). The File Selection Dialog Box is dis-
played. Specify the file path.
4 To select the retained variables for which to restore the present values, click the Select Vari-
ables Button.
A list of retained variables is displayed in the Select Variables Dialog Box.
(a)
(b)
(c)
(d)
8
(e) (f)
Item (a) Program
(b) Name (c) Data type (d) Check boxes (e) Select All
Description
The group to which the retained variables that are read from the backup file belong (global variable table or programs) is displayed. These fields will be empty if the programs were deleted from the project or the program names were changed since the data was backed up.
The names of the retained variables read from the backup file are displayed.
The data types of the retained variables in the backup file are displayed. Derivative is displayed for array and structure variables.
Select the check boxes for the retained variables to restore.
The check boxes for all variables are selected.
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Item (f) Clear All
Description All of the selections are cleared.
Select the variables to restore, and then click the OK Button.
5 Click the Execute Button. The variables are restored.
When the restore operation is completed normally, the results are displayed in the Execution Results Text Display Area. A dialog box for restarting the NJ/NX/NY-series Controller is displayed to reflect the results of the restored data.
If the restore operation fails, the data names of the data that was not restored are shown in the Failed Item List Text Box.
Additional Information
� To restore the backup, the contents of the NJ/NX/NY-series Controller and the project must match. If it does not match, stop the restore process and synchronize the data to make it match.
� With Sysmac Studio version 1.05 or higher, you can execute a restore operation when changes are added after unifying the data by executing synchronization.
� In Sysmac Studio version 1.17 or higher, the following restrictions apply to mutual use of data between the Backup Variables and Memory and Transfer All Variable Present Values functions. � Although the Transfer All Variable Present Values function outputs the values of all variables to a file, the Restore Variables and Memory function targets only the values of retained variables.
Selecting the Retained Variables to Back Up
Select the retained variables to back up during the backup operation.
1 Select the Present value of Retain attribute variables Check Box in the Backup Dialog Box.
The Select Variables Button is enabled.
2 Click the Select Variables Button.
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The Select Variables Dialog Box is displayed.
(a)
(b)
(c)
(d)
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(e) (f)
Item
Description
(a) Program
The group to which the retained variable belongs (global variable table or programs) is displayed.
(b) Name
The names of the retained variables in the project are displayed.
(c) Data type
The data types of the retained variables are displayed. Derivative is displayed for array and structure variables.
(d) Check boxes
Select the check boxes for the retained variables to back up.
(e) Select All
The check boxes for all variables are selected.
(f) Clear All
All of the selections are cleared.
3 Select the variables to back up, and then click the OK Button.
Editing the Values of the Retained Variables That Were Backed Up
8
When you back up the value of retained variables in CSV format, you can edit them with spreadsheet software.
You can change the value of backed up retained variables and save them to use as recipe data.
After you edit the file with spreadsheet software, save it in CSV format.
This section uses a sample to describe the items when a file is opened in spreadsheet software.
8-9 Backup Functions
8-9-3 Backing Up Variables and Memory
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(a) (b) (c) (d) (e) (f) (h)
(g)
Item
Description
Editable
(a) Language information Gives the language information from when the file was cre- No ated.
(b) Header information
Gives the project ID when the data was backed up.
No
(c) Separator
Gives the separator between variables.
No
(d) Variable name
Gives the variable name.
No
(e) Variable information Gives the variable ID.
No
(f) Variable column header
Gives the data type of the variable.
No
For a structure variable, gives the member name and data type.
For an array variable with two or more dimensions, gives the array element position, structure member name, and data type for dimensions 2 and higher.
(g) Variable row header For an array variable, gives the element number.
No
(h) Variable value
Gives the value of the variable.
Yes
Precautions for Correct Use
� Do not change anything other than the values of the variables. If you change anything else, it may not be possible to restore the data.
� Enter the values of the variables within the predefined range and format for each data type. If you enter any values incorrectly, you cannot restore the data. Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for information on the ranges and formats of the data types.
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8-9 Backup Functions
� Observe the following precaution if you change the values of TIME_OF_DAY variables in Excel. The values of TIME_OF_DAY variables are saved in the following format in CSV files: hh:mm:ss.tt (Where, hh: hours, mm: minutes, ss: seconds, and tt: milliseconds) If you open a CSV file in Excel, the values of TIME_OF_DAY variables are displayed in the following format: mm:ss (Where, mm: minutes and ss: seconds) If you save the file in this state, you will lose the data for hours and milliseconds, and an error will occur for the TIME_OF_DAY variable when you restore the data. To prevent this, change the display format for the values of TIME_OF_DAY variables to hh:mm:ss.tt before you save the file.
Restoring Data to Different Controller Models
You can restore data that was backed up on one Controller to another compatible Controller model. You can restore the types and range of data that are supported by the restore destination Controller. If you select an XML or CSV file that was backed up on a different Controller model during the restore operation, you can select only the check boxes for data that can be restored.
Whether Data Can Be Restored to Different Controller Models
Data that can be restored to different Controllers depends on the Controller model.
The table below shows whether or not you can restore data that was backed up on each Controller to different Controller models.
Controller on which backup file was cre-
ated
Data to restore
Restore destination Controller
NX701 Controller, NYseries Con-
troller
NX102 or NX1P2
Controller
NJ-series Controller
NX701 Controller, NY- Present values of retained vari- OK
OK
OK
series Controller
ables
Absolute encoder home offset OK
OK
NG
8
data*1
NX102 or NX1P2 Con- Present values of retained vari- OK
OK
OK
troller
ables
Present values in the DM, EM, NG and Holding Memory area used for CJ-series Units*2*3
OK*3
OK
Absolute encoder home offset OK
OK
NG
data*1
NJ-series Controller
Present values of retained vari- OK
OK
OK
ables
Present values in the DM, EM, NG and Holding Memory area used for CJ-series Units*2
OK*3
OK
Absolute encoder home offset NG
NG
OK
data*1*4
*1 If the number of enabled axes in the backup file exceeds the number of axes supported by the restore destination Controller, only the data corresponding to the number of axes supported by the restore destination Controller will be restored.
*2 If the size of memory used for CJ-series Units in the backup file exceeds the size supported by the restore destination Controller or the size set for the Controller, only the data corresponding to the size supported by or set for the Controller will be restored.
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*3 For NX1P2 Controllers, present values in the DM and Holding Memory area will be restored. *4 This data is not contained in the backup file for NJ101-90 CPU Units.
Precautions for Correct Use In Sysmac Studio version 1.16 or lower, you can use only CSV files to restore data to different Controller models. You cannot use XML files.
8-9-4 Importing/Exporting Backup Files
On the Sysmac Studio, you can import a backup file that was saved with the Controller backup function to a new project, or you can export a backup file from a project that can be used to restore data to a Controller.
Importing Backup Files
1 Select Backup - Import Backup File from the Tools Menu.
The Browse for Folder Dialog Box is displayed.
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2 Select the folder that contains the backup file, and then click the OK Button.
The current project is closed and the data in the backup file is imported into a new project.
Exporting Backup Files
1 Open the project from which to export the backup file and select Backup - Export Backup File from the Tools Menu. The Browse for Folder Dialog Box is displayed. 8
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2 Select the folder in which to save the file and click the OK Button.
The Export Setting Dialog Box is displayed.
Option
Default
Description
CPU Unit name
CPU Unit name This option sets the name of the Controller. in the project If you do not want to change the name of the Controller when you restore
the data, set the name of the Controller here in advance.
Time zone*1
Japan
This option sets the time zone for the clock in the Controller. If you do not want to change the time zone of the Controller when you restore the data, set the time zone of the Controller here in advance.
Do not include the Not selected. If you select this check box, the programs will not be saved. However,
program source.
variables and settings are saved even if this check box is selected.
The following operation is performed for a backup file that is created when this option is selected.
� If the backup file is used to restore data to a Controller with the Controller backup or SD Memory Card backup function, the condition of the Controller will be the same as when data is transferred for synchronization with the Do not transfer the program source Check Box selected.
� If the backup file is imported to a new project, the program will be empty, and a program error will occur.
*1 This is not displayed when the selected backup file is for an NY-series Controller.
3 Set the options and then click the Execute Button.
The backup file is created.
Precautions for Correct Use Always confirm that the required data is included before you use a backup file that was exported from a project to restore data to a Controller.
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8 Other Functions
8-10 Transferring All Controller Data
You can transfer the project data on the computer to the Controller or the data on the Controller to the project on the computer without using the synchronization operation.
This allows you to transfer the data with a shorter procedure than with the synchronization operation. You can use it to reduce the amount of work required to transfer project data to more than one Controller after operation has been confirmed.
8-10-1 Transferring Data from the Computer to a Controller
1 Place the target Controller online and select Controller - Transfer - To Controller from the
menu. Or, click the
Button in the toolbar.
The Transfer to Controller Dialog Box is displayed.
(a) (b)
(c) (d)
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Item (a) Target data (b) Options
(c) Execute Button (d) Close Button
Description
Displays the data to transfer.
Select the transfer options. The options are the same as for the synchronization operation. Refer to Uploading and Downloading Data on page 7-124 for details.
Starts transferring data to the Controller.
Closes the Transfer to Controller Dialog Box.
2 Click the Execute Button.
The data is transferred to the Controller. The dialog box closes when the transfer is completed.
8-10-1 Transferring Data from the Computer to a Controller
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8-10-2 Transferring Data from the Controller to the Computer
1 Place the target Controller online and select Controller - Transfer - From Controller from the menu. Or, click the Button in the toolbar. The Transfer from Controller Dialog Box is displayed.
(a)
(b)
(c) (d)
Item (a) Target data (b) Options
(c) Execute Button (d) Close Button
Description
Displays the data to transfer.
Select the transfer options. The options are the same as for the synchronization operation. Refer to Uploading and Downloading Data on page 7-124 for details.
Starts transferring data to the computer.
Closes the Transfer from Controller Dialog Box.
2 Click the Execute Button.
The data is transferred to the computer. The dialog box closes when the transfer is completed.
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8-11 NX Unit Maintenance
The following describes the maintenance of NX Units that you can perform with the Sysmac Studio.
Calibrating NX Units
You can correct the characteristics of NX Analog I/O Units that will change over the years.
1 Go online, right-click an Analog Input Unit or Analog Output Unit in the CPU and Expansion Racks Tab Page or Slave Terminal Tab Page, and select User Calibration from the menu. The User Calibration dialog box is displayed.
2 Set the channel and calibration values and click the Write Button.
A confirmation dialog box is displayed. Click the Yes Button to write the calibration values. Refer to the user's manual for the specific Analog Input Unit or Analog Output Unit for details on the setting values and operation of user calibration.
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8-12 EtherCAT Maintenance
EtherCAT Maintenance
The following operations are used for EtherCAT maintenance. � Disconnecting a slave from and reconnecting a slave to the network � Packet monitoring � Diagnostic and statistical information � Maintenance operations for EtherCAT Slave Terminals
8-12-1 Disconnecting a Slave from and Reconnecting a Slave to the Network
Disconnecting a Slave from and Reconnecting a Slave to the Network
You can use this operation to disconnect a slave with active process data communications from the network without Process Data Communications Error occurring. You can then reconnect the slave to the network to start process data communications again.
Procedure for Disconnecting a Slave from the Network
Use the following procedure to disconnect a slave from the network.
1 Right-click the slave in the EtherCAT Tab Page and select Disconnect/Connect Slave.
The Disconnect/Connect Slaves Dialog Box is displayed.
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2 Click the Disconnect Target Slave and All Downward Slaves Button. The selected slave and following slaves are disconnected. The following confirmation dialog box is displayed if disconnection failed.
Additional Information If you select a slave that has more than one output port and click the Disconnect Target Slave and All Downward Slaves Button, all of the slaves that are connected after all of the output ports will be disconnected. You can remove the communications cables from the disconnected slaves. Precautions for Correct Use Disconnecting a slave affects not only the selected slave but all of the slaves connected after the output ports on the selected slave. When you disconnect slaves, all I/O refreshing for process data communications for the slaves is stopped. Always confirm safety before you disconnect a slave.
Procedure for Reconnecting a Slave to the Network
1 Right-click the slave in the EtherCAT Tab Page and select Disconnect/Connect Slave.
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The Disconnect/Connect Slaves Dialog Box is displayed.
8-12 EtherCAT Maintenance
8-12-1 Disconnecting a Slave from and Reconnecting a Slave to the Network
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2 Click the Connect Target Slave Only Button.
The following dialog box is displayed and the selected slave is reconnected to the network. I/O refreshing with process data communications is restarted.
Note 1 Select the Connect All Disconnected Slaves Button to reconnect all slaves that are currently disconnected and to restart I/O refreshing through process data communications.
2 Select Connect target slave and the downward slaves to reconnect the specified slave and all slaves that are connected after its OUT port. I/O refreshing with process data communications is restarted.
Additional Information
When the EtherCAT configurations are synchronized, the status of the slaves are displayed in the EtherCAT Tab Page with the following icons. These icons are not displayed if synchronization is lost.
Icon
Meaning The slave exists on the actual network.
The slave exists on the actual network but it is disconnected.
The slave is not connected and does not exist (i.e., is not connected) in the actual network. (This icon could also indicate a slave that was connected in the location of a disconnected slave without the node address set.) The slave does not exist on the actual network.
Communications are disabled for the slave.
8-12-2 Packet Monitoring
Version Information Packet monitoring can be used for a CPU Unit with unit version earlier than 1.40.
Packet Monitoring
The master can monitor the packets that are transmitted through the network. From the Sysmac Studio, you can start and stop packet monitoring by the master, and you can get part of the packet data monitored by the master and save it in a file.
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Procedure
1 Right-click the master in the EtherCAT Tab Page and select Display Packet Monitor.
The Packet Monitor Dialog Box is displayed.
8-12 EtherCAT Maintenance
2 Click the Start Button to begin monitoring.
3 Click the Stop Button to stop monitoring.
4 Click the Save Packet Data Button to save the results of the monitoring.
The Save File Dialog Box is displayed.
5 Input a file name, and then click the Save Button.
A TCPDump packet data file with a .cap extension is saved.
8-12-3 Diagnostic and Statistical Information
Diagnostic and Statistical Information
8
Diagnostic and statistical information provides statistics on diagnosis of EtherCAT communications status, such as the number of frames that are sent and received. The Diagnosis/Statistics Information Tab Page displays information on the EtherCAT master and slaves. This section gives the procedure to display and operate the Diagnosis/Statistics Information Tab Page, which is displayed online, and the procedure for displaying and operating the EtherCAT Diagnosis/Statistics Information Viewer that displays the data saved in the Diagnosis/Statistics Information Tab Page in offline state. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NYseries Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562) for details on the displayed information and troubleshooting methods for diagnostic and statistical information.
Diagnosis/Statistics Information Tab Page
Diagnosis/Statistics Information Tab Page Operating Procedure
1 Right-click the master in the EtherCAT Tab Page and select Display Diagnosis/Statistics Information. The Diagnosis/Statistics Information Tab Page is displayed.
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(a)
(b)
(c)
(d)
(e)
(f)
Item
Description
(a) Display data (Get date) list
Displays the list of dates and times at which you acquired the diagnostic and statistical information by clicking the Get Button. If you select a date and time from the list, the display of the diagnostic and statistical information for both master and slave are changed to the data for the selected date and time.
(b) Get Button
Acquires the master and slave diagnostic and statistical information from the actual network configuration. The date and time of information acquisition is added to the Display data (Get date) list.
You can retain a maximum of 100 diagnostic and statistical information data items acquired while the Diagnosis/Statistics Information Tab Page is displayed.
(c) Master Diagnosis/Statistics Informa- Displays the master diagnostic and statistical information. tion
(d) Slave Diagnosis/Statistics Informa- Displays the slave diagnostic and statistical information. tion
(e) Output File Button
Saves the diagnostic and statistical information, and values of system-defined variables*1 of the master and slaves at all acquisition dates and times retained in the Diagnosis/Statistics Information Tab Page into a Viewer format file or CSV format file. The CSV file is encoded in UTF-8 character codes.
(f) Return to EtherCAT configuration Closes the Diagnosis/Statistics Information Tab Page
view Button
and returns the display to the EtherCAT Tab Page.
*1 The following system-defined variables of the slaves whose _EC_RegSlavTbl variable is set to TRUE are saved. _EC_EntrySlavTbl, _EC_MBXSlavTbl, and _EC_PDSlavTbl
2 Click the Get Button when you want to acquire diagnostic and statistical information.
The display of the master and slave diagnostic and statistical information is updated and the date and time of acquisition is added to the Display data (Get date) list.
To display the master and slave diagnostic and statistical information that was already acquired, select the date and time of acquisition from the Display data (Get date) list.
3 To save the master and slave diagnostic and statistical information, click the Output File Button.
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The file format selection dialog box is displayed.
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8-12 EtherCAT Maintenance
File format
Description
Viewer Format (Including EtherCAT Select this format to read and display data offline with the Ether-
Configuration Information)
CAT Diagnosis/Statistics Information Viewer.
CSV Format
Select this format to display data with spreadsheet software such
as Excel.
4 Select the file format for saving data, enter any comment, and click the Next Button.
The Save File Dialog Box is displayed.
5 Enter a file name, and then click the Save Button.
When Viewer Format is selected, a file with a .xml extension is saved. When CSV Format is selected, a file with a .csv extension (comma-separated) is saved.
Precautions for Correct Use
� The data of diagnostic and statistical information acquired with the Get Button are retained only while the Diagnosis/Statistics Information Tab Page is displayed. When the Diagnosis/Statistics Information Tab Page is closed, all data are discarded. Save the diagnostic and statistical information into a file as needed before you close the Diagnosis/Statistics Information Tab Page.
� The maximum number of diagnostic and statistical information data items you can retain while the Diagnosis/Statistics Information Tab Page is displayed is 100. To acquire more data
after the maximum number of retained data items is reached, close the Diagnosis/Statistics 8
Information Tab Page to discard the retained data, and then open the tab page again to acquire new data.
� You cannot acquire the slave diagnostic and statistical information when the diagnosis/statistics log of the Controller is in progress. To acquire the slave diagnostic and statistical information, finish the diagnosis/statistics log, and then click the Get Button again. When the diagnosis/statistics log of the Controller is in progress, Auto logging is displayed in the Error Frames Column in the slave diagnostic and statistical information table. Refer to the NJ/NXseries CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562) for details on the diagnosis/statistics log.
Master Diagnostic and Statistical Information
(a) (b) (c)
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Item
Description
(a) Master Diagnostic and Statistical Information list
Displays the master diagnostic and statistical information.
(b) Clear Master Diagnosis/Statistics Clears the diagnostic and statistical information saved in
Information Button
the master.
(c) Show all items Check Box
Select this check box to display all items of the master diagnostic and statistics information.
If the master diagnostic and statistical information is cleared, the display of the master diagnostic and statistical information in the Diagnosis/Statistics Information Tab Page is cleared to zeros. Also, the slave diagnostic and statistical information is acquired automatically and the display of the Diagnosis/Statistics Information Tab Page is updated.
Slave Diagnostic and Statistical Information
(a)
(b)
(c)
Item (a) EtherCAT Configuration display
Description The EtherCAT Configuration of the project is displayed.
(b) Slave Diagnostic and Statistical Information list
(c) Clear Slave Diagnosis/Statistics Information Button*1
An error icon that indicates the occurrence of an error is displayed for the master or the slave where an error occurred. Place the mouse over the error icon, and the current event is displayed in a tooltip. Displays the slave diagnostic and statistical information.
Clears the diagnostic and statistical information saved in the slave.
*1 This appears only when the unit version of the CPU Unit set in the Sysmac Studio project is 1.11 or later.
If the slave diagnostic and statistical information is cleared, the display of the slave diagnostic and statistical information in the Diagnosis/Statistics Information Tab Page is cleared to zeros. Also, the master diagnostic and statistical information is acquired automatically and the display of the Diagnosis/Statistics Information Tab Page is updated.
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Precautions for Correct Use
� When the maximum number of acquired diagnostic and statistical information is reached, you need to discard the acquired data to clear the diagnostic and statistical information. If you need to save the data, output the file before you execute the clear command.
� You cannot clear the slave diagnostic and statistical information when the diagnosis/statistics log of the Controller is in progress. Finish the diagnosis/statistics log, and then execute the clear operation for the slave diagnostic and statistical information again. When the diagnosis/statistics log of the Controller is in progress, Auto logging is displayed in the Error Frames Column in the slave diagnostic and statistical information table.
� When you display the slave diagnostic and statistical information, make sure that the actual EtherCAT network configuration agrees with the network configuration in the project. If the network configurations do not agree, the slave diagnostic and statistical information display will not be correct. If you execute the clear command for the slave diagnostic and statistical information when the network configurations do not agree, the information may not be cleared properly.
EtherCAT Diagnosis/Statistics Information Viewer
In the EtherCAT Diagnosis/Statistics Information Viewer, you can display diagnostic and statistical information saved in a file in offline state.
Diagnostic and statistical information data must be saved into a Viewer Format file in advance in the Diagnosis/Statistics Information Tab Page. Refer to Diagnosis/Statistics Information Tab Page Operating Procedure on page 8-59 for the procedure to save data into a file.
EtherCAT Diagnosis/Statistics Information Viewer Operating Procedure
1 Select Tools - EtherCAT Diagnosis/Statistics Information Viewer from the main menu.
The diagnostic and statistical information file selection dialog box is displayed.
2 Select the target diagnostic and statistical information file, and then click the Open Button.
The EtherCAT Diagnosis/Statistics Information Viewer Dialog Box starts, and the selected diagnostic and statistical information is displayed.
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8-12-3 Diagnostic and Statistical Information
The displayed contents are the same as those displayed in the Diagnosis/Statistics Information Tab Page.
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Additional Information � Data can be saved into a file from the EtherCAT Diagnosis/Statistics Information Viewer Dia-
log Box in CSV format only. � The following buttons are grayed out.
Get, Clear Master Diagnosis/Statistics Information, and Clear Slave Diagnosis/Statistics Information
Displaying Diagnostic and Statistical Information File Properties
In the EtherCAT Diagnosis/Statistics Information Viewer Dialog Box, you can display the properties of the currently displayed diagnostic and statistical information.
1 Click the Properties Button in the EtherCAT Diagnosis/Statistics Information Viewer Dialog Box. The Properties Dialog Box is displayed.
The controller information and comments when the diagnostic and statistical information was obtained are displayed in the Properties Dialog Box.
8-12-4 Maintenance Operations for EtherCAT Slave Terminals
The following maintenance operations are supported for EtherCAT Slave Terminals. � Restarting Units in a Slave Terminal � NX Unit Calibration � I/O Wiring Checks
Restarting Units in a Slave Terminal
Use the following procedure to restart the Units in a Slave Terminal. You can restart all of the Units in the Slave Terminal or you can restart individual Units.
1 To restart all of the Units in the Slave Terminal, go online, right-click the Communications Coupler Unit on the Slave Terminal Tab Page, and select Restart. To restart individual Units in the Slave Terminal, go online, right-click the Unit to restart on the Slave Terminal Tab Page, and select Restart. The Restart Confirmation Dialog Box is displayed. Example: When Restarting All of the Units in a Slave Terminal
2 Click the Yes Button.
The restart is completed.
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Additional Information A Communications Coupler Unit with unit version 1.2 or later is required to restart individual Units.
NX Unit Calibration
Calibration can be performed to compensate for temporal changes in the characteristics of Analog I/O Units. Go online, right-click an Analog Input Unit or Analog Output Unit and select User Calibration. Refer to 8-11 NX Unit Maintenance on page 8-55 for details.
I/O Wiring Checks
Refer to 7-5-3 Checking I/O Wiring on page 7-146 for details on wiring checks for NX Units on a Slave Terminal. To perform I/O wiring checks for Slave Terminals that are not connected to the Controller, connect the Sysmac Studio directly to the Slave Terminal. Refer to A-7 Directly Connecting to an EtherCAT Slave Terminal for details.
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8-13 Grouping for POUs and Global Variables
This function allows you to group multiple POUs and global variables. With this function, you can group them by several aspects such as process or functionality, and clearly organize the programming constitutions. This function does not affect the operation of programs.
8-13-1 Displaying the Programming Group Tab Page
1 Select Programming Group Tab Page from View in the Main Menu.
The Programming Group tab page is displayed.
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It is displayed below the Filter Pane by default.
Additional Information After you perform any of the following operations, click the Update Button on the Programming Group tab page to update the display. � Adding a new group in the global variable table � Switching a device � Deleting a POU that is registered in a group The Programming Group tab page can be used only in a standard project.
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8-13-2 Grouping POUs
Multiple POUs can be grouped for display. Grouping POUs is performed on the Programming Group tab page.
Creating a New Group and Adding POUs
1 Right-click in the Programming Group tab page and select New group and add POUs.
The Enter new group name dialog box is displayed.
2 Enter a group name, and then click the OK Button.
The Add POUs to the group dialog box is displayed.
3 Select the POUs you want to group, and then click the OK Button.
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8-13 Grouping for POUs and Global Variables
8-13-2 Grouping POUs
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Grouped POUs are displayed in the Programming Group tab page.
The global variables are displayed below the created group at the same time. Any global variables can be added to the group. Refer to 8-13-3 Grouping Global Variables on page 8-70 for how to add global variables to a group.
Adding New POUs to Existing Group
1 Right-click an existing group where you want to add POUs, and then select Add POUs to the group.
The Add POUs to the group dialog box is displayed.
2 Select the POUs to add, and then click the OK Button.
The specified POUs are added in the group.
Changing Group Name
1 Right-click an existing group to rename and select Rename from the menu.
The Enter new group name dialog box is displayed.
2 Enter a group name, and then click the OK Button.
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The present group name is changed.
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Ungrouping
1 Right-click an existing group to ungroup and select Ungroup from the menu.
A confirmation dialog box for ungrouping is displayed.
2 Click the OK Button.
The specified group is deleted from the Programming Group tab page.
Removing a POU from a Group
1 Right-click the POU to remove from the group and select Remove from the group from the menu.
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A confirmation dialog box for removing is displayed.
2 Click the OK Button.
The specified POU is removed from the group.
8-13-2 Grouping POUs
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8-13-3 Grouping Global Variables
Grouping of the global variables is performed in the global variable table.
Creating a New Group and Adding Global Variables
1 Double-click Global Variables in the Multiview Explorer.
The global variable table is displayed.
2 Right-click the header on the row of the global variable to select Add to new group under Group Settings.
The Enter new group name dialog box is displayed.
3 Enter a group name, and then click the OK Button.
The message is displayed to notify that creation of the group and addition of the variables have been completed.
4 Click the OK Button.
The global variable you selected is added to the created group. Refer to Checking the Global Variable Added to a Group on page 8-71 to confirm the global variables added to the group.
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Additional Information After you create a new group, click the Update Button on the Programming Group tab page to display the created group on the tab page.
Adding a New Global Variable to an Existing Group
1 Right-click the header on the row of a global variable you want to add, and then select Add to existing group under Group Settings.
8-13 Grouping for POUs and Global Variables
8-13-3 Grouping Global Variables
The Select group dialog box is displayed.
2 Select a destination group, and then click the OK Button.
8
The global variable is added to the selected group.
Checking the Global Variable Added to a Group
To check the global variable added to the group, apply the group filter in the global variable table.
1 Select a group name and then click the Group Filter Button.
Only the global variables in the selected group are displayed.
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Click again the Group Filter Button to clear the group filter. Once you clear the group filter, all global variables are displayed.
Removing a Global Variable from a Group
1 Right-click the header on the row of the global variable to remove, and then select Remove from the group under Group Settings.
A confirmation dialog box for removing global variables from the group is displayed.
2 Click the Yes Button.
The selected global variable is removed from the group.
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8-14 Project Shortcut View
This function enables you to create shortcuts for the Configurations and Setup items and Programming items in the Multiview Explorer. By registering shortcuts, you can easily access the Configurations and Setup items and Programming items in the Multiview Explorer. You can also create folders to organize the created shortcuts. This function does not affect the operation of programs.
Precautions for Correct Use This function is supported only by the Sysmac Studio (64 bit). The created folders or registered shortcuts are not transferred to the Controller.
(a)
(b)
8
(c) (d) (e)
Series (a) Configurations and Setup items (b) Programming items (c) Shortcut Root Folder (d) User folder (e) Shortcuts for Configurations and Setup
items or Programming items
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8-14-1 Displaying the Project Shortcut View
1 Select Project Shortcut View from the View Menu.
The Project Shortcut View is displayed in the Filter Pane.
The Shortcut Root Folder is created in the Project Shortcut View. You cannot delete the Shortcut Root Folder. By default, only the Shortcut Root Folder is displayed. Additional Information � If the project contains any of the following devices, the Project Shortcut View is displayed in
the default position. If the project contains none of the following devices, the Project Shortcut View is not displayed. � Robot Integrated CPU Unit � Application Manager � When the Sysmac Studio has gone online with the Controller without a project open, Project Shortcut View is not displayed.
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8-14-2 Adding User Folders
Right-click the Shortcut Root Folder and select Add Folder.
Under the Shortcut Root Folder, a new folder is created.
8-14-3 Renaming User Folders
1 Right-click the user folder to rename and select Rename Folder from the menu.
2 You can now rename the user folder in the Edit Pane.
Enter any name.
8-14-4 Copying and Pasting User Folders
1 Right-click the user folder to copy and select Copy Folder from the menu.
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2 Right-click the copy destination folder and select Paste Folder or Shortcut from the menu.
8-14 Project Shortcut View
8-14-2 Adding User Folders
Under the Shortcut Root Folder, or the selected user folder, the copied folder is pasted.
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Additional Information You can perform this operation on more than one selection.
8-14-5 Cutting User Folders
Right-click the user folder to delete or copy and select Cut Folder from the menu.
Refer to 8-14-4 Copying and Pasting User Folders on page 8-75 for how to add a user folder by copying it.
Additional Information You can perform this operation on more than one selection.
8-14-6 Deleting User Folders
1 Right-click the user folder to delete and select Delete Folder from the menu.
A deletion confirmation dialog box is displayed.
2 Click the Yes Button.
The user folder is deleted. Additional Information You can perform this operation on more than one selection.
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8-14-7 Editing Comments on User Folders
You can enter a comment on a user folder to display it in a tooltip.
1 Right-click the user folder, Configurations and Setup item, or Programming item on which to enter a comment and select Edit Comment. A dialog box is displayed for you to enter a comment.
2 Enter a comment. 3 Click the OK Button.
8-14-8 Adding Shortcuts
You can add shortcuts from a Configurations and Setup item, Programming item, or user folder.
Adding Shortcuts from a Configurations and Setup Item or Programming Item
This function is available only when the Robot Integrated CPU Unit or Application Manager is selected.
1 Select the Configurations and Setup item or Programming item to jump to from a shortcut. 2 Right-click the user folder in which to add a shortcut and select Add Shortcut of Selected Item
from the menu.
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8-14-7 Editing Comments on User Folders
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A shortcut is created under the user folder.
It is displayed with an icon for the created Configurations and Setup item or Programming item ( ).
Adding Shortcuts from a User Folder
1 Select the user folder in which to add a shortcut.
2 Right-click the Configurations and Setup item or Programming item for which to create a shortcut and select Add Shortcut.
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It is displayed with an icon for the created Configurations and Setup item or Programming item ( ).
Additional Information � If the item selected in the Multiview Explorer has child items, a shortcut is created for items
including the child items. Shortcuts for the items related to the Configurations and Setup item or Programming item are displayed under the selected folder. � If there are items related to the item to add, in addition to its shortcut, you can add the shortcuts for the related items together. � You can move shortcuts between folders by dragging them from one folder to another. However, you cannot move child shortcuts of a shortcut.
8-14-9 Editing Items from Shortcuts
Right-click the shortcut to an item to edit and select Multiview Explorer Menu � Edit from the menu.
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8-14 Project Shortcut View
8-14-9 Editing Items from Shortcuts
You can now edit it in the Edit Pane.
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8-14-10 Copying and Pasting Shortcuts
1 Right-click the shortcut to copy and select Copy Shortcut from the menu.
2 Right-click the copy destination folder and select Paste Folder or Shortcut from the menu.
Under the Shortcut Root Folder, or the selected user folder, the copied shortcut is pasted.
Additional Information You can perform this operation on more than one selection.
8-14-11 Cutting Shortcuts
Right-click the user folder to delete or copy and select Cut Shortcut from the menu.
Refer to 8-14-10 Copying and Pasting Shortcuts on page 8-80 for how to add a shortcut by copying it.
Additional Information You can perform this operation on more than one selection.
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8-14-12 Deleting Shortcuts
1 Right-click the shortcut to delete and select Delete Shortcut from the menu.
8-14 Project Shortcut View
A deletion confirmation dialog box is displayed.
2 Click the Yes Button.
The shortcut is deleted from the folder. Additional Information You can perform this operation on more than one selection.
8-14-13 Editing Comments on Shortcuts
You enter a comment on a shortcut to display it in a tooltip.
1 Right-click the shortcut on which to enter a comment and select Edit Comment from the menu.
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A dialog box is displayed for you to enter a comment.
2 Enter a comment. 3 Click the OK Button.
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8-14-14 Jumping from a Shortcut to the Multiview Explorer
You can jump from a selected shortcut to the associated item in the Multiview Explorer.
The focus moves to the Configurations and Setup item or Programming item for the selected shortcut.
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8-15 Troubleshooting
Overview of Troubleshooting
Troubleshooting is used to check the errors that occurred in the Controller, display corrections for the errors, and clear the errors.
8-15-1 Troubleshooting Dialog Box
The current errors in the online Controller and the contents of the event logs are read and displayed in the Troubleshooting and Event Logs Dialog Box.
1 Select Troubleshooting from the Tools Menu while online. You can also click the Troubleshooting Button in the toolbar. The following Troubleshooting Dialog Box is displayed.
8-15 Troubleshooting
8-15-1 Troubleshooting Dialog Box
8
2 Click the following tabs to change the display as required.
Tab Controller Errors Controller Event Log User-defined Errors
User-defined Event Log
Displayed information
This tab page reports Controller errors as well as error details and corrections.
This tab page displays errors and information recorded in the event logs in the Controller.
This tab page reports user-defined errors and user-defined information that is created by execution of the SetAlarm (Create User-defined Error) instruction and the SetInfo (Create User-defined Information) instruction.
This tab page displays user-defined errors and user-defined information recorded in the event log in the Controller.
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8-15-2 Controller Errors
This tab page displays any current Controller errors. (Observations and information are not displayed.)
Information Displayed for Controller Errors and Functions
Item Select the Display Target Level
Source Source Details Event Name Event Code Details Attached information 1 to 4
Action and correction
Switch display to show action and correction Button Jump to Error Button
Description Selects the items to display for errors. Displays the level of the error.
Displays the location of the error.
Displays the name of the error. Displays the event code of the error. Describes the error and gives the cause of the error. Displays supplementary information about the error. The meaning of the data is explained in the details. Gives the action and correction that are required to recover from the error.
Switches the display between the details and attached information 1 to 4, and the corrections. Changes the display to the Correction Display in the Sysmac Studio if correcting settings are required.
Remarks
When a Controller error is displayed, this shows whether it is a major fault, a partial fault, or a minor fault. Observations and information events can be checked in the Controller log.
Select an action and correction to enable the Jump to Error Button if there is a setting that you can correct. Click the button to switch to the display of Switch display to show details. You cannot jump if the data is not synchronized.
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Item Error Help Button
Reset All Button
Reset (Selected Units) Button
Description
Displays help if an error in a CJ-series Unit cannot be dealt with in the Sysmac Studio.
Clears all current errors. Any errors that remain are displayed again.
Resets any errors in the NX Unit selected in the Select the Display Target Area.
Remarks
You cannot clear errors individually. You cannot select this when the selected Unit is not an NX Unit.
Items Displayed as Sources
Displayed source Displayed detailed event source
Location of error
PLC
Instruction*1*2*3
The error occurred in an instruction.
DB connection service*4
There is an error in the database connection for a Database Connection CPU Unit.
SECS/GEM*5
An error related to SECS/GEM occurred for an SECS/GEM CPU Unit.
Windows*6
The Windows was started up or closed on the NY-series Controller, or an error occurred on the Windows.
Built-in I/O*7
The error occurred in the built-in I/O of the Controller.
Option Board*7
The error occurred in the Option Board that is mounted on the Controller.
Option Board 1*7
The error occurred in Option Board 1 that is mounted on the Controller.
Option Board 2*7
The error occurred in Option Board 2 that is mounted on the Controller.
Blank
The error occurred in the data processing section of the Controller.
I/O bus
Master
The error occurred between the Controller and a mounted Unit.
Rack No. Slot No.
The error occurred in a Unit that is mounted in the Controller. The Unit where the error
8
occurred is identified by the rack number and
slot number.
NX bus*8
Master
The error occurred between the Controller and a mounted Unit.
Unit No. (Slot No.)
The error occurred in a Unit that is mounted on the Controller. The Unit where the error occurred is identified by the Unit number and slot number.
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Displayed source EtherNet/IP
EtherCAT Motion Control
Displayed detailed event source Communications port CIP FTP NTP SNMP Communications port 1*9 Communications port 2*9 Internal port 1*6 CIP1*9 CIP2*9 NX Unit No. Communications port Master Node No. NX Unit
Common items
Axis No. Axes Group No.
Location of error
The error occurred in communications on the built-in EtherNet/IP port on the Controller.
The error occurred in a CIP application on the built-in EtherNet/IP port on the Controller.
The error occurred in an FTP application on the built-in EtherNet/IP port on the Controller.
The error occurred in an NTP application on the built-in EtherNet/IP port on the Controller.
The error occurred in an SNMP application on the built-in EtherNet/IP port on the Controller.
The error occurred in communications on the built-in EtherNet/IP port 1 on the Controller.
The error occurred in communications on the built-in EtherNet/IP port 2 on the Controller.
The error occurred in communications of the internal port 1 on the NY-series Controller.
The error occurred in a CIP application on the built-in EtherNet/IP port 1 on the Controller.
The error occurred in a CIP application on the built-in EtherNet/IP port 2 on the Controller.
An error occurred in a Unit on a Slave Terminal.
The error occurred in communications on the built-in EtherCAT port on the Controller.
The error occurred in the master for the built-in EtherCAT port on the Controller.
The error occurred in a slave connected to the built-in EtherCAT port on the Controller.
The error occurred in a Unit on a Slave Terminal connected to the built-in EtherCAT port on the Controller.
The error occurred in the Axis Common section of the Controller's Motion Control Function Module.
The error occurred in an axis in the Controller's Motion Control Function Module.
The error occurred in the an axes group in the Controller's Motion Control Function Module.
*1 "Instruction" is displayed only in the Controller event logs.
*2 "Instruction" is displayed only if outputting instruction errors is enabled in the Event Log Settings of the Controller Setup.
*3 "Instruction" is displayed only if the unit version of the connected CPU Unit is 1.02 or later.
*4 This error is displayed only for an NJ-series Database Connection CPU Unit. Refer to the NJ/NX-series Database Connection CPU Units User's Manual (Cat. No. W527) for details on errors.
*5 This error is displayed only for an NJ-series SECS/GEM CPU Unit. Refer to the NJ-series SECS/GEM CPU Units User's Manual (Cat. No. W528) for details on errors.
*6 This is displayed only for an NY-series Controller.
*7 This is displayed only for an NX1P2 Controller.
*8 This is displayed only for an NX102 or NX1P2 Controller.
*9 This is displayed only for an NX701 Controller and NX102 Controller.
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Changing to the Correction Display
1 Check the Details and Attached Information Areas to check the details and cause of an error. 2 Check the method to correct the error in the Action and correction Area.
3 Select the correction to make. If there is more than one correction, select one correction to actually perform.
If you select a correction that allows you to jump to the Correction View, the Jump to Error But- 8
ton is enabled.
4 Click the Jump to Error Button.
The display changes to the display for correcting the settings.
5 Correct the settings while the Sysmac Studio is offline.
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You can click the Level or Source heading to sort the errors by that item. The events are displayed in order of event levels by default.
Example: Changing the Display Order
Click Source.
8-15-3 Controller Event Log
You can display a log of Controller events (including Controller errors and Controller information). (The logs in EtherCAT slaves are not displayed.)
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List of Controller Event Log Contents and Functions
Item
Meaning
Remarks
Select the Display Target
Selects the items to display in the log.
Displayed Information
This switches the information displayed between the system event log and the access event log.
The log contents in the CJ-series Unit is treated as a system event log.
Level
Changes the information displayed according to the event levels.
Entry
Displays events with serial numbers by event source and by event log type.
Refer to Display Details for Entries on page 8-90 described later for details.
Time
Displays the time and date that the event This is time and date information
occurred.
stored in the Controller.
The date for events without occurrence time information is displayed as "----/--/-- --:--:--."
Level
Displays the event level.
Refer to 8-15-2 Controller Errors for information on the displayed contents.
Source Source Details
Displays the location of the event.
Refer to 8-15-2 Controller Errors for information on the displayed contents.
Event Name
Displays the event name.
Event Code
Displays the event code.
Details
Displays the contents and cause of the event log that was read.
Attached information 1 to 4
Displays supplementary information about the event log that was read. The meaning of the data is explained in the details.
Action and correction
Gives the action and correction that are The location to edit is displayed if
Switch display to show
required to recover from the error. Switches the display between the details
you select a correction. Click the button to switch to the dis-
8
action and correction But- and attached information 1 to 4, and the play of Switch display to show
ton
corrections.
details.
Update Button
Reads and displays the log again.
The display is not automatically updated. The display is updated at the following times.
� When you open the Troubleshooting Dialog Box
� When you click the Reload Button.
Print Button
Prints the displayed log information.
Log information that is not displayed due to the Displayed Information selections is not printed.
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Item Save Button
Clear Button Error Help Button
Meaning Saves the event log information into a Viewer format file or CSV format file.
Deletes the display log.
Displays the causes of and details on errors.
Remarks
All of the event log information is saved regardless of the display settings.
Use the Event Log Viewer to open a file saved in Viewer format, and you can check the contents offline.
If the system event log is cleared, the CJ-series Unit log is also cleared.
---
Precautions for Correct Use
The Controller event logs display information on events that have occurred. The information that is displayed in the logs may not reflect the current status of the Controller or programs. Use this information as reference only.
Additional Information
� To find out the timing of events that do not have time information in the NX Unit, select the NX Unit in the Select the Display Target Area and check the order of occurrence of the events with the numerical order of the entries.
� You can check the location of the event on the configuration of the EtherCAT network by rightclicking in the Controller Event Log Tab Page and selecting Display EtherCAT Configuration Information (Event Log) from the pop-up menu. For details, refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or the NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562).
Display Details for Entries
Entries are displayed as follows according to the event sources and log types. Serial numbers are assigned to events in chronological order of occurrence.
Device/log type
Controller System Event Log
Controller Access Event Log
System Event Log for NX Unit on CPU Rack
Display format C_[nnnn]S C_[nnnn]A U[aaa]_[nnnn]S
Access Event Log for NX Unit U[aaa]_[nnnn]A on CPU Rack
CJ-series Unit Log
R[aa]_SI[bb]_[nnnn]S
EtherCAT Slave Log
N[aaa]_[nnnn]S
System Event Log for NX Unit N[aaa]_U[bbb]_[nnnn]S on EtherCAT Slave Terminal (Controller connection)
Description [nnnn]: Serial number [nnnn]: Serial number [aaa]: Unit number [nnnn]: Serial number [aaa]: Unit number [nnnn]: Serial number [aa]: Rack number [bb]: Slot number [nnnn]: Serial number [aaa]: Node No. [nnnn]: Serial number [aaa]: Node No. [bbb]: Unit number [nnnn]: Serial number
Display example C_0001S C_0001A U063_0001S
U063_0001A
R01_SI02_0001S
N001_0001S
N001_U063_0001S
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Device/log type
Access Event Log for NX Unit on EtherCAT Slave Terminal (Controller connection)
Display format N[aaa]_U[bbb]_[nnnn]A
System Event Log for NX Unit on EtherCAT Slave Terminal (EtherCAT slave terminal direct connection)
Access Event Log for NX Unit on EtherCAT Slave Terminal (EtherCAT slave terminal direct connection)
U[aaa]_[nnnn]S U[aaa]_[nnnn]A
Description [aaa]: Node No. [bbb]: Unit number [nnnn]: Serial number [aaa]: Unit number [nnnn]: Serial number
Display example N001_U063_0001A
U063_0001S
[aaa]: Unit number
U063_0001A
[nnnn]: Serial number
Changing the Display Order
You can click the Time, Level, or Source heading to sort the errors by that item. The events are displayed in order of dates by default.
Selecting the Display Range of Event Logs
You can specify the range of event occurrence dates to display event logs in a specific range.
1 Right-click the mouse over the target event log row, and select Show only ones newer than the selected or Show only ones older than the selected.
Only the event logs with the dates corresponding to the selected menu option will be displayed.
2 Right-click the mouse over the event log row with the date to be used for specifying the range, and select Show only ones newer than the selected or Show only ones older than the selected.
According to the selected menu option, the display range of event logs will be narrowed down.
Repeat this to further narrow down the range of dates of event logs to be displayed.
3 To clear the narrowed-down results, right-click the mouse and select Clear the filter for 'Time'.
Saving Controller Event Log
8
1 Click the Save button.
The dialog box to select the file format is displayed.
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8-15-3 Controller Event Log
File format
Viewer Format (Including EtherCAT Configuration Information)
CSV Format
Description
Select this format to read and display data offline with the Event Log Viewer.
Select this format to display data with spreadsheet software such as Excel.
2 Select the file format for saving data, enter any comment, and click the Next Button.
The Save File Dialog Box is displayed.
3 Enter a file name, and then click the Save Button.
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When Viewer Format is selected, a file with a .xml extension is saved. When CSV Format is selected, a file with a .csv extension (comma-separated) is saved. Precautions for Correct Use The saved CSV file of the Controller event log is encoded in UTF-8 character codes.
8-15-4 User-defined Errors
You can display information on current errors.
Information Displayed for User-defined Errors and Functions
Level
Item
Group Event Code Event Name Details
Attached information 1 and 2
Reset Button Reset All Button
Description Displays the event level categorized by the event code.
Displays the group registered in the Event Setting Table. Displays the event code. Displays the event title registered in the Event Setting Table. Displays the event message registered in the Event Setting Table. Displays the values for the Info1 and Info2 input parameters for the Create User-defined Error (SetAlarm) instruction and the Create User-defined Information (SetInfo) instruction. Resets the selected user-defined event. Resets all user-defined events.
Remarks
You can change the name of the event level in the Event Setting Table.
Additional Information
Only the contents registered in the Language 1 Event Setting Table is shown in the User-defined Error Tab Page. The contents registered for Languages 2 to 9 are not displayed.
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8-15-5 User-defined Event Log
The log of user-defined events that were stored for the Create User-defined Error (SetAlarm) instruction and the Create User-defined Information (SetInfo) instruction is displayed.
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8-15-5 User-defined Event Log
Information Displayed for User-defined Event Log and Functions
Time
Item
Level
Group
Event Code
Event Name Display Settings, Level
Details
Attached Information 1 and 2
Contents
Remarks
Displays the time and date that the user- This is time and date information
defined event occurred.
stored in the Controller.
Displays the event level of the user-
Refer to 8-15-4 User-defined
defined event.
Errors for information on the dis-
Displays the group name of the user-
played contents.
8
defined event.
Displays the event code of the userdefined event.
Displays the user-defined event name.
Switches the view between user-defined errors (event codes 1 to 40,000) and user-defined information (event codes 40,001 to 60,000).
Only user-defined errors are displayed by default.
Displays a description of the event that corresponds to the event code registered in the Event Setting Table.
Of Languages 1 to 9 in the Event Setting Table, only the contents registered for Language 1 is displayed. You cannot switch to Languages 2 to 9.
Displays the values for the Info1 and Info2 input parameters for the Create User-defined Error (SetAlarm) instruction and the Create User-defined Information (SetInfo) instruction.
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Item Update Button
Print Button Save Button Clear Button
Contents Reads and displays the log again.
Prints the event log. Saves the event log to a CSV file. Deletes the user log.
Remarks
The display is not automatically updated. The display is updated at the following times.
� When you open the Troubleshooting Dialog Box
� When you click the Reload Button.
Changing the Display Order
You can click the Time, Level, Group, or Event Code heading to sort the events by that item. The events are displayed in order of dates by default.
Precautions for Correct Use The saved CSV file of the user-defined event log is encoded in UTF-8 character codes.
8-15-6 Event Setting Table
The Event Setting Table is used to register the contents displayed on the Sysmac Studio and on HMIs for user-defined events that occur for execution of the Create User-defined Error (SetAlarm) instruction and the Create User-defined Information (SetInfo) instruction. � You can register the items that are described below (event name, level, group, and details) for each
event code. � You can register up to 5,120 events in the Event Setting Table. � You can copy data created in Excel and paste it into the Event Setting Table. � You can also directly edit the Event Setting Table.
Event Name
Register the title of each user-defined event.
If the title is not registered, "User Fault Level 1" to "User Fault Level 8" or "User-defined Information" is displayed.
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Level
The level of user-defined event is automatically determined according to the event code as shown in the following table. The name of the level is registered according to the level.
Event code 1 to 5000 5001 to 10000 10001 to 15000 15001 to 20000 20001 to 25000 25001 to 30000 30001 to 35000 35001 to 40000 40001 to 60000
Level High Low
Default title setting User fault level 1 User fault level 2 User fault level 3 User fault level 4 User fault level 5 User fault level 6 User fault level 7 User fault level 8 User-defined Information
Remarks These event codes are used in the Create User-defined Error (SetAlarm) instruction.
These event codes are used in the Create User-defined Information (SetInfo) instruction.
If the level name is not registered, "User Fault Level 1" to "User Fault Level 8" or "User-defined Information" is displayed.
Group
Register the group names to indicate the location and type of each user-defined event.
Details
Register a detailed description of the user-defined event. The contents registered in the Event Setting Table and the contents displayed in the Troubleshooting Dialog Box and on an HMI have the following relationship.
Parameters in the Event Setting Table
8
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If you use more than one label on the NS-series PT, create more than one language table in the Event Setting Table. You can edit up to nine languages in the Event Setting Table.
8-15-7 Displaying and Editing the Event Setting Table
This section provides the procedures for displaying and editing the Event Setting Table.
Displaying the Event Settings Table
Double-click Event Settings under Configurations and Setup in the Multiview Explorer. Or, rightclick Event Settings under Configurations and Setup and select Edit from the menu. The Editing Pane for the Event Setting Table is displayed.
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Displaying and Editing the Event Settings Table
Item Event Set- Event Code tings Table
Event Name Event Level
Group
Details
Register the detailed description to display on the NS-series PT when a Controller error in the major fault level occurs. Comment
Description
You can specify a number to identify the event according to the event level.
You can include a title for the event.
You can specify the level of the event. The level is indicated with a number. The lower the number is, the higher the level is.
You can specify a group name to represent the location or type of the event. You can use user-defined groupings for the events.
You can include a message that describes the event. The user can enter any text string. The message is used when the event is displayed on the Sysmac Studio or an NS-series PT.
Register the detailed description to display on the HMI when a Controller error in the major fault level occurs. When a major fault occurs, the text registered here is displayed in the Troubleshooter Screen of the HMI.
The comment is attached for each set of table entries.
Remarks
User-defined errors: 1 to 40,000
User-defined information: 40,001 to 60,000
128 characters max.
32 characters max. There are no restrictions on the characters that can be used. Case sensitive. Reserved words: None
32 characters max. There are no restrictions on the characters that can be used. Case sensitive. Reserved words: None
1,024 characters max. You can enter carriage returns in the text, but each carriage return is counted as one character.
You can register up to 128 characters. You can enter carriage returns in the text, but each carriage return is counted as one character.
Copying from Excel to the Event Settings Table
This section describes the procedure to copy contents created in Excel to the Event Settings Table. You can also directly edit information in the Event Settings Table.
1 Use the following format to create data in Excel.
8
A
B
C
D
E
1 Event Code Event Name Event Level
Group Details
21
Error
User fault Level 1 No.1 The in-furnace temperature is an expected value. Please urgent stop.
2 Right-click the part to copy and select Copy from the menu.
A
B
C
D
E
1 Event Code Event Name Event Level
Group Details
21
Error
User fault Level 1 No.1 The in-furnace temperature is an expected value. Please urgent stop.
3 Right-click the Event Settings Table and select Paste to paste the data.
Copying from the Event Settings Table to Excel
This section describes the procedure to copy the contents of the Event Settings Table to Excel.
1 Select the section to copy in the Event Settings Table.
8-15 Troubleshooting
8-15-7 Displaying and Editing the Event Setting Table
2 Right-click the Event Settings Table and select Copy.
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3 Paste the data in Excel.
The data is pasted as shown below.
A
B
C
D
E
1 Event Code Event Name Event Level
Group Details
21
Error
User fault Level 1 No.1 The in-furnance temperature is an expected value. Please urgent stop.
Editing Multiple Tables
You can create more than one language table in an Event Settings Table to change the contents that is displayed for different HMI labels.
1 Select the Edit multiple tables Check Box in the Event Settings Table.
2 Select the language to edit from Language 2 to Language 9.
3 Use the same method as in Copying from Microsoft Excel to the Event Settings Table, above.
Select and copy the target data that was created in Excel.
4 Right-click the Event Settings Table and select Paste to paste the data.
Additional Information
Multiple language tables in an Event Setting Table are used to add display contents for the event registered for Language 1. You cannot use Language 2 to Language 9 to create more events. (You cannot change the event code field.) To add an event, set the event for Language 1 in an Event Setting Table.
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Referring to the Other Languages When Editing an Event Settings Table
The contents registered for other languages in the Event Settings Table is displayed when the mouse is placed on an event.
Example: When Editing the Event Settings Table for Language 1
The contents registered for Language 2 to Language 9 is displayed.
Example: When Editing the Event Settings Table for Language 2 to Language 9
The contents registered for Language 1 is displayed.
8-15-8 Event Log Viewer
In the Event Log Viewer, you can display controller event logs saved in a file in offline state.
Controller event logs must be saved into a Viewer Format file (hereinafter called "controller event log
file") in advance in the Troubleshooting Dialog Box. Refer to Saving Controller Event Log on page 8-91 for the procedure to save data into a file.
8
Event Log Viewer Operating Procedure
1 Select Tools - Event Log Viewer from the main menu.
The controller event log file selection dialog box is displayed.
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2 Select the target controller event log file, and then click the Open Button.
The Event Log Viewer Dialog Box starts, and the selected controller event logs are displayed.
The displayed contents are the same as those of the controller event logs displayed in the Troubleshooting Dialog Box.
Additional Information � Data can be saved into a file from the Event Log Viewer Dialog Box in CSV format only. � The Update Button and the Clear Button are grayed out.
Displaying Controller Event Log File Properties
In the Event Log Viewer Dialog Box, you can display the properties of the currently displayed controller event logs.
1 Select the Properties Tab in the Event Log Viewer Dialog Box.
The Properties are displayed.
The controller information and comments when the controller event logs were obtained are displayed in the Properties Tab.
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8-16 Changing Variable Comments and Data Type Comments
You can switch the comments that are displayed for variables and data types. You can use this to globally switch all of the comments for variables and data types that are used in a Controller in a project. You can export the comments from the Controller, translate them into a different language or change them to different comments, import them, and then switch all of the comments that are displayed.
8-16-1 Exporting Comments
1 Select the Controller from which to export the comments, and then select Comments for Variables and Data Types (For switching) - Export from the Tools Menu.
8-16 Changing Variable Comments and Data Type Comments
8-16-1 Exporting Comments
A Save File Dialog Box is displayed.
2 Enter the file name, and then click the Save Button.
The comments are saved in a CSV file.
Additional Information
Comments for variables and data types for which display is prohibited with data protection are not exported. To export these comments, temporarily release the data protection.
8
8-16-2 Editing the Comment File
Use the following procedure to edit the CSV file that you exported.
1 Open the CSV file in a spreadsheet software application.
CSV File Format
(1) (2)
(3) (4) (5)(6) (7)
No. Item
1
ID
2
Table Type
Description ID numbers are automatically assigned to the variables and data types. Gives the table type.
Global: Global variable table
POU name: Local variable table
Type: Data type table
Remarks
Do not change this item.
Do not change this item.
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No. Item
Description
Remarks
3
Type
Gives the classification in the local variable table. Internal: Internal variable
Do not change this item.
External: External variable
input,output: Input or output variable
inout: In-out variable
return: Return value
4
Namespace
Gives the name of the namespace of the data type.
Do not change this item.
5
Name
Gives the name of the variable or data type.
Do not change this item.
6
Comment 1
This is the comment that is currently registered.
7
Comment 2
This comment is separate from the currently registered comment.
Enter the comment to switch to.
2 Enter the comment to switch to in the Comment 2 column. If the cell for comment 2 is left empty,
the comment will be blank.
3 Save the CSV file.
Precautions for Correct Use
� Only array elements for which comments are registered are exported. Elements that have no comments are not exported to the CSV file. To add or correct a comment of an element, export/import variable comments. Refer to Exporting/Importing Variable Comments on page 441 for details.
� Do not change the names of the items in the exported file. If you change these, you will not be able to import the file.
8-16-3 Importing Comment Files
Use the following procedure to import the CSV file that you edited to the project.
1 Select the Controller to which to import the comments, and then select Comments for Variables and Data Types (For switching) - Import from the Tools Menu.
A Select File Dialog Box is displayed.
2 Select the CSV file to import, and then click the Open Button.
A dialog box is displayed to confirm the import operation.
Click the OK Button. The comments are imported and the comments in the project are replaced with the comments in the CSV file.
If an error occurs while importing the comments, it is displayed in the Output Tab Page.
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8 Other Functions
Precautions for Correct Use � When you import comments from a CSV file, all of the previous comments in the specified
Controller in the project are overwritten with the comments in the CSV file. You cannot undo this operation. � If you delete the comments for any array elements in the project after you export the comments, the comments will not be imported for those elements. � If you export comments for union variables or array elements in union array variables from Sysmac Studio version 1.07 or higher and then import them into Sysmac Studio version 1.06, the comments will be lost.
Additional Information Comments for variables and data types for which changes are prohibited with data protection are not imported. To import these comments, temporarily release the data protection.
8-16-4 Switching the Displayed Comments
Use the following procedure to display the new comments from the imported comment file.
1 Select Option from the Tools menu.
The Option Dialog Box is displayed.
2 Select the Enable multi-comment selection Check Box for Select comment in the Comments for Variables and Data Types Area, select the comments to display, and then click the OK Button. The new comments are displayed if you display a variable table or the Ladder Editor. 8 Precautions for Correct Use If you open a project to which comments were imported from a CSV file on a version of the Sysmac Studio that does not support switching comments, the comments will not be displayed correctly.
Additional Information The comments that are switched on the display can be edited as usual, i.e., in a variable table or in the Data Type Editor.
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8-17 Exporting Global Variables
You can export global variables in a format that can be used in the following Support Software. � Network Configurator � CX-Designer
8-17-1 Exporting Global Variables for the Network Configurator
You can export global variables to a CSV file that the Network Configurator can read.
Exported Variables
All global variables that are published to the network as inputs or outputs.
Export Procedure
1 When there are variables to export, select Export Global Variables - Network Configurator from the Tools Menu
The Save Dialog Box is displayed.
2 Enter the file name, and then click the Save Button.
The CSV file is saved.
Precautions for Correct Use
You cannot export global variables if the variable names are the same as address expressions for OMRON CJ-series PLCs, as shown in the following table.
Memory area CIO Area DM Area Work Area Holding Area
EM Area
Examples
1234
D1234 W12
H123
ED_1234 or E17_8
8-17-2 Exporting Global Variables for the CX-Designer
You can copy the global variables to the clipboard in a format that the CX-Designer can read.
Exported Variables
All global variables that are published to the network as inputs, outputs, or publish only variables.
Export Procedure
1 When there are variables to export, select Export Global Variables - CX-Designer from the Tools Menu The global variables are copied to the clipboard.
Precautions for Correct Use Variables with the following data types cannot be exported: STRING arrays and ENUM.
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8-18 Importing ST Programs
You can import XML files that were output from the Simulink� PLC CoderTM from MathWorks� Inc. for the OMRON Sysmac Studio.
Imported Data
You can import programs, functions, function blocks, data types, and global variables.
Importing Procedure
1 Select Import ST Program from the Tools Menu.
A Select File Dialog Box is displayed.
2 Select the XML file to import, and then click the Open Button.
8-18 Importing ST Programs
8
The data is imported and the programs, functions, function blocks, data types, and global variables in the XML file are added to the project. The items that are added by importing the data are displayed in the Output Tab Page.
Additional Information You can create code for the OMRON Sysmac Studio with Simulink PLC Coder revision R2013a or higher. For information on the Simulink PLC Coder, refer to the Simulink PLC Coder User's Guide from MathWorks.
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8 Other Functions
8-19 Importing IEC 61131-10 XML Files
This function imports XML files that are defined in IEC 61131-10. These XML files contain programming-related data based on the data types, global variables, ladder diagrams, ST, and POUs defined in IEC 61131-3. You can read programming data that was created with other software into the Sysmac Studio.
An example of writing XML is installed by default in the following folder. To check the data supported by this function, refer to the XML schema in the same folder.
Sysmac Studio (32 bit)
For 32-bit OS: C:\Program Files\OMRON\Sysmac Studio\Sample\IEC 61131-10 XML\Controller For 64-bit OS: C:\Program Files (x86)\OMRON\Sysmac Studio\Sample\IEC 61131-10 XML\Controller
Sysmac Studio (64 bit)
C:\Program Files\OMRON\Sysmac Studio\Sample\IEC 61131-10 XML\Controller
Version Information This function can be used in projects for the NX102 CPU Unit with unit version 1.31 or later and the NJ/NX/NY-series CPU Unit with unit version 1.19 or later.
8-19-1 Importing Data
Imported Data
You can import programs, functions, function blocks, data types, and global variables.
Importing Procedure
1 Select IEC 61131-10 XML - Import from the Tools Menu.
The IEC 61131-10 XML Import Dialog Box is displayed.
2 Click the View File Selection Dialog Box Button.
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The Select File Dialog Box is displayed.
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8 Other Functions
3 In the Select File Dialog Box, select the XML file to import, and then click the Open Button.
The screen return to the IEC 61131-10 XML Import Dialog Box, in which the path to the file that you selected in the Select File Dialog Box is displayed as the import file.
4 Click the Execute Button.
The data is imported and the programs, functions, function blocks, data types, and global variables in the XML file are added to the project.
If the project already has any data type, global variable, program, function, and/or function block with the same name but with a different content, the Compare before importing Dialog Box is displayed. For details on the Compare before importing Dialog Box, refer to 8-19-2 Compare before Importing on page 8-107.
Precautions for Correct Use
Check the operation of the imported program for proper execution before you use it for actual operation.
8-19-2 Compare before Importing
If program data exists in the project before import, and there are variables or data types with the same name and different attributes in the import target, or if there are different ladder diagrams or ST programs, the Compare before importing Dialog Box is displayed to confirm whether you want to overwrite the data.
Compare before Importing Dialog Box
(a)
(b)
8
(c)
8-19 Importing IEC 61131-10 XML Files
8-19-2 Compare before Importing
(d) (e)
(f)
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8 Other Functions
Item
Description
(a) Data before importing
Displays data before importing if any difference is detected.
The lines which contain any data differences are displayed in red.
(b) Data to be imported
Displays data to be imported if any difference is detected.
(c) Detailed Comparison Button
Displays the Detailed Comparison Window that contains difference details.
(d) Overwrite all difference Button
Overwrites all lines that contain any differences with the data to be imported.
(e) Overwrite selected data Overwrites the selected line with the data to be imported. Button
(f) Close Button
Closes the dialog box.
Detailed Comparison Window
(a)
(b)
Item (a) Data before importing
(b) Data to be imported (c) Copy Selected Right to Left Button (d) Copy All Right to Left Button (e) Back Button
(c)
(d) (e)
Description
Displays data before importing. The lines which contain any data differences are displayed in red.
Displays data to be imported.
Overwrites the existing data in the selected line with the data to be imported.
Overwrites all existing data that contains any differences with the data to be imported.
Returns to the Compare before importing Dialog Box.
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8-20 Importing Motor Sizing Tool Results
You can import the results of the Motor sizing tool.
Imported Data
You can import EtherCAT configurations and settings, Drive settings, axis settings, and axes group settings.
Importing Procedure
1 Select Import Motor sizing tool Results from the Tools Menu.
8-20 Importing Motor Sizing Tool Results
An import confirmation dialog box is displayed.
2 Click the Yes Button.
8
The file selection dialog box is displayed.
3 Select the XML file to import, and then click the Open Button.
If the currently selected Controller does not match the Controller in the results of the Motor sizing tool, a dialog box will appear to confirm whether to continue the import operation.
4 Click the Yes Button.
The results are imported and the Drive, axes, and axes groups are added to the project. When the import operation is completed, a completion message box is displayed.
The items added by the import operation and error information are displayed in the Output Tab Page.
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8 Other Functions
Additional Information Refer to the Motor Sizing Tool Startup Guide (Cat. No. I820) for details on the Motor sizing tool.
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8-21 Updating the Configurations and Setup Transfer Data
8 Other Functions
8-21 Updating the Configurations and Setup Transfer Data
You can update the Configurations and Setup data that is transferred to the Controller. You can do this to apply the contents of an ESI file to the transfer data after you update the ESI file on the EtherCAT Tab Page. When you update the Configurations and Setup transfer data, all of the Configurations and Setup data is transferred when you execute synchronization. To update the Configurations and Setup transfer data, select Update Configurations and Setup Transfer Data from the Tools Menu.
Additional Information If you edit the contents of the Configurations and Setup, the edited locations are transferred when you execute synchronization. It is therefore not necessary to use this menu command.
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8 Other Functions
8-22 EtherNet/IP Connection Settings
You can make settings for EtherNet/IP connections. EtherNet/IP connections (i.e., tag data links) are used for cyclic exchange of data between Controllers or between Controllers and other devices on an EtherNet/IP network. Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) or NYseries Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563) for details on setting EtherNet/IP connections (i.e., tag data links). To access the EtherNet/IP connection settings, select EtherNet/IP Connection Settings from the Tools Menu.
Precautions for Correct Use If you export a project that includes EtherNet/IP connection settings, select the smc2/csm2 file format. EtherNet/IP connection settings are not saved in project files exported to the smc/csm file format.
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8-23 Sysmac Studio Option Settings
8 Other Functions
8-23 Sysmac Studio Option Settings
Option Settings
You can set the color theme for the Sysmac Studio, you can hide or display variable comments, and you can change the settings for program checks.
1 Select Option from the Tools Menu.
An Option Settings Dialog Box is displayed.
2 Change the settings and then click the OK Button. The changes are applied.
A message is displayed if it is necessary to restart the Sysmac Studio. If a message is displayed, restart the Sysmac Studio to apply the changes.
The option setting are listed in the following table.
Category
Option
Set value
Description
Color theme
Color theme
Gray (default) White
This option changes the overall color theme of the Sysmac Studio.
Startup
Fast Startup
Enable Fast Startup
Sysmac Studio becomes resident so that it can start immediately.
Project Settings Default Author Enable Default Author
You can set the default value of the
Name
Name
author name that is displayed as a
property of the project or POU. You
can set up to 127 characters. In the
default setting, the user name that
you entered when you logged onto
Windows is displayed.
Window
Edit Pane
Maximum number of tab
You can set the number of tab
8
pages in Edit Pane
pages in the Edit Pane and floating
edit windows that can be displayed
at a time.
When the maximum number of tab pages in the Edit Pane is exceeded, close the tab page that has not become active for the longest time
If the maximum number of tab pages in the Edit Pane and floating edit windows is exceeded when you open a new tab page, the tab page that has not been used for the longest time is closed automatically. Note that the following tab pages are excluded from this setting.
� MC Test Run Tab Page
� Diagnosis/Statistics Information Tab Page
� Drive Settings Tab Pages (Auto Tuning, Test Run, and Damping Control)
� Trend Monitor Tab Page for ZWseries Displacement Sensors
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Category Ladder Editor
Option Local variable table layout
Rung display
Display width of variables
In-Out variable sort order of Function/Function Block
Set value Top Bottom Left Right Align right bar
Display width of rungs [pixel]
Fit to variable name Specify the max width Specify the fixed width When not fit in the specified width
Follow the definition order of the variable table of Function/Function Block
Description
Place the local variable table at the top of the Ladder Editor.
Place the local variable table at the bottom of the Ladder Editor.
Place the local variable table on the left side of the Ladder Editor.
Place the local variable table on the right side of the Ladder Editor.
The right bus bars of the rungs are aligned according to the width specified with Display width of rungs [pixel]. If a rung cannot be displayed within the specified width due to so many circuit parts, all circuit parts in the rung are displayed in the minimum displayable width.
When you align the right bus bars, specify the rung width to 200 to 2,000 pixels.
You can use the Fit to the Edit Pane Width Button to set the rung width to the width of the Ladder Editor that is currently displayed. The Fit to the Edit Pane Width Button is enabled when you open the Option Settings Dialog Box while the Ladder Editor is displayed.
The variable name for any ladder diagram object is displayed on one line.
Variable names are displayed within the specified maximum width. The width is set in pixels on a slider. *1
Variable names are displayed within the specified fixed width. The width is set in pixels on a slider. *1
If you specify the maximum width or a fixed width, variable names that do not fit in the specified width are leftaligned, right-aligned, or wrapped to multiple lines.*2
When a function or function block is called in a Ladder Editor, the display order of input variables, output variables and in-out variables follows the definition order in the variable table. If you set this item, the display of the function or function block in the Ladder Editor may be expanded in the vertical direction.
If you do not set this item, output variables are abbreviated in the display.
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8-23 Sysmac Studio Option Settings
8 Other Functions
Category
Option
Set value
Description
Ladder Editor
Variable Comment
Show comment
This option allows you to display or hide variable comments for ladder diagram objects.
Number of lines*2
You can set the number of lines to use to display variable comments. (1 to 5 lines)
When a comment does not fit in the display area
You can set the part of comment omitted from the display when a variable comment does not fit in the display area. The beginning, middle, or end part of the comment can be omitted. The omitted part is displayed with ellipsis (...).
Element Comment
Show comment
This option allows you to show or hide element comments for ladder diagram objects.
Specify number of lines
You can specify the number of lines to display between one to five.
Show whole content
The whole content of element comments is shown.
Color Selection Focus background color Rung comments
You can change the colors of the elements in the Ladder Editor.
Jump labels
Global variables
Element comments
Variable comments
Online power flow
Unmonitored power flow
Monitored present values
Rung comment background color
Ladder background color (offline)
8
Ladder background color (online)
Present Value Display
Display present values of array index variables
You can set whether to display the present values of variables that are used as subscripts for array variables, structure array variables, and array elements or members of union array variables.
Auto Variable Registration
Select local or global variable and register it.
You can set whether to display the dialog box to select the variable table in which to register new variable names that are entered in the Ladder Editor. The setting is valid only when the Sysmac Studio is offline.
Specify the data type
You can set whether to display a dialog box to enter the data type when the data type cannot be determined when a new variable name is entered on the Ladder Editor.
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Category
Option
Set value
Description
ST Editor
Local variable Top table layout
Place the local variable table at the top of the ST Editor.
Bottom
Place the local variable table at the bottom of the ST Editor.
Left
Place the local variable table on the
left side of the ST Editor.
Right
Place the local variable table on the right side of the ST Editor.
Auto Complete Enable Auto Complete (default: enabled)
A list of candidates is automatically displayed when entering instructions or variables.
Font Setting
Font
You can change the font to use to display programs in the ST Editor. A preview of the selected font is displayed in the preview box.
Color Selection Comments Global variables
You can change the colors of the elements in the ST Editor.
ST background color (offline)
ST background color (online)
Present Value Display
Display present values of array index variables
You can set whether to display the present values of variables that are used as subscripts for array variables, structure array variables, and array elements or members of union array variables.
Upon clicking Select local or global varivariable registra- able and register it. tion mark
You can set whether to display the dialog box to select the registered variable table when the variable registration mark is clicked in the ST Editor. The setting is valid only when the Sysmac Studio is offline.
Specify the data type
You can set whether to display the dialog box to enter data types when the variable registration mark is clicked in the ST Editor.
HMI Code Editor You can make settings for the NA-series PT Code Editor. Refer to the NA-series Programmable Terminal Software User's Manual (Cat. No. V118) for details.
HMI Page Editor You can make settings for the NA-series PT Page Editor. Refer to the NA-series Programmable Terminal Software User's Manual (Cat. No. V118) for details.
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8-23 Sysmac Studio Option Settings
Category
Option
Set value
Description
Program Check/Build
Ladder Program Check
Display the following warnings in ladder program checks.
You can select whether to display specific warnings for ladder diagram program checks.
� Duplicate use of an output
� Duplicate use of a function block instance
� No reference to an internal output from others or no value writing to an internal input from others
Variable Check
Display a warning level when network variables are not registered in the settings for exclusive control of variables in tasks
Check for network variables that are not registered in the settings for exclusive control of network-published variables in tasks.
Program Check/Build
Run automatically
You can select whether to automatically check and build a program when you change program data.
Program check
Detect an error when an inout variable is passed to specific instruction argument. *4
Causes the program checker to detect an error when an in-out variable is passed to a specific instruction argument in a program.
Variables
Initial Value Setting Dialog
Array layout selectable (default)
Vertical layout for arrays
You can change the display format of the dialog box that is used to set the initial values of structure variables, array variables, and structure array variables.
When changing Do not change the variable Set whether to change the same
a variable name name used in programs
variable name in other locations
on the variable (default)
when you change a variable name.
table
Change the variable name used in programs
If you select the Change the variable name used in programs Check Box, the variable names that are used in
the programs and external variables
will be changed at the same time
8
when you change the variable name
in the variable table.
Comments for Variable and Data Types
Select comment
Enable multi-comment selection
Comment 1 (default)
You can switch the variable comments and data type comments.
Comment 2
External variable comments in Ladder/ST Editors
Use global variable comment
The comments for the global variables are displayed instead of the comments for the corresponding external variables.
Parameter Edi- Online tor (Drive)
Automatically transfer updated parameter(s) to drive
Parameters that are changed during online with the Drive are immediately transferred to the drive.
Confirm transfer operation
When parameters are transferred to the Drive, a confirmation message is displayed.
Allow downloading of invalid Parameters are transferred even
values
when they are out of range.
Display
Show reserved parameters Parameters that are reserved by the system are displayed.
Show all drive parameters All parameters are displayed.
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8 Other Functions
Category Synchronization
Safety
Option Comparison
FBD editor
Function Block
Automatic update of minimum safety task period
Set value
Description
Enable algorithm check for programs
You can enable or disable checking the program algorithm when you use synchronization to compare the data between the project and Controller.*3
You can set the FBD editor for the NX-series Safety Control Units. Refer to the NX-series Safety Control Unit User's Manual (Cat. No. Z930) for details.
You can set the function blocks for the NX-series Safety Control Units. Refer to the NX-series Safety Control Unit User's Manual (Cat. No. Z930) for details.
You can set the automatic update of the minimum safety task period for the NX-series Safety Control Units. Refer to the NXseries Safety Control Unit User's Manual (Cat. No. Z930) for details.
*1 You can set between 50 and 500 pixels. The distance between the left edge of the Ladder Editor Pane and the left bus bar is 50 pixels. Use it as a guide.
*2 Only one line is always displayed for the variables that are allocated to parameters in functions and function blocks and for the comments for the variables.
*3 Rung comments, variable comments, element comments, configuration data, and setup data are not checked for differences.
*4 This option is displayed only for Sysmac Studio version 1.02. For details, refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502).
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Reusing Programming
This section describes how to reuse the programs that you create with the Sysmac Studio.
9-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2 9-2 Example of Reusing Device and Program Assets . . . . . . . . . . . . . . . . . . . 9-4
9-2-1 Changing I/O Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4 9-2-2 Deleting Device Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6 9-2-3 Adding Device Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 9-3 Creating and Using Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 9-3-1 Creating a Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 9-3-2 Using a Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-11 9-4 Program Sharing in Derived Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16 9-4-1 Overview of Sharing Programs in Derived Devices . . . . . . . . . . . . . . . . . . . . 9-16 9-4-2 Procedure to Share a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17 9-4-3 Editing Shared Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21 9-4-4 Changing a Sharing Relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
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9-1
9 Reusing Programming
9-1 Overview
The ability to reuse development assets is necessary to reduce development costs, shorten development time, and reduce maintenance costs for production facilities.
With previous PLCs, information was exchanged with I/O devices through addresses that were assigned to the hardwired devices. These addresses were used to write the program. As a result, changing the addresses for device changes involved complex procedures to obtain new addresses, move comments to new addresses, change addresses in the program, etc. This was inevitably accompanied by mistakes. The relationship between hardware and software was strong and the function modules were large, so the affects of changes could not be absorbed by the modules.
With the NJ/NX/NY-series Controllers, information for hardwired I/O devices is handled in I/O devices that are defined within the system. The programs are created based on these I/O devices and the variables that are assigned to them by the user. Even if devices are changed, it is often not necessary to change the programs when the I/O devices that are defined within the system are changed, i.e., it is only necessary to change the variable assignments to I/O devices. The hardware-software function modules separate the I/O devices and variables, and the affects of changes can be absorbed by the function modules. This reduces the corrections that require complex procedures, which in turn reduces mistakes. Confirmation and correction work are also reduced to reduce the cost of development and development time.
Using Variable Programming to Reuse Programs
The Sysmac Studio provides an environment for programming with variables and POUs (program organization units), including functions, function blocks, and programs. Variables are assigned to read external devices and I/O information in the user program. Refer to 9-2 Example of Reusing Device and Program Assets on page 9-4 for an example of applicable devices.
Creating Libraries to Reuse Programs
You can create libraries of functions, function blocks, and data types to reuse them as objects in other projects. Refer to 9-3 Creating and Using Libraries on page 9-8 for details on how to create and use libraries.
Sharing a Machine Project with EtherCAT Configuration
You can use the Enable/Disable EtherCAT Slave function on more than one machine with different EtherCAT slave configurations to share a machine project. To do so, create a device project with the maximum number of EtherCAT slaves and enable or disable each EtherCAT slave by the program depending on the device configuration. For details on the Enable/Disable EtherCAT Slave function, refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505).
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9 Reusing Programming
Reusing Machines by Program Sharing
With the combination of Sysmac Studio version 1.20 or higher and Controllers with unit version 1.16 or later, you can share the same POUs, data types, and global variables among more than one Controllers in a project. Suppose that you use a single project to manage Controllers for more than one device and share a program that provides common functions among the Controllers. Then, you can correct the program for only one Controller to apply the corrections to the programs for other Controllers. Thus, you can reduce the time and effort to apply corrections that you made to a common program to all of the devices when you develop devices that are derived from a certain device. Refer to 9-4 Program Sharing in Derived Devices on page 9-16 for details.
9-1 Overview
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9
9-3
9 Reusing Programming
9-2 Example of Reusing Device and Program Assets
This section describes how design assets would be reused in a typical system upgrade example. It compares the work required for traditional programming with fixed address as opposed to programming with variables with the Sysmac Studio.
9-2-1 Changing I/O Assignments
In this example, the long-distance wiring from the I/O devices to Basic I/O Units is converted to a network device configuration that uses remote I/O slaves to save wiring and changing the I/O devices to remote I/O slaves to improve the maintainability of the system.
Wiring bundled in ducts
Wiring with a communications cable
Input devices
Output devices
Input devices
Output devices
Goal
Traditional programming
Programming with the Sysmac Studio
1
Checking the addresses assigned to You must confirm the addresses and ---
the old devices
I/O comments assigned to the Basic
I/O Units.
2
Checking the addresses assigned to You must calculate the addresses ---
the new devices
assigned to the remote I/O slaves.
Note If any of the calculated addresses are used as work bits, you must assign the work bits to new work bit addresses.
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9-2 Example of Reusing Device and Program Assets
9 Reusing Programming
Goal
Traditional programming
Programming with the Sysmac Studio
3
Replacing the addresses of the old You must move the I/O comment
You must delete the Basic I/O Units
devices with the addresses of the information for the previous
from the Unit configuration (variable
new devices.
addresses to the calculated new
assignments to I/O devices are
addresses.
cleared).
Note If any of the calculated addresses are used as work bits, you must move the I/O comments to the new work bit addresses.
You must replace the addresses of the old devices with the addresses of the new devices.
You must register the remote I/O slaves in the network configuration.
Note If any of the calculated addresses are used as work bits, you must move the I/O comments to the new work bit addresses.
You must register the remote I/O
You must assign variables to the I/O
slaves in the network configuration. devices for remote I/O devices.
4
Changing the Unit Configuration in You must delete the Basic I/O Units ---
the project
from the Unit Configuration.
You must delete the old addresses --from the variable table.
5
Building the devices and wiring
You must wire the I/O devices to the remote I/O device terminals according to the device configuration diagrams and wiring diagrams.
You must wire the I/O devices to the remote I/O device terminals according to the device configuration diagrams and wiring diagrams.
6
Checking wiring and addresses
You must visually confirm that wires are connected according to the wiring diagram using color codes and use a tester to check continuity.
You must visually confirm that wires are connected according to the wiring diagram using color codes and use a tester to check continuity.
You must confirm that the output
You must confirm that the output
results to the new addresses are out- results to the variables are output to
put to the remote I/O slave devices the remote I/O slave devices and
and that dummy inputs from I/O
that dummy inputs from I/O devices
devices are reflected in the input
are reflected in the variables.
words.
9
7
Debugging the programs
You must check for mistakes in address changes for device changes and make sure that operation timing is not affected.
You must make sure that operation timing is not affected.
8
Performing trial operation
You must perform trial operation of the device configuration and control programs after the changes are made.
You must perform trial operation of the device configuration and control programs after the changes are made.
9-2-1 Changing I/O Assignments
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9 Reusing Programming
9-2-2 Deleting Device Options
In this example, part of the devices is removed from the system to reduce the production scale.
Application
Traditional programming
Programming with the Sysmac Studio
1
Checking the addresses assigned to You must check the addresses that ---
the devices to delete
are used by the devices to delete.
2
Checking the control programming You must check the programming You must check the programs and
for the devices to delete
that is used to control the devices to program tasks that are used to con-
delete.
trol the devices to delete.
You must check the programming that is used to monitor and interlock the devices to delete.
You must check the programs and program tasks that are used to monitor and interlock the devices to delete.
3
Changing the Unit Configuration in You must delete the devices to
You must delete the devices to
the project
delete from the Unit Configuration. delete from the Unit configuration
(variable assignments to I/O devices
are cleared).
4
Deleting the control programming for You must delete the programming You must delete the programs and
the unnecessary devices
that is used to control the devices to program tasks that are used to con-
delete.
trol the devices to delete.
You must correct the programming that is used to monitor and interlock the devices to delete.
You must correct the programs that are used to monitor and interlock the devices to delete.
You must delete the addresses that --are used by the devices to delete from the variable table.
5
Removing Units that were used for You must remove the wiring to the You must remove the wiring to the
the devices to delete
external devices from the Units that external devices from the Units that
were used for the devices to delete. were used for the devices to delete.
You must remove the external
You must remove the external
devices and the Units that were used devices and the Units that were used
for the devices to delete.
for the devices to delete.
6
Debugging the programs
You must check for mistakes in program changes for the devices to delete and make sure that operation timing is not affected.
You must check for mistakes in program changes for the devices to delete and make sure that operation timing is not affected.
7
Performing trial operation
You must perform trial operation of the device configuration and control programs.
You must perform trial operation of the device configuration and control programs.
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9-2-3 Adding Device Options
In this example, part of the devices is expanded on the device copy line to increase the production scale.
9-2 Example of Reusing Device and Program Assets
Application
Traditional programming
Programming with the Sysmac Studio
1
Checking the addresses assigned to You must check the addresses to
---
the devices to add
assign to the Units to use for the
devices to add.
Note If any of the assigned addresses are used as work bits, you must assign the work bits to unused work bits.
You must add variables and comments for the work bits to use in the programming.
You must register the Units to use for the devices to add in the Unit Configuration.
You must register the Units to use for You must register the variables to the devices to add in the Unit Config- use in the programs. uration.
---
You must assign the variables to use
to the I/O devices.
2
Writing the control programming for You must write the control program- You must write the control program-
the devices to add
ming.
ming.
Note If any of the assigned addresses are used as work bits, you must change the work bits to unused addresses.
You must understand the operation You must understand the operation
9
and affects of interlocks and improve and affects of interlocks and improve
the programming.
the programming.
3
Building the devices to add and wir- You must add and wire devices
You must add and wire devices
ing
according to the device configuration according to the device configuration
diagrams and wiring diagrams.
diagrams and wiring diagrams.
4
Checking wiring and addresses
You must visually confirm that wires are connected according to the wiring diagram using color codes and use a tester to check continuity.
You must visually confirm that wires are connected according to the wiring diagram using color codes and use a tester to check continuity.
You must confirm that the output results to the addresses are output to the devices and that inputs from I/O devices are reflected in the input words.
You must confirm that the output results to the variables are output to the devices and that inputs from I/O devices are reflected in the variables.
5
Debugging the programs
You must debug the programs.
You must debug the programs.
6
Performing trial operation
You must perform trial operation of the device configuration and control programs after the changes are made.
You must perform trial operation of the device configuration and control programs after the changes are made.
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9-2-3 Adding Device Options
9 Reusing Programming
9-3 Creating and Using Libraries
You can create functions, function block definitions, and data types in a library file to reuse them as objects in other projects. Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) or NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558) for details on libraries.
9-3-1 Creating a Library
Creating a Library
You can create functions, function block definitions, and data types in a library file so that you can reuse them.
Procedure
Use the following procedure to create a library.
Creating a Library Project
1 Create a new project on the Start page. Select a library project as the project type, select a Controller, and click the Create Button. A project that can be used as a library is created.
2 Create functions, function block definitions, and data types using the standard programming procedures.
Additional Information
� You must select a Controller as the device for a library project. � If the device for an existing project is set to a Controller, you can change the project type to a
library project in the project property settings. � We recommend that you use namespaces for the names of functions, function block defini-
tions, and data types that you create as library objects to prevent duplication of names in different programs. Refer to 4-4 Namespaces on page 4-68 for information on namespaces.
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Setting Up a Library
The properties of the library are set before the library file is created.
1 Select Library - Library Setting from the Project Menu.
A Library Setting Dialog Box is displayed.
9-3 Creating and Using Libraries
9-3-1 Creating a Library
2 Set the library properties in the Library Setting Dialog Box, and select the objects.
After you make all of the settings, click the OK Button. � Library Properties
Property
Description
Name
Enter the name of the library.
Version
Enter the version and revision of the library.
Author
Enter the name of the creator of the library. (This setting is optional.)
Comment
Enter the a comment for the library. (This setting is optional.)
Company ID
Enter the name of the company that created the library. (This setting is
optional.)
A unique ID that is used to access the library is displayed. The ID is auto-
9
matically created and cannot be changed.
Disable source display Specify whether to show or hide the source when the library objects are reused. The source is not displayed if this check box is selected.
Attached files
Specify the path to a file to attach to the library. The specified file is loaded to the library file. You can attach more than one file.
Include the referenced If the current library project accesses another library, select whether to
library files
include the data from the accessed library in the library that you create.
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9 Reusing Programming
� Parts Selection
Item Include
Publish*2
Description
Select the objects (programs*1, functions, function block definitions, and data types) to include in the library. Clear the check boxes of any objects not to include in the library. Data types are always included in the library.
You can allow Controllers that access the library to use the selected functions and function block definitions. If you select check boxes, the selected POUs are displayed in the Toolbox for the Controller and in entry candidates displayed when programming. You can select a Publish Check Box only when the corresponding Include Check Box is selected.
When the Publish Check Box for POU is cleared, the data types defined in the library will not be published. However, for POU whose Publish check box is selected, the data type used for its in-out variables or external variables will be published.
*1 You can select programs as library objects with Sysmac Studio version 1.06 or higher. You cannot reference libraries that include programs with Sysmac Studio version 1.05 or lower. Also, you cannot open or import projects that have libraries that include programs with Sysmac Studio version 1.05 or lower.
*2 Caution is required to use the created library on Sysmac Studio version 1.13 or lower. Refer to Version Information, below.
Version Information
Select the Publish Check Boxes for all library objects in the following cases. � When you will use a library created on Sysmac Studio version 1.14 or higher on Sysmac Stu-
dio version 1.13 or lower � When you will open a library saved on Sysmac Studio version 1.14 or higher on Sysmac Stu-
dio version 1.13 or lower � When you will connect Sysmac Studio version 1.13 or lower to a Controller to which a project
that accesses a library created on Sysmac Studio version 1.14 or higher was downloaded
If there is even one library object for which the Publish Check Box was not selected, you cannot access the library on Sysmac Studio version 1.13 or lower and you cannot open the library project on Sysmac Studio version 1.13 or lower.
3 Select Library - Create Library from the Project Menu.
A Create Library File Dialog Box is displayed.
4 Select the folder in which to save the library file, enter the file name, and then click the Save Button. The library file is created.
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9-3-2 Using a Library
You can read a library file that you created into a project and use the objects from it. You can use the library objects that are read in the same way as you can use functions, function block definitions, and data types that you create in the project. Use the following procedures to use a library.
1 Library Reference 2 Using Library Objects
Library Reference
Library Reference
You must register a library to use it in a project. The library file to use is read into the project.
1 Select Library - Show References from the Project Menu.
A Library Reference Dialog Box is displayed.
(a)
(c)
(f)
(g)
(d)
(e)
(b)
Item
Description
(a) Library View
A list of the libraries that are currently accessed is displayed. Library
property information is displayed. Click the ( ) Buttons to expand
the tree and display the objects in the libraries.
9
An information icon appears at the left end of the library row if the
library ID included in the project does not match the ID of the refer-
ence library file.
(b) Interface View
The data that you can access in the library parts is displayed.
(c) Create Reference Button Click this button to read a library file and add it to the project.
(d) Delete Reference Button Click this button to remove a library from the list of accessed libraries.
(e) Update the libraries
Click this button when the Include the referenced libraries into the
included in the project project. Check Box is selected to update the libraries in the project
Button
with the content of the reference library file.
(f) Include the referenced If you select this check box and then save or export the project, the libraries into the project. library files that are accessed in the project will be included in the saved or exported data. You can select this setting for each Controller, which will be transferred together with the program to the Controller.
9-3 Creating and Using Libraries
9-3-2 Using a Library
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9 Reusing Programming
Item
Description
(g) Notify if the library ID
If you select this check box and then save or export the project or
included in the project
transfer the user program to a Controller, the library ID included in the
does not match with the project will be checked against the ID of the reference library file at
reference library file ID. the following timings and a message will appear if they do not match.
� When a saved project is opened
� When an exported project is imported
� When a program that was transferred to a Controller is uploaded
� When the backup file of a program that was transferred to a Controller is imported
2 Click the Create Reference Button in the Library Reference Dialog Box.
A Refer to Library File Dialog Box is displayed.
3 Select the library file to read into the project and click the Open Button.
The library file is read so that you can use the library objects in the project.
Precautions for Correct Use
� If the fully qualified name of a library object that you attempt to use already exists in the project or in a library object that was previously read, an error occurs and the library object is not read. Be sure that all names are unique.
� If both the short name of a library object and the company name in the library properties already exist for a library object that was previously read, an error occurs and the library object is not read. Make sure that the names and company names are not duplicated between library objects.
� Note this if you do not select to include the referenced libraries into the project: If the library ID included in a Controller is different from the reference library file ID, it may happen during verification after transfer to the Controller that the POUs, variables, or data types that reference libraries mismatch.
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Additional Information
� If the library properties are set to display the source, you can right-click a function or function block definition in the Library View and select Display Source to display the source of the function or function block definition.
� If data protection is set for a library object for which you try to display the source code, you must enter the password for data projection.
� When you import library project files with the Include the referenced libraries into the project. (Include the referenced libraries when saving the project in Sysmac Studio version 1.17 or lower) Check Box selected, the save location for the reference library file depends on the Sysmac Studio version.
Version Version 1.14 or higher
Version 1.13 or lower
Save location
When the accessed library file was Under the folder specified in the
saved under the folder specified in environment variable USERPRO-
the OS environment variable USER- FILE on the computer where the file
PROFILE when the project was
is imported
exported:
When the library file is saved in any other folder
A folder*1 with the same name as the folder in which the library file was saved when the project was exported
A folder*1 with the same name as the folder in which the library file was saved when the project was exported
*1 If a folder with the same name does not exist, a new folder is created.
� The application scope of the Include the referenced libraries into the project. setting differs between Sysmac Studio version 1.17 or lower and version 1.18 or higher.
Version 1.17 or lower
Version 1.18 or higher
Application scope of Include the referenced libraries into the project. (Include the referenced libraries when saving the project in Sysmac Studio version 1.17 or lower) setting
The setting applies to all Controllers in the project.
The setting can be enabled or disabled for each Controller in the project.
Operation when a project that
If the Include the referenced libraries into ---
was exported in version 1.18 or the project. setting was enabled for one or higher is imported in version 1.17 more Controllers in the project, the Include
9
or lower
the referenced libraries when saving the
project setting is enabled for the imported
project.
Deleting a Library Reference
Use the following procedure to delete a library that you read into the project.
1 Select the library, and then click the Delete Reference Button. Or, right-click the library and select Delete Reference from the menu.
9-3 Creating and Using Libraries
9-3-2 Using a Library
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9 Reusing Programming
Updating the Libraries Included in the Project
If the libraries included in the project differ from the reference library file, use this procedure to update the libraries in the project with the content of the reference library file.
1 Select the library to update in the Library View and click the Update the libraries included in the project Button.
The Library update confirmation Dialog Box is displayed.
2 Check the difference from the reference library file and click the OK button to update the libraries included in the project.
Additional Information After updating the libraries, you may need to build the POUs, variables, or data types that reference libraries.
Using Library Objects
You can use objects in a library that has been read into the project. You use the objects in the same way as you use any other functions, function block definitions, and data types. Refer to Section 4 Programming for application procedures.
Object Functions and function blocks
Data types
Application method
You can use functions and function blocks to create function blocks and programs.
You can use the data types just like any other data types.
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To use a library object, enter the name of the library object displayed in the Refer to Library File Dialog Box.
Library object name
Additional Information
If the library object name has a namespace, enter the name of the namespace before the library object name. Example:
Library object name FunctionBlock1
Name of namespace test1\subtest
Notation \\test1\subtest\FunctionBlock1
Using Library Objects in the Ladder Editor
In the Ladder Editor, objects that are read by accessing libraries are displayed in the Toolbox. You can drag these objects from the Toolbox in the same way as for other circuit parts to insert them into the program.
1 Display the library objects to add in the Toolbox of the Ladder Editor.
2 Drag the library object to the ladder diagram.
9
The function block from the library is inserted.
9-3 Creating and Using Libraries
9-3-2 Using a Library
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9 Reusing Programming
9-4 Program Sharing in Derived Devices
A derived device is a device that is developed based on a certain device by adding and changing some functionality. A common program in used in a derived device and the device from which it is derived. Use the following procedures to share programs among more than one device.
Version Information To use this function, Sysmac Studio version 1.20 or higher and a CPU Unit with unit version 1.16 or later and are required.
9-4-1 Overview of Sharing Programs in Derived Devices
Use the following information to share the same POUs, data types, and global variables among more than one Controller that is registered in a project.
Sharing Target
You can share the following data. � POUs (Programs, functions, and function blocks) � Data types � Global variables
Additional Information POUs and global variables of the Safety CPU Unit are not shared.
Sharing Methods
Use the following sharing methods.
� Deriving a device from the sharing source Controller Create a copy of the source Controller to share the target data. You can share either all of the POUs, data types, and global variables at a time, or only the data that is already shared.
� Configuring the sharing settings for POUs, data types, and global variables individually Share the POU, data type, and global variable data individually. To share a POU, copy the data from the sharing source Controller to the sharing destination Controller. To share a data type or global variable, overwrite the data in the sharing destination Controller with the data in the sharing source Controller.
Precautions for Correct Use � You cannot use this function for library projects. In addition, you cannot change projects that
include any Controller that uses this function into library projects. � When a Safety CPU Unit exists in the CPU rack, you cannot derive a device from the Control-
ler.
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Additional Information Registering a large number of derived devices (Controllers) in a project may result in low job performance depending on your computer environment, because the Sysmac Studio consumes a significant amount of computer memory. If the number of derived devices in a project is likely to increase, use this function with Sharing a Machine Project with EtherCAT Configuration on page 9-2.
9-4-2 Procedure to Share a Program
Use the following procedure to share a program.
Creating a Derived Device
Use the following procedure to create a derived device.
1 With the deriving source Controller displayed in the Multiview Explorer, right-click the device icon and select Derive Device - Share All Programming Data from the pop-up menu. Or, select Derive Device - Share All Programming Data from the Insert Menu. To share only the data that is already shared, select Share Shared Programming Data.
The Derive Device Dialog Box is displayed.
9
2 Click the OK Button.
A copy of the Controller is added to the project. For data that is shared, the icons change to indicate the shared status.
9-4 Program Sharing in Derived Devices
9-4-2 Procedure to Share a Program
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9 Reusing Programming
Configuring the Sharing Settings for POUs, Data Types, and Global Variables
Use the following procedure to configure the sharing settings for POUs, data types, and global variables.
For POUs
The following example is for a program.
1 Right-click the target program in the Multiview Explorer and select Sharing setting between devices from the pop-up menu.
The Sharing setting between devices Dialog Box is displayed.
(a) (b)
Item
Description
(a) Sharing target
The selected data is displayed.
(b) Sharing destination All Controllers that are included in the project are displayed.
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2 Select the check boxes for the Controllers whose data to share, and then click the OK Button. You can select more than one Controller. A dialog box is displayed to indicate that the sharing is completed.
3 Click the OK Button.
For data that is shared, the icons change to indicate the shared status.
Precautions for Correct Use � You cannot configure the sharing settings if a POU with the same name as that of the target
POU exists in Controllers in the sharing destination. If so, rename the POU in the Controllers in the sharing destination, or delete the POU and configure the sharing settings again. � The sharing target is only the selected data. Note the following when you select a POU for sharing. � Although the external variables that are used in POUs are shared, global variables are not
shared. This means that an error occurs if the corresponding global variables do not exist in Controllers in the sharing destination. In this case, share also the global variables as needed. � For POUs that reference libraries, the library reference settings are not copied to Controllers in the sharing destination. Copy the library reference settings as needed.
For Data Types and Global Variables
1 Right-click Data Types or Global Variables in the Multiview Explorer, and select Sharing setting between devices from the pop-up menu. The Sharing setting between devices Dialog Box is displayed.
2 Select the check boxes for the Controllers whose data to share, and then click the OK Button. You can select more than one Controller. A confirmation dialog box is displayed, which asks whether to overwrite data.
9
3 Click the OK Button.
For data types, data including the namespace name is shared. For data that is shared, the icons change to indicate the shared status.
9-4 Program Sharing in Derived Devices
9-4-2 Procedure to Share a Program
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9 Reusing Programming
Precautions for Correct Use
� You cannot select Controllers that are already shared with another Controller in the Sharing setting between devices Dialog Box. Their check boxes are disabled.
� To add a new Controller to the sharing destination of data, display the Sharing setting between devices Dialog Box for the target data in the sharing source Controller and add it there. Refer to Adding a Sharing Target Controller on page 9-23 for details.
� Among global variables, the following data is not the sharing target. This means that the data in the sharing source is not copied. � Axis variables, axes group variables, cam data variables, and cam definition variables � AT values of variable attributes
� You cannot configure the sharing settings if a variable with the same name exists in the global variable table in the sharing target. Rename it to a unique name, and then try again.
� If a variable with the same name exists in the global variable table in the sharing destination, all attributes except for the AT attribute will be overwritten.
� If an axis variable, axes group variable, cam data variable, or cam definition variable with the same name as that of a user-defined variable in the sharing source exists in the sharing destination, it will be registered with the same name as a different variable from the axis variable, axes group variable, cam data variable, or cam definition variable. In this case, a duplicate name error will occur. Rename the user-defined variable to a unique name.
� Variables that exist only in Controllers in the sharing destination will be deleted. � The order of variables will not be shared.
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9-4-3 Editing Shared Data
The following describes the operations and operational precautions that apply when you edit shared data.
Operations and Results for POUs, Data Types, and Global Variables
You can edit shared data from any Controller that shares it. Regardless of from which Controller you edit shared data, the edited data is shared among the Controllers.
The table below describes the operations that you can perform on shared data and the results of the operations.
Shared data
Item
Operation
Result
POUs
---
Renaming
After operation, the data is shared.
However, you cannot rename data if a POU with the same name exists in Controllers in the sharing destination. Rename the applicable POU in the Controller in the sharing destination or delete the POU, and then try again.
Sections (Programs)
Edition, addition, deletion, After operation, the data is shared. order change, renaming
Properties of POUs
Edition
Data protection settings
Setting, release, temporary release of change prohibition, finishing temporary release of change prohibition
Local variables
Edition, addition, deletion After operation, the data is shared.
However, the AT values are not shared and retained by each Controller.
Breakpoints Bookmarks Settings for debugging
All operations
After operation, the data is not shared.
The data is retained by each Con-
troller.
9
Data types
---
Edition, addition, deletion, After operation, the data is shared. order change
Global variables ---
Edition, addition, deletion After operation, the data is shared.
However, the AT values are not shared and retained by each Controller.
Change Device
You cannot change Controllers in a sharing relationship to other Controllers with unit version 1.15 or earlier. Cancel the sharing relationship before you change to other devices. Refer to Canceling a Sharing Relationship on page 9-23 for the procedure to cancel a sharing relationship.
9-4 Program Sharing in Derived Devices
9-4-3 Editing Shared Data
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9 Reusing Programming
Build
Build the project for each Controller. The building results are not shared and retained by each Controller.
If shared data is changed by another Controller after building, you must rebuild the project.
Search and Replace
If you replace strings in shared data, the changes made to the data will be shared with other Controllers.
Online
If you edit shared data, the changes made to the data will be shared with online Controllers that share the data.
The table below describes the operations that you can perform online on shared data and the results of the operations.
Online function Transfer from Controller
Monitoring Online editing
Operation
Result
Transferring only part of shared data
The data is updated and the changes made to the Controller are shared among Controllers.
Transferring all data from a physical Controller, transferring data from a physical Controller for which Do not transfer the program source setting is enabled
All the shared data is overwritten with the data of the physical Controller, with the sharing of the data with all other Controllers canceled.
From a physical Controller, transferring the data that has been transferred with the Do not transfer the comments and the programming group information to the controller setting
At this time, the sharing relationship among other Controllers remains unchanged.
Changing the present value display setting
The changes are not shared. The data is displayed in the display format that is set for each Controller.
Changing the data
The changes are shared.
Precautions for Correct Use
If you make changes to shared data from another Controller after matching it with the data of a physical Controller, the data will not match with the data of the physical Controller.
Be careful that, if you make changes to shared data without being aware of the sharing relationship among other Controllers, you will end up in having data in the Sysmac Studio that does not match the data of Controllers connected online.
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9-4-4 Changing a Sharing Relationship
Use the following procedures to change a sharing relationship among Controllers. You can perform the following operations to change a sharing relationship. � Adding a sharing target Controller � Canceling a sharing relationship � Deleting a POU � Deleting a Controller Adding a sharing target Controller and canceling a sharing relationship are performed in units of shared data (POUs, data types, or global variables).
Adding a Sharing Target Controller
Use the following procedure to add a sharing target Controller to a group of Controllers in a sharing relationship.
1 Right-click Data Types or Global Variables in the Multiview Explorer, and select Sharing setting between devices from the pop-up menu. The Sharing setting between devices Dialog Box is displayed.
2 Select the check boxes for the Controllers to add as a sharing target, and then click the OK Button. A confirmation dialog box is displayed and the selected Controller is added as a sharing target.
Precautions for Correct Use
� You cannot configure the sharing settings if a POU with the same name as that of the target POU for the Controller to add exists. If so, rename the POU in the Controllers in the sharing destination, or delete the POU and configure the sharing settings again.
Canceling a Sharing Relationship
Use the following procedure to remove a Controller in a sharing relationship from the sharing target
Controllers.
9
1 Right-click POUs, Data Types, or Global Variables in the Multiview Explorer, and select
Sharing setting between devices from the pop-up menu.
The Sharing setting between devices Dialog Box is displayed.
2 Clear the check boxes for the Controllers to cancel the sharing relationship, and then click the OK Button.
If the target is a data type or global variable, the sharing relationship is canceled.
9-4 Program Sharing in Derived Devices
9-4-4 Changing a Sharing Relationship
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9 Reusing Programming
If the target is a POU, a confirmation dialog box is displayed, which asks whether to delete the target POU from the Controller simultaneously when canceling the sharing relationship.
3 Click the Yes Button to delete the target POU. Click the No Button to leave the target POU.
The sharing of the target is canceled. If you click the Yes Button, the target POU is deleted.
Deleting a POU
You can delete a POU from the pop-up menu that appears when you right-click the target POU. The table below describes the results when you delete a Controller in a sharing relationship.
Pop-up menu command Delete Delete with sharing target
Result
Use this command to delete only the target POU for the selected Controller.
Use this command to delete the target POUs for all the Controllers in a sharing relationship.
Deleting a Controller
Deleting a Controller in a sharing relationship neither cancels the sharing relationship with other Controllers in the sharing destination nor deletes the share data.
However, if there is only one Controller that has a sharing relationship with the deleted Controller, the sharing relationship with the Controller is canceled.
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10
Support Software Provided with the Sysmac Studio
This section describes the Support Software that is provided with the Sysmac Studio.
10-1 Support Software Provided with the Sysmac Studio . . . . . . . . . . . . . . . . 10-2 10-2 Starting and Exiting the Support Software . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10-2-1 Starting the Support Software Provided with Sysmac Studio . . . . . . . . . . . . 10-4 10-2-2 Exiting the Support Software Provided with Sysmac Studio . . . . . . . . . . . . . 10-5
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10 Support Software Provided with the Sysmac Studio
10-1 Support Software Provided with the Sysmac Studio
Overview of Support Software
The following table shows the overview of Support Software for the Sysmac Studio. For the operating procedures on Support Software, refer to the reference manual or Help of each software.
Support Software CX-Integrator
CX-Designer
CX-Protocol
Network Configurator
CX-ConfiguratorFDT Adept Robot IP Address Setting Tool
Description Configures networks (data links, routing tables, Communications Unit settings, etc.). Creates screen data for NS-series Programmable Terminals. Creates data transfer protocols for general-purpose devices connected to CJ-series Serial Communications Units. Configures tag data links for the built-in EtherNet/IP ports on NJ/NX-series CPU Units or NYseries Industrial PCs.
Performs setup for communications between IO-Link master and slave units. Changes IP addresses and subnet masks for Adept Robot and SmartController EX.
Reference manual/Help CX-Integrator Operation Manual (Cat. No. W464) CX-Designer User's Manual (Cat. No. V099) CX-Protocol Operation Manual (Cat. No. W344)
NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563) CX-ConfiguratorFDT Help
Adept Robot IP Address Setting Tool Help
Units Supported by the Sysmac Studio and Applicable Support Software
NX Units and EtherCAT Slaves
Model
Unit name
NX-ILM400 GX-ILM08C
IO-Link Master Unit
CPU Bus Units and Special I/O Units
Applicable Support Software
CX-ConfiguratorFDT
Relevant Manuals
IO-Link System User's Manual
Cat. No. W570
Model CJ1W-DRM21 CJ1W-CRM21
CJ1W-EIP21
CJ1W-SCU22 CJ1W-SCU32 CJ1W-SCU42
Unit name
Applicable Support Software
DeviceNet Unit
CX-Integrator
CompoNet Master Unit (unit version 1.3 or later)
EtherNet/IP Unit with unit version 2.1 or later Network Configurator
Serial Communications Units
CX-Protocol
Relevant Manuals
CX-Integrator Operation Manual
CJ-series EtherNet/IP Units Operation Manual for NJ-series CPU Unit CX-Protocol Operation Manual
Cat. No. W464
W495 W344
10-2
Sysmac Studio Version 1 Operation Manual (W504)
10 Support Software Provided with the Sysmac Studio
10-1 Support Software Provided with the Sysmac Studio
Programmable Terminals (HMIs)
Model number NS Series
Unit name
Programmable Terminals
Applicable Support Software
CX-Designer
Manual
Cat. No.
CX-Designer User's V099 Manual
10
Sysmac Studio Version 1 Operation Manual (W504)
10-3
10 Support Software Provided with the Sysmac Studio
10-2 Starting and Exiting the Support Software
This section describes how to start and exit the Support Software that is provided with the Sysmac Studio.
Precautions for Correct Use Observe the following precautions when you start the Sysmac Studio or any of the Support Software that is provided with it. � Exit all applications that are not necessary to use the Sysmac Studio. For virus checker or
other software that could affect the startup and operations of the Sysmac Studio, take measures such as to remove the Sysmac Studio from the scope of virus checking. � If any hard disks or printers that are connected to the computer are shared with other computers on a network, isolate them so that they are no longer shared. � With some notebook computers, the default settings assign the USB port to a modem or infrared communications. Refer to the user documentation for your computer and set the USB port as a normal serial port. � With some notebook computers, the default settings do not supply power to the USB port or Ethernet port to save energy. There are energy-saving settings in Windows, and also sometimes in utilities or the BIOS of the computer. Refer to the user documentation for your computer and disable all energy-saving features.
10-2-1 Starting the Support Software Provided with Sysmac Studio
Use the following procedure to start the Support Software that is provided with the Sysmac Studio.
1 Select All Programs - OMRON - Sysmac Studio from the Windows Start Menu.
A list of the Support Software is displayed.
2 Select the Support Software to start. (Example: CX-Integrator)
The main window for the Support Software is displayed.
10-4
Sysmac Studio Version 1 Operation Manual (W504)
10-2 Starting and Exiting the Support Software
10 Support Software Provided with the Sysmac Studio
10-2-2 Exiting the Support Software Provided with Sysmac Studio
Use the following procedure to exit the Support Software that is provided with the Sysmac Studio.
1 Select Exit from the File Menu.
10
The Support Software provided with Sysmac Studio is exited. Additional Information If there is unsaved data when you select Exit from the menu, a dialog box will prompt saving the data before the Support Software is exited. Save the data if it is required. Refer to the relevant manual for details.
10-2-2 Exiting the Support Software Provided with Sysmac Studio
Sysmac Studio Version 1 Operation Manual (W504)
10-5
10 Support Software Provided with the Sysmac Studio
10-6
Sysmac Studio Version 1 Operation Manual (W504)
11
Troubleshooting
This section describes the error messages that are displayed when you check a program on the Sysmac Studio and how to correct those errors.
11-1 Error Messages for Ladder Program Checks . . . . . . . . . . . . . . . . . . . . . . 11-2 11-2 Error Messages for Structured Text Checks . . . . . . . . . . . . . . . . . . . . . . . 11-7 11-3 Error Messages for Variable Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-11 11-4 Error Messages for Sysmac Studio Operation . . . . . . . . . . . . . . . . . . . . 11-12
Sysmac Studio Version 1 Operation Manual (W504)
11-1
11 Troubleshooting
11-1 Error Messages for Ladder Program Checks
The following table lists the ladder program error messages that are displayed in the Output Tab Page when detected during a program check on the Sysmac Studio.
Error message
Error level
A parameter is not entered for Error the input.
A parameter is not entered for Error the output.
A parameter of the MC instruction is invalid. Execute the program check to correct the parameter.
Error
A variable not registered in the Error local variable table exists.
To use a global variable, a corresponding external variable must be registered.
Register it by right-clicking the variable and selecting [Register in variable table] from the context menu.
A variable not registered in the Error variable table exists.
Register it by right-clicking the variable and selecting [Register in variable table] from the context menu.
A variable whose data type is Error not defined is used.
Any item other than output can- Error not be connected after an output.
An element comment can con- Error tain up to 250 characters.
An exception such as memory Error shortage has occurred.
Any parameters other than WORD data may result in an unexpected operation.
Warning
Cause
Correction
Refer to the error message.
Enter a parameter for the input.
Refer to the error message.
Enter a parameter for the output.
The MC or MCR number argument does Correct the MC or MCR not match the MC or MCR level number. instruction parameter.
A global variable is defined, but the corresponding external variable is not defined.
If you want to use the global variable, register an external variable that corresponds to the global variable.
If you want to use a variable other than the global variable, correct the variable name.
Refer to the error message.
Register the variable in the variable table or enter the correct variable name.
Refer to the error message.
Define the data type or enter the correct variable name.
Refer to the error message.
Remove any connections other than outputs after the output.
Refer to the error message.
Reduce the number of characters in the element comment.
An object file could not be created due to insufficient memory.
Reduce the sizes of the individual POUs as given below, e.g., by separating individual POUs into two or more POUs.
POUs that are ladder programs: Separate the programs into two or more sections.
Global variables: Use structures or arrays to combine variables or use local variables instead of global variables whenever possible.
Unintended operation may occur if you Correct the usage of parameuse a parameter that is not WORD data. ter data types.
11-2
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-1 Error Messages for Ladder Program Checks
Error message
Error level
Cause
Correction
At least one BOOL input variable and at least one BOOL output variable or return variable must be defined.
Error
Refer to the error message.
Correct the input variable, output variable, or return value variable of the function or function block.
Be careful not to make the scan time too long when moving upward on the program.
Warning
A jump was made to an earlier part of the program.
Correct the jump so that it does not go to an earlier part of the program.
Cannot jump into inside the FOR-NEXT loop.
Error
You attempted to jump to a location inside a FOR ... NEXT construct from outside the FOR ... NEXT construct.
Correct the usage of the FOR and NEXT instructions.
Contacts must not be connected to the right bus bar.
Error
The input is connected to the right bus Correct the rung. bar.
11
Data may be lost during conversion.
Warning
Some data may be lost in the conversion.
Correct how the data is converted.
data_type_name cannot be
Error
converted to data_type_name.
You cannot convert the data to the spec- Correct how the data is con-
ified data type.
verted.
Inline ST can contain up to 1,000 rows.
Error
The Inline ST box contains more than 1,000 lines.
Reduce the number of lines in the Inline ST box.
Invalid pair of data types. Exe- Error cution result may be lost.
You cannot specify a combination of data types that may result in the loss of execution results.
Correct the usage of the data types.
Invalid pair of input parameters.
Error
The specified combination of input parameter data types is incorrect.
Correct the usage of input parameter data types.
It is not recommended to use Warning global variables in a function.
You used a global variable in a function. Correct the usage of global variables in functions.
instruction_name requires a variable with the range specified.
Error
You specified a variable that does not have a range specification.
Correct the usage of the instruction, or specify the variable with a range specification.
Literal cannot be used in an Error input parameter of a in-out variable.
A literal was specified for the parameter on the input side for an in-out variable.
Correct the parameter on the input side for the in-out variable.
Literal format is wrong or the data type is not available.
Error
The format of the literal is incorrect, or you attempted to use a text string literal as a different data type.
Correct the usage of literals, including the format.
member_name is not a member of the data_type_name data type.
Error
You specified an undefined member name after the period.
Define the member or correct the member specification.
No JUMP instruction specifies Warning the label in the same section.
This warning is displayed when only a label is defined in a section.
Correct the usage of jumps and labels.
No need to round integer type Warning variables.
Execution is not required for integer vari- Correct the usage of the inte-
ables.
ger variables.
No value can be written to a lit- Error eral.
You attempted to output to a literal.
Correct the output.
No value can be written to a variable with Read Only attribute set in the task setting.
Error
You specified a variable that can be accessed in the task as an output parameter.
Correct the usage of the accessing tasks.
No value can be written to a Error variable with the Constant attribute.
You specified a variable with the Constant attribute as an output parameter.
Correct the usage of the Constant attribute for the variable.
No value can be written to an Error input variable.
You attempted to write a value to an input variable inside a function or function block.
Correct the usage of input variables in functions and function blocks.
Sysmac Studio Version 1 Operation Manual (W504)
11-3
11 Troubleshooting
Error message
No value can be written to input, output, or in-out variables of a function block instance.
No value can be written to the enumerated type of variables.
One rung can contain only one inline ST.
One rung can contain up to 1,000 instructions.
One section can contain up to 1,000 rungs.
Output parameter type does not match output variable type.
Error level Error
Error Error Error Error Error
Same name is already used for Error a variable.
The actual argument is not a variable.
Error
The BREAK instruction is used Error outside the FOR-NEXT loop.
The BREAK instruction must be connected to the right bus bar.
Error
The END instruction cannot be Error used in a function or function block.
The END instruction must be used alone on a rung. The rung cannot contain any other elements.
Error
The FOR instruction must be used alone on a rung. The rung cannot contain any other elements.
Error
The MC instruction must be
Error
connected to the right bus bar.
The MCR instruction must be used alone on a rung. The rung cannot contain any other elements.
Error
The NEXT instruction must be used alone on a rung. The rung cannot contain any other elements.
Error
The RETURN instruction can- Error not be used in a program POU.
The RETURN instruction must be used alone on a rung. The rung cannot contain any other elements.
Error
The array dimension is not cor- Error rectly specified.
The array expression is invalid. Error
Cause
You attempted to write a value to the output variable, input variable, or in-out variable of an instance variable.
Correction
Correct the usage of variables of function block instances.
You attempted to output a value to an enumeration. There is more than one Inline ST box on the rung. Refer to the error message.
You attempted to use more than 1,000 rungs in one section. The data type of the output parameter does not match the data type of the output variable. Refer to the error message.
A constant is specified for a parameter.
Refer to the error message.
Refer to the error message.
Correct the enumeration.
Correct the usage of inline ST.
Reduce the number of instructions on the rung. Reduce the number of rungs in the section. Correct the output parameter or output variable.
Rename the variable or the label. Specify a variable for the parameter. Correct the usage of the BREAK instruction. Correct the usage of the BREAK instruction.
Refer to the error message. Refer to the error message.
Remove the END instruction from the function or function block.
Correct the usage of the END instruction.
Refer to the error message.
Correct the usage of the FOR instruction.
Refer to the error message. Refer to the error message.
Correct the output of the MC instruction.
Correct the usage of the MCR instruction.
Refer to the error message.
Correct the usage of the NEXT instruction.
The RETURN instruction was used in a program.
Refer to the error message.
Remove the RETURN instruction from the program.
Correct the usage of the RETURN instruction.
The array dimensions used do not match the array definition.
The array expression is incorrect, there is no right bracket, or there is a character after the right bracket.
Correct the array definition or correct the array dimensions.
Correct the array expression.
11-4
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-1 Error Messages for Ladder Program Checks
Error message
Error level
Cause
Correction
The array index is out of range. Error
The literal used for the array subscript is Correct the array definition or
outside of the range of the array.
correct the array subscript.
The data type range is decreased in the conversion from data_type_name to data_type_name.
Error
You cannot convert the variable to the specified data type.
Correct how the data is converted.
The data_type_name data type Error is not defined.
You attempted to use a variable with an Define the data type or enter
undefined data type.
the correct variable name.
The downward differentiation condition cannot be specified for the instruction_name instruction.
Error
The instruction does not support the ~ condition.
Correct the usage of the instruction_name instruction.
11
The function block definition name is empty.
Error
Refer to the error message.
Enter a function block definition name.
The function block name is not Error defined.
Refer to the error message.
Define the function block or enter the correct function name.
The function name is empty. Error
Refer to the error message.
Enter a function definition name.
The function name is not defined.
Error
Refer to the error message.
Define the function or enter the correct function name.
The inline ST box must be con- Error nected to the right bus bar.
Refer to the error message.
Correct the usage of inline ST.
The input parameter cannot be Error omitted for an in-out variable.
The in-out variable does not have a parameter on the input side.
Enter a parameter on the input side for the in-out variable.
The input parameter types can- Error not be converted to the output parameter types.
Refer to the error message.
Correct how the data is converted.
The input used as an internal Warning bit is not written from others.
Refer to the error message.
Check the access relationships of the work bit input.
The instance is doubly used, which may cause an unintentional operation.
Warning
Refer to the error message.
Correct the usage of the instance.
The instance variable is empty. Error
Refer to the error message.
Enter an instance variable.
The label is empty.
Error
The label specified for the jump destination does not exist in the same section.
The label specified for the jump destination is used more than once.
The member expression is invalid.
The output is doubly used, which may cause unintentional operation.
The output used as an internal bit is not referenced from others.
The rung cannot be branched before the MC instruction.
Error Error Error Warning Warning Error
No label was entered for a Jump instruc- Enter a label. tion (->>) or Label instruction.
A label for the jump target does not exist Correct the usage of jumps
in the same section.
and labels.
Refer to the error message.
Correct the usage of jumps and labels.
The member expression is incorrect ( e.g., "(a..b)").
Refer to the error message.
Correct the member expression.
Correct the usage of outputs.
Refer to the error message. Refer to the error message.
Check the access relationships of the work bit output.
Correct the rung before the MC instruction.
Sysmac Studio Version 1 Operation Manual (W504)
11-5
11 Troubleshooting
Error message
The rung cannot be branched or converged after an output.
The rung is disjunct.
Error level Error
Error
Cause Refer to the error message.
There is a disconnection within a rung.
Correction
Remove any branches or joins after outputs.
Correct the rung.
The upper limit of nesting lev- Error els (15) was exceeded.
The upward differentiation condition cannot be specified for the instruction_name instruction.
Error
There is no corresponding FOR instruction in the same section.
Error
There is no corresponding MC Error instruction.
There is no corresponding MCR instruction inside the FOR-NEXT loop.
Error
There is no corresponding MCR instruction.
Error
There is no corresponding NEXT instruction in the same section.
Error
There is no corresponding NEXT instruction inside the MC-MCR region.
Error
Unsigned integers cannot be Error used together with signed integers.
When specifying an output parameter of an in-out variable, it must be same as input parameter.
Error
When using the union data type, specify a member.
Error
You can only use the following Error types for the input parameter.
Refer to the error message.
Correct the usage of nesting.
The instruction does not support the @ Correct the usage of the
condition.
instruction_name instruction.
A FOR instruction was not found in the Correct the usage of the FOR
same section as a NEXT instruction.
and NEXT instructions.
You did not include the MC instruction Correct the usage of the MC that corresponds to the MCR instruction. and MCR instructions.
There is an MC instruction without an MCR instruction between the FOR and NEXT instructions.
Correct the MC structure between the FOR and NEXT instructions.
You did not include the MCR instruction Correct the usage of the MC that corresponds to the MC instruction. and MCR instructions.
A NEXT instruction was not found in the Correct the usage of the FOR
same section as a FOR instruction.
and NEXT instructions.
There is a FOR instruction without a NEXT instruction between the MC and MCR instructions.
You cannot use an unsigned integer with a signed integer or a real number.
The parameter on the output side for the in-out variable is not the same as the parameter on the input side.
Correct the FOR structure between the MC and MCR instructions.
Correct the usage of unsigned integers, signed integers, and real numbers.
Use the same parameter on both the input and output sides for an in-out variable.
You attempted to use a union variable without a period.
You specified a data type that cannot be used for an input.
Correct the usage of unions. Correct the usage of inputs.
11-6
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-2 Error Messages for Structured Text Checks
11-2 Error Messages for Structured Text Checks
The following table lists the ST program error messages that are displayed in the Output Tab Page when detected during a program check on the Sysmac Studio.
Error message "(" is missing. ")" is missing. "." is missing. ":" is missing. ":=" is missing.
Error level Error Error Error Error Error
Cause Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
";" is missing. "[" is missing. "]" is missing. A constant cannot be written.
Error Error Error Error
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
A variable with Constant attribute cannot be written.
A value is out of range.
Error Error
Refer to the error message. Refer to the error message.
Correction
Insert a left parenthesis.
Insert a right parenthesis.
11
Insert a period.
Insert a colon.
Insert a colon and equals sign (:=).
Insert a semicolon.
Insert a left bracket.
Insert a right bracket.
Correct the usage of constants.
Correct the usage of variables with a Constant attribute.
Correct the value.
Address cannot be allocated for the variable variable_name. Check the auto allocation option.
Error
An I/O parameter is missing. Error All I/O parameters must be set.
Array dimension or size does Error not match.
Array index is out of range.
Error
Bad Parameter - Variable is not Error found.
Constant is missing.
Error
Conversion from source_data Error to destination_data may cause data loss.
Conversion from source_data Error to destination_data is impossible.
"DO" is missing.
Error
Definition of the function block Error definition_name is missing.
Definition of the function function_definition_name is missing.
Error
Division by zero
Error
Duplicate variable is specified Error for the function.
Duplicate variable is specified. Error
Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message.
Refer to the error message.
Set the I/O parameter.
Correct the usage of arrays.
Correct the array index. Correct the parameter.
Insert a constant. Correct how the data is converted.
Correct how the data is converted.
Insert DO. Correct the function block definitions. Use the function definition function_definition_name.
Correct the division operation. Correct the usage of the variables. Correct the variable.
Sysmac Studio Version 1 Operation Manual (W504)
11-7
11 Troubleshooting
Error message "EN' or 'ENO' cannot be used as an input/output variable. "END_CASE" is missing. "END_FOR" is missing. "END_IF" is missing. "END_REPEAT" is missing. "END_WHILE" is missing. End of the comment is not found. End of the string is not found.
Error level Error
Error Error Error Error Error Error
Error
Cause Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
Refer to the error message.
Enumerated type identifiers are read only.
Failed to retrieve the information of variable variable_name from function block variable table.
Field specifier is missing.
Function block I/O variable is read only.
Global variable variable_name is used.
Identifier is missing.
Invalid format.
Invalid value
Missing parameter.
Error Error
Error Error Warning Error Error Error Error
Refer to the error message. Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
member_name is not a member of data_type_variable_name.
Error
Negation is not supported by Error data_type_variable_name data type.
Numbers cannot be specified Error for the NOT operation.
"OF" is missing.
Error
Output variable of the function Error is invalid.
Read-only memory is specified as the AT address of the variable variable_name. No value can be assigned to the variable.
Error
String literal is too long.
Error
Strings are not currently supported.
Error
Structure variables are not sup- Error ported.
"THEN" is missing.
Error
"TO" is missing.
Error
Refer to the error message.
Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
Correction Correct the usage of the EN and ENO variables. Insert END CASE. Insert END FOR. Insert END IF. Insert END REPEAT. Insert END WHILE. Define the end of the comment. Define the end of the text string. Correct the usage of ENUM enumerators. Correct the variable name.
Correct the field specifier. Correct the function block I/O variable. Correct the usage of the variables. Insert an identifier. Correct the format. Correct the value. Correct the number of parameter specifications. Correct the member_name member of data_type_variable. Correct the value or the data type.
Correct the usage of the NOT expression. Insert OF. Correct the output variable.
Correct the AT specification.
Correct the text string. Correct the text string.
Correct the usage method.
Insert THEN. Insert TO.
11-8
Sysmac Studio Version 1 Operation Manual (W504)
Error message
The AT address specified for the variable variable_name is invalid.
Error level Error
The FOR loop declaration contains an invalid parameter.
The array index is invalid.
The array is short of dimensions.
The constant is invalid.
The expression is invalid.
The function block parameter is mixed data types.
The in-out variable is invalid.
The input variable variable_name cannot be assigned a value.
The operation is invalid.
The operator_name operator is not supported by data_type_name data type.
The output variable is invalid.
The output variable variable_name cannot be assigned a value.
Error
Error Error
Error Error Error
Error Error
Error Error
Error Error
The statement is invalid.
Error
The variable does not have enough size.
Error
The variable variable_name is Error not a parameter of the function.
The variable variable_name is Error not an in-out variable.
There are too many keywords. Error
Cause Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
Refer to the error message. Refer to the error message.
Refer to the error message. Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
There must be at least one line of valid code (excluding comments).
Too many dimensions for an array.
Too many parameters are specified.
Too many variables are specified for the function.
Two variable formats are mixed.
"UNTIL" is missing.
Usage mismatch in a variable of the function
Usage mismatch in function block variable
Usage mismatch. ':=' cannot be used for an output parameter.
Error
Error Error Error Error Error Error Error Error
Refer to the error message.
Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message. Refer to the error message.
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-2 Error Messages for Structured Text Checks
Correction Correct the AT specification.
Correct the parameter in the FOR loop declaration.
Correct the array index.
Correct the array variable.
Correct the constant.
Correct the expression.
Correct the function block
11
parameter.
Correct the in-out variable.
Correct the usage of the input variables.
Correct the operation.
Correct the usage of the operator.
Correct the output variable.
Correct the usage of the output variables.
Correct the instruction. Correct the variable size.
Correct the variable_name variable.
Correct the usage of the variable attributes.
Reduce the number of keywords.
Insert at least one line of valid code.
Correct the array variable.
Correct the variable.
Correct the variable specifications.
Correct the variable notation.
Insert UNTIL.
Correct the usage of the variables.
Correct usage of the function block variables.
Correct the usage.
11-9
11 Troubleshooting
Error message
Error level
Usage mismatch. '=>' cannot Error be used for an I/O parameter.
Usage mismatch. '=>' cannot Error be used for an input parameter.
When using the union data type, specify a member.
Error
Cause Refer to the error message.
Refer to the error message.
You attempted to use a union variable without a period.
Correction Correct the usage.
Correct the usage.
Correct the usage of unions.
11-10
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-3 Error Messages for Variable Check
11-3 Error Messages for Variable Check
The following table shows the variable check error message that is displayed in the Output Tab Page when detected during a program check on the Sysmac Studio.
Error message
Variable concurrency may not be ensured between tasks which reference the networkpublished variable.
Register the network-published variable to the Settings for Exclusive Control of Variables in Tasks to ensure concurrency of the variable value.
Error level Error
Cause Refer to the error message.
Correction
Change the Sysmac Studio option settings. Refer to 8-23 Sysmac Studio Option Settings on page 8-113 for detail.
11
Sysmac Studio Version 1 Operation Manual (W504)
11-11
11 Troubleshooting
11-4 Error Messages for Sysmac Studio Operation
The following table lists the error messages that are displayed in the Output Tab Page when you perform operations on the Sysmac Studio.
Error message
cannot be executed.
Error level
Cause
Error
� A cable is disconnected.
� You used prohibited characters in the volume label.
Correction
� Check the cable connections. Go offline and then go online again, and then try again.
� Increase the response monitoring time in the Communications Setup.
� Correct the volume label.
� You used prohibited characters when � Correct the name of the file or folder. you created or renamed a file or folder.
� The SD Memory Card does not have enough available space for the copy operation.
� There is no SD Memory Card.
� Check the amount of available space required to copy the data, and the amount of available space left on the SD Memory Card.
� Insert the SD Memory Card.
� Power is not supplied to the SD Mem- � Insert the SD Memory Card again. ory Card.
� The protection switch on the SD Mem- � Turn OFF the protection switch on
ory Card is turned ON.
the SD Memory Card.
� A format operation is in progress.
� Wait until the format operation is completed, and then try again.
� Other Support Software is currently accessing the SD Memory Card.
� Wait until the other Support Software is finished, and then try again.
11-12
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-4 Error Messages for Sysmac Studio Operation
Error message
Error level
Cause
Correction
A communications error has occurred
/The communication has been disconnected.
Error
There was a communications error between the Sysmac Studio and the Controller. (For example, a cable is disconnected.)
There was an error in a communications message.
Check the Communications Setup, and then try again.
� Check the cable connections and go offline, then go online and try again.
� Increase the response monitoring time in the communications settings.
� Wait for a while and then try again
(e.g., wait until downloads from
other Support Software are com-
pleted).
11
An unexpected error occurred during
exclusive control of commands.
An unexpected error occurred (including inconsistent communications format).
A timeout occurred during the Communications Setup test.
Check the following items:
� Cable connections
� The specified IP address
� The network connection and the IP address setting for the local area network in the Control Panel on the computer
There was no response from the Controller.
� Make sure the cables are connected correctly.
� Increase the response monitoring time in the Communications Setup.
� Cycle the power supply to the Controller.
An error occurred when Error exporting the project.
The file system is write protected, or some other write error occurred.
Make sure the write attribute of the file system is set correctly.
A project could not be Error found in the archive file.
The export file was not found.
Specify the correct export file.
An error has occurred in the MC Test Run. The MC Test Run is forced to end.
Error
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
An error occurred while Error the Special Unit parameters were transferred.
The transfer operation for all parameters Check the power supply and wiring,
timed out.
and then try again.
An error occurred during Error backup parameter transfer of EtherCAT slaves.
Refer to the error message.
Try again.
An error occurred when Error importing the project.
The file system is read protected, or some other read error occurred.
Make sure the read attribute of the file system is set correctly.
Unexpected error occurred. *** aborted.
Error
Refer to the error message.
Try again.
/The *** processing was abnormally terminated due to an unexpected error.
Cannot change to the MC Test Run.
Error
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Cannot execute the test Error run.
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Sysmac Studio Version 1 Operation Manual (W504)
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11 Troubleshooting
Error message Cannot read the axis variable variable_name. Cannot start monitoring the axis status. Data is broken. Error occurred when exporting project Error occurred when importing project Error while loading file Error while writing file
Export Failed
Failed to due to out of memory. Please restart Sysmac Studio and then try again. Failed to add a Rack. Failed to add a Unit. Failed to clear the error.
Failed to clear diagnosis/statistics information.
Failed to clear the event log.
Error level Error Error Error Error Error Error Error Error
Error
Error Error Error
Error Error
Cause There was a communications error between the Sysmac Studio and the Controller. There was a communications error between the Sysmac Studio and the Controller. The data you attempted to read or write is corrupted. The export failed due to some problem.
The import failed due to some problem.
The file could not be loaded. The file could not be written to.
You cannot write to the save location. You do not have write rights for the save location. The file you are trying to overwrite may be in use by another application. There is insufficient memory for Sysmac Studio processing.
You have reached the maximum number of Racks. You have reached the maximum number of Units that you can add to the Rack. A timeout occurred or an error response was received when you attempted to reset a Controller error or user-defined error during troubleshooting. � A cable is disconnected. � You do not have the required access
rights. � A download is in progress for other
Support Software. The system is busy. The communications timed out.
A timeout occurred or an error response was received when you attempted to clear the troubleshooting event log or user-defined event log or when you attempted to clear all memory to clear the error log. � A cable is disconnected. � You do not have the required access
rights. � Write protection is enabled. � A download is in progress for other
Support Software.
Correction Check the Communications Setup, and then try again.
Check the Communications Setup, and then try again.
Make sure the contents of the file and the write attribute of the file system are correct. Make sure the contents of the file and the read attribute of the file system are correct. Check the file to see if it is corrupted. Make sure that the file is not open for any other application, and then try again. Save the data to a folder that you can write to. Save the file under another file name.
Close the project, restart the Sysmac Studio, and execute the operation again.
Delete a Rack, and then try again.
Add the Unit to another Rack, or delete a Unit and try again. � Check the cable connections. Go
offline and then go online again, and then try again. � Reset the access rights, and then try again. � Wait until the download for the other Support Software is finished, and then try again.
Try again. Check the power supply and wiring, and then try again. � Check the cable connections. Go
offline and then go online again, and then try again. � Increase the response monitoring time in the Communications Setup. � Reset the access rights, and then try again. � Release CPU Unit write protection, and then try again. � Wait until the download for the other Support Software is finished, and then try again.
11-14
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-4 Error Messages for Sysmac Studio Operation
Error message
Error level
Cause
Correction
Failed to communicate with the EtherCAT slave or the NX Unit.
Process was aborted.
Error
The system is busy.
The loads are OFF.
A major fault level Controller error occurred.
Try again. Enable the loads, and then try again. Correct the error, and then try again.
A partial fault level Controller error such as a CPU Rack bus error occurred in a subsystem.
Correct the error, and then try again.
A Link OFF Error occurred.
Check the power supply and wiring of
Communications are not possible with
the first slave and then try again. Check the power supply, wiring, and
11
the target slave.
slave's node address, and then try
again.
The target slave is disabled.
Enable the slave and perform synchronization, and then try again.
The slave cannot be identified.
Use the Compare and Merge with Actual Network Configuration menu command to make the configurations match, synchronize the data, and then try again.
Synchronization has not been performed.
Synchronize the data, and then try again.
Failed to compare.
Error
The communications timed out.
Check the power supply and wiring, and then try again.
The system is busy.
Try again.
The loads are OFF.
Enable the loads, and then try again.
A major fault level Controller error occurred.
Correct the error, and then try again.
A Link OFF Error occurred.
Check the power supply and wiring of the first slave and then try again.
Communications are not possible with the target slave.
Check the power supply, wiring, and slave's node address, and then try again.
The target slave is disabled.
Enable the slave and perform synchronization, and then try again.
The slave cannot be identified.
Use the Compare and Merge with Actual Network Configuration menu command to make the configurations match, synchronize the data, and then try again.
Synchronization has not been performed.
Synchronize, and then perform the operation.
A slave status change was detected.
Make sure you are not performing any operations in other Support Software, and then try again.
A change in the configuration was detected.
Try again.
Failed to delete a Rack. Error
You cannot delete this Rack.
Failed to execute the command.
Error
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Failed to extend the ses- Error sion.
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Failed to get a session. Error
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Sysmac Studio Version 1 Operation Manual (W504)
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11 Troubleshooting
Error message Failed to get actual Unit configuration.
Failed to get diagnosis/statistics information. Failed to get packet data.
Failed to get serial numbers.
Failed to get the Controller configuration information. Check the power supply and wiring for any abnormality, and retry.
Error level Error
Error Error Error
Error
Cause A change in the configuration was detected. The limit to the number of slaves was exceeded.
The wiring is incorrect.
The system is busy. The communications timed out.
A Link OFF Error occurred.
A system error occurred. The communications timed out.
The communications timed out.
The system is busy. The packet monitor was started already.
The file could not be obtained.
A change in the configuration was detected. The limit to the number of slaves was exceeded.
The wiring is incorrect.
The system is busy. The communications timed out.
A Link OFF Error occurred.
The actual device configuration and the device configuration in the project do not match. The configuration information of the CJseries Units could not be obtained because of a communications error.
Correction
Try again.
Correct the wiring to reduce the number of slaves to 192 or less, and then try again.
Correct the wiring so that the input and output ports are connected, and then try again.
Try again.
Check the power supply and wiring, and then try again.
Check the power supply of the first slave. Check the wiring. Try again after you have solved the problem.
Contact your OMRON representative.
Check the power supply and wiring, and then try again.
Check the power supply and wiring, and then try again.
Try again.
Stop the packet monitor, and then try again.
Make sure that you are not saving the packet monitor results with an instruction or from another tool, and then try again.
Try again.
Correct the wiring to reduce the number of slaves to 192 or less, and then try again.
Correct the wiring so that the input and output ports are connected, and then try again.
Try again.
Check the power supply and wiring, and then try again.
Check the power supply of the first slave. Check the wiring. Try again after you have solved the problem.
Make sure that the device configurations match, and then try again.
Check the status of the power supply and wiring, and then try the operation again.
11-16
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-4 Error Messages for Sysmac Studio Operation
Error message
Error level
Cause
Correction
Failed to get the produc- Error tion information.
A change in the configuration was detected.
Try again.
The limit to the number of slaves was exceeded.
Correct the wiring to reduce the number of slaves to 192 or less, and then try again.
The communications timed out.
Check the power supply and wiring, and then try again.
The wiring is incorrect.
Correct the wiring so that the input and output ports are connected, and then try again.
The system is busy. A Link OFF Error occurred.
Try again.
11
Check the power supply of the first
slave. Check the wiring. Try again after
you have solved the problem.
Check that the slave information on the right is provided in the ESI file library.
Vendor ID=0x{0,0:X8}, Product Code=0x{1,0:X8}, Revision Number=0x{2,0:X8}
There are two or more slaves with the Write a new slave node address to same node address in the actual device correct the problem. configuration.
There is a slave with an out-of-range node address in the actual device configuration.
Write a new slave node address to correct the problem.
Communications failed.
Check the power supply and wiring, and then try again.
Failed to judge the condi- Error tion. Simulation will stop at the breakpoint.
This error is displayed when the condition for a breakpoint cannot be evaluated due to an internal communications error.
Note This does not mean that the result of the evaluation is FALSE.
Execution pauses at the breakpoint where the error occurred, and this error message is displayed. Stop the simulation, and then execute the simulation again.
Failed to load the event Error log.
A timeout occurred or an error response � Check the cable connections. Go
was received when reading the event
offline and then go online again, and
log for troubleshooting.
then try again.
� A cable is disconnected.
� A download is in progress for other Support Software.
� An I/O Bus Check Error occurred, and reading the error log of the CJ-series Unit was not possible.
� Increase the response monitoring time in the Communications Setup.
� Wait until the download for the other Support Software is finished, and then try again.
� Eliminate all high level errors, perform an error reset, and then try to read the event log again.
Failed to lock the servo. Error
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Failed to monitor the sta- Error tus.
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Failed to read Controller Error Clock Information.
A timeout occurred when the Clock Dialog Box was displayed. (For example, a cable is disconnected.)
� Check the cable connections. Go offline and then go online again, and then try again.
Failed to read the file. Error
You specified a file that is not a Unit Parameters File.
Specify a Unit Parameters File.
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11-17
11 Troubleshooting
Error message Failed to read the list of Controller variables and memory addresses for which forced refreshing is active.
Failed to read the serial ID. Failed to read the status.
Failed to cancel the forced refreshings for all of the specified variables/memory in the Controller.
Failed to reset all axis errors. Failed to restore EtherCAT configuration. Failed to save file.
Failed to save the build results to the project due to out of memory. Please restart Sysmac Studio, and then execute the build again. Failed to start absolute positioning. Failed to start homing.
Failed to start jogging.
Failed to start packet monitoring.
Failed to start relative positioning. Failed to start the MC Test Run. Failed to stop jogging.
Failed to stop packet monitoring.
Failed to stop the axis.
Failed to transfer to the controller.
Error level Error
Error Error Error
Error Error Error Error
Error Error Error Error Error Error Error Error Error Error Error Error
Cause A timeout occurred or an error response was received when you attempted to read forced refreshing values after going offline, or when all forced refreshing was completed. � A cable is disconnected. � A download is in progress for other
Support Software. The serial ID could not be obtained from the CPU Unit when online. You cannot execute the operation because of a Controller error. A timeout occurred or an error response was received when you attempted to cancel forced refreshing after going offline, or when all forced refreshing was completed. � A cable is disconnected. � A download is in progress for other
Support Software. You cannot execute the operation because of a Controller error. Add an ESI file that contains the device (ID) information. You do not have the rights that are required to load the file. There is insufficient memory for Sysmac Studio processing.
You cannot execute the operation because of a Controller error. You cannot execute the operation because of a Controller error. You cannot execute the operation because of a Controller error. The communications timed out.
The system is busy. You cannot execute the operation because of a Controller error. You cannot execute the operation because of a Controller error. You cannot execute the operation because of a Controller error. The communications timed out.
The system is busy. You cannot execute the operation because of a Controller error. The upload failed (the specified file does not exist).
Correction
� Check the cable connections. Go offline and then go online again, and then try again.
� Increase the response monitoring time in the Communications Setup.
� Wait until the download for the other Support Software is finished, and then try again.
There is no correction to be taken. (For example, noise caused the error.)
Identify and remove the Controller error, and then try again.
� Check the cable connections. Go offline and then go online again, and then try again.
� Increase the response monitoring time in the Communications Setup.
� Wait until the download for the other Support Software is finished, and then try again.
Identify and remove the Controller error, and then try again.
Make sure that the device configurations match, and then try again.
Close the project, restart the Sysmac Studio, and then build the programs before you transfer them to the Controller.
Identify and remove the Controller error, and then try again.
Identify and remove the Controller error, and then try again.
Identify and remove the Controller error, and then try again.
Check the power supply and wiring, and then try again.
Try again.
Identify and remove the Controller error, and then try again.
Identify and remove the Controller error, and then try again.
Identify and remove the Controller error, and then try again.
Check the power supply and wiring, and then try again.
Try again.
Identify and remove the Controller error, and then try again.
11-18
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-4 Error Messages for Sysmac Studio Operation
Error message
Error level
Cause
Correction
Failed to transfer the parameters.
Error
There was a communications error between the Sysmac Studio and the Controller.
Check the Communications Setup, and then try again.
Failed to transfer from the controller.
Error
The download failed.
Failed to transfer.
Error
The communications timed out.
Check the power supply and wiring, and then try again.
The system is busy.
Try again.
The loads are OFF.
Enable the loads, and then try again.
A major fault level Controller error occurred.
Correct the error, and then try again.
11
A Link OFF Error occurred.
Check the power supply and wiring of the first slave and then try again.
Communications are not possible with the target slave.
Check the power supply, wiring, and slave's node address, and then try again.
The target slave is disabled.
Enable the slave and perform synchronization, and then try again.
The slave cannot be identified.
Use the Compare and Merge with Actual Network Configuration menu command to make the configurations match, synchronize the data, and then try again.
Synchronization has not been performed.
Synchronize, and then perform the operation.
A slave status change was detected.
Make sure you are not performing any operations in other Support Software, and then try again.
A change in the configuration was detected.
Try again.
Failed to transfer the EtherNet/IP connection settings to/from the Controller. (Communication Error)
Error
Communications were blocked due to Windows firewall settings.
Change the Windows firewall settings to allow access. Refer to the NJ/NXseries CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) or NY-series Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563) for details.
Failed to unlock the servo.
Error
You cannot execute the operation because of a Controller error.
Identify and remove the Controller error, and then try again.
Failed to write Controller Error Clock Information.
A timeout occurred when you clicked the button to apply the time zone and clock settings in the Clock Dialog Box. (For example, a cable is disconnected.)
� Check the cable connections. Go offline and then go online again, and then try again.
Failed to write the Con- Error troller name.
A timeout occurred or an error response was received when you attempted to write the name of the Controller while online.
� A cable is disconnected.
� Write protection is enabled.
� A download is in progress for other Support Software.
� Check the cable connections. Go offline and then go online again, and then try again.
� Increase the response monitoring time in the Communications Setup.
� Release CPU Unit write protection, and then try again.
� Wait until the download for the other Support Software is finished, and then try again.
Sysmac Studio Version 1 Operation Manual (W504)
11-19
11 Troubleshooting
Error message
Failed to write the ID to the Controller.
Error level Error
File operation failed. Import Failed
Error Error
Incorrect CSV format on line line_number.
Insufficient permissions.
Error Error
One of the modules for executing Sysmac Studio stopped. Exit Sysmac Studio and try again.
Problem while reading CSV File
Error Error
Sysmac Studio cannot be started because one or more system files are missing. Please uninstall the Sysmac Studio, and then reinstall it.
The command is not supported by the controller and device.
The comparison processing could not start.
Error
Error Error
The content of the archive file is invalid.
The Controller was not found.
Error Error
The data of rung No. is corrupted.
Delete the rung No. and create it again.
The entered value has an error.
Error Error
Cause A timeout occurred or an error response was received when you attempted to write the online user program execution ID to the Controller. � A cable is disconnected. � RUN mode � Write protection is enabled. � A download is in progress for other
Support Software.
Refer to the error message. The CSV file is corrupted. Another application is using the CSV file.
The CSV file format is incorrect.
Correction
� Check the cable connections. Go offline and then go online again, and then try again.
� Increase the response monitoring time in the Communications Setup.
� Change to PROGRAM mode, and then try again.
� Release CPU Unit write protection, and then try again.
� Wait until the download for the other Support Software is finished, and then try again.
If another application is using the CSV file, close that application, and then try again.
Specify a valid CSV file.
You do not have the read rights required to read the file system stored in the project file.
For some reason, one of the modules for executing Sysmac Studio stopped.
Make sure the read attribute of the file system is set correctly.
Restart the Sysmac Studio and then execute the operation again.
The CSV file could not be loaded.
A file that is necessary to start the Sysmac Studio is missing.
Make sure that the file is not open for any other application, and then try again.
Uninstall the Sysmac Studio and then install it again.
The command does not exist.
� The backup file is corrupted.
� The data that is required for comparison is not in the backup file.
The contents of the export file are incorrect (format error).
A node at the specified IP address was not found during the Communications Setup test. (A response was received, but the specified IP address was not found.)
The rung data was corrupted for some reason.
Make sure that the file is correct and execute the operation again.
Specify the correct export file.
� Check the remote IP address in the Communications Setup.
Delete the corrupted rung and create it again.
The value that was entered in one or more of the text boxes in the current window is out of range.
You can view the tooltip of any text box with an exclamation mark to see how to correct the problem. Follow the instructions to correct the value as appropriate.
11-20
Sysmac Studio Version 1 Operation Manual (W504)
11 Troubleshooting
11-4 Error Messages for Sysmac Studio Operation
Error message
Error level
Cause
Correction
The file format is illegal. Error
Refer to the error message.
The name has already been used.
Error
A data type with that name is already defined.
Use a different name to define the data type.
The operation cannot be Error executed because it is invalid.
Refer to the error message.
The predefined key-
Error
words cannot be used for
data type name.
This error is displayed when you attempt Do not use reserved words for data to use a reserved word (such as IF) for a types. data type name.
The system file could not Error
A file that is necessary to start the Sys- Restart the Sysmac Studio.
be loaded. Please restart Sysmac Studio and then
mac Studio cannot be read.
11
try again.
The target controller includes data not supported by the current version of Sysmac Studio. Use the latest version of Sysmac Studio.
Error
An attempt was made to connect to a Controller with an unsupported unit version.
An NX Unit that is not supported is included in the EtherCAT Slave Terminal configuration information in the connected Controller.
Use the newest version of the Sysmac Studio.
Use the newest version of the Sysmac Studio.
The target controller includes data of functions that cannot be used in Sysmac Studio.
Error
If Library Data is also displayed, a library in the Controller data was created with a version of Sysmac Studio that is newer than the version that is currently online.
Use the newest version of the Sysmac Studio.
The Controller includes a library not sup- Use the newest version of the Sysmac ported by the current version of Sysmac Studio. Studio.
Sysmac Studio Version 1 Operation Manual (W504)
11-21
11 Troubleshooting
11-22
Sysmac Studio Version 1 Operation Manual (W504)
Appendices A
A-1 Driver Installation for Direct USB Cable Connection . . . . . . . . . . . . . . . . . A-3 A-1-1 Installing the USB Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3 A-1-2 Installing a Specified USB Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3 A-1-3 Confirmation Procedure after Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
A-2 Specifying One of Multiple Ethernet Interface Cards . . . . . . . . . . . . . . . . . A-7
A-3 Differences between the Simulator and the Physical Controller . . . . . . . . A-9 A-3-1 Operation of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9 A-3-2 Task Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13 A-3-3 Task Execution Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16 A-3-4 Floating-point Data Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17
A-4 Online Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-18 A-4-1 Sysmac Studio Help Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-18 A-4-2 Instruction Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-18 A-4-3 Keyboard Mapping Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19 A-4-4 System Defined Variable Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19
A-5 Shortcut Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
A-5-1 A-5-2 A-5-3 A-5-4 A-5-5 A-5-6 A-5-7
Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20 Editing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21 Searching and Replacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-22 Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-22 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23 SD Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23 Changing Shortcut Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24
A-6 Simulation Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-33
A-6-1 A-6-2 A-6-3 A-6-4 A-6-5 A-6-6 A-6-7 A-6-8 A-6-9 A-6-10 A-6-11
Simulate Positive Limit Input Signal Instruction . . . . . . . . . . . . . . . . . . . . . . . A-33 Simulate Negative Limit Input Signal Instruction . . . . . . . . . . . . . . . . . . . . . . A-34 Simulate Home Proximity Signal Instruction . . . . . . . . . . . . . . . . . . . . . . . . . A-36 Simulate Immediate Stop Input Signal Instruction . . . . . . . . . . . . . . . . . . . . . A-37 Simulate External Latch Input Signal Instruction . . . . . . . . . . . . . . . . . . . . . . A-38 Simulate Drive Alarm Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-39 Simulate Drive Warning Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-41 Encoder Velocity Input Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-42 Write Actual Position Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-44 Write Actual Velocity Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-46 Write Actual Torque Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-48
Sysmac Studio Version 1 Operation Manual (W504)
A-1
Appendices
A-6-12 Detailed Information on Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-50
A-7 Directly Connecting to an EtherCAT Slave Terminal . . . . . . . . . . . . . . . . .A-52
A-7-1 A-7-2 A-7-3 A-7-4 A-7-5 A-7-6
Procedure for Directly Connecting to an EtherCAT Slave Terminal . . . . . . . .A-52 Transferring Settings for an EtherCAT Slave Terminal . . . . . . . . . . . . . . . . . .A-53 Comparing the EtherCAT Slave Terminal Configuration Information . . . . . . .A-54 USB Connection Prohibition Setting for EtherCAT Slave Terminals . . . . . . . .A-54 I/O Wiring Checks for EtherCAT Slave Terminals . . . . . . . . . . . . . . . . . . . . . .A-55 Differences in Operation from an Online Connection to an NJ/NX/NY-series Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-56
A-8 MDP Settings for EtherCAT Network Slaves . . . . . . . . . . . . . . . . . . . . . . .A-57
A-8-1 A-8-2 A-8-3 A-8-4 A-8-5 A-8-6
Installing ESI Files for MDP Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-57 Adding MDP Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-57 Editing Module Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-57 Building Module Configurations Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-58 Setting MDP Slaves and Transferring/Comparing Module Configurations . . .A-58 Displaying Production Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-58
A-9 Changing the Sysmac Studio Display Language . . . . . . . . . . . . . . . . . . . .A-59
A-9-1 Changing the Display Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-59
A-10 Changing models among NJ-, NX-, and NY-series Controllers . . . . . . . .A-60
A-10-1 Changing between NJ-series and NX701 Controllers . . . . . . . . . . . . . . . . . . .A-60 A-10-2 Changing between NJ-series and NY-series Controllers . . . . . . . . . . . . . . . .A-62 A-10-3 Changing between NY-series and NX701 Controllers . . . . . . . . . . . . . . . . . .A-63 A-10-4 Changing between NX1P2 and NJ-series Controllers . . . . . . . . . . . . . . . . . .A-64 A-10-5 Changing between NX1P2 and NX701 Controllers . . . . . . . . . . . . . . . . . . . .A-66 A-10-6 Changing between NX1P2 and NY-series Controllers . . . . . . . . . . . . . . . . . .A-68 A-10-7 Changing between NX102 and NJ-series Controllers . . . . . . . . . . . . . . . . . . .A-69 A-10-8 Changing between NX102 and NX701 Controllers . . . . . . . . . . . . . . . . . . . . .A-71 A-10-9 Changing between NX102 and NY-series Controllers . . . . . . . . . . . . . . . . . .A-73 A-10-10 Changing between NX102 and NX1P2 Controllers . . . . . . . . . . . . . . . . . . . .A-74
A-11 Report Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-76
A-11-1 Sysmac Controller Log Upload Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-76 A-11-2 Sysmac Studio Error Report Generating Tool . . . . . . . . . . . . . . . . . . . . . . . . .A-78 A-11-3 Sysmac Coupler Log Upload Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-79
A-12 Downloading Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-81
A-12-1 Displaying the Manual Download Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-81
A-2
Sysmac Studio Version 1 Operation Manual (W504)
A-1 Driver Installation for Direct USB Cable Connection
Appendices
A-1 Driver Installation for Direct USB Cable Connection
This section describes the procedures when you connect the computer to the USB port on the Controller or the Communications Coupler Unit the first time, assuming that you are using Windows 7. These procedures assume that the Sysmac Studio is already installed on the computer.
A-1-1 Installing the USB Driver
1 Turn ON the power supply to the Controller or the Communications Coupler Unit and connect
the USB port on the Controller or the Communications Coupler Unit to the computer with a USB cable.
A
The USB driver is installed automatically after you connect the cable.
Additional Information
You may need to restart Windows after you install the USB driver. Restart Windows as instructed on the display.
A-1-2 Installing a Specified USB Driver
If you cannot install the USB driver automatically, use the following procedure to specify the driver to install.
1 Start the Device Manager from the Control Panel and, in Other devices, double-click Unknown device. The Unknown device Properties dialog box is displayed.
A-1-1 Installing the USB Driver
Sysmac Studio Version 1 Operation Manual (W504)
A-3
Appendices
2 Click the Update Driver Button.
The Update Driver Software Dialog Box is displayed.
3 Click Browse my computer for driver software.
A dialog box is displayed to specify the location to browse for driver software.
4 Click the Browse Button and select the USB driver.
You can find the USB driver in the following location:
Folders for the Controller are shown below. For the Communications Coupler Unit, replace Controller with Coupler.
� Windows 7 32-bit edition, Windows 8 32-bit edition, Windows 8.1 32-bit edition, or Windows 10 32-bit edition C:\Program Files\OMRON\Communications Middleware\USB\Controller\7\32bit
� Windows 7 64-bit edition, Windows 8 64-bit edition, Windows 8.1 64-bit edition, or Windows 10 64-bit edition C:\Program Files (x86)\OMRON\Communications Middleware\USB\Controller\7\64bit
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Sysmac Studio Version 1 Operation Manual (W504)
A-1 Driver Installation for Direct USB Cable Connection
Appendices
Folders for NA5-W-V1 are shown below.
� Windows 7 32-bit edition C:\Program Files\OMRON\Communications Middleware\USB\NA5-V1\7\32bit
� Windows 8 32-bit edition or Windows 8.1 32-bit edition C:\Program Files\OMRON\Communications Middleware\USB\NA5-V1\8\32bit
� Windows 10 32-bit edition C:\Program Files\OMRON\Communications Middleware\USB\NA5-V1\10\32bit
� Windows 7 64-bit edition C:\Program Files(x86)\OMRON\Communications Middleware\USB\NA5-V1\7\64bit
� Windows 8 64-bit edition or Windows 8.1 64-bit edition C:\Program Files(x86)\OMRON\Communications Middleware\USB\NA5-V1\8\64bit
� Windows 10 64-bit edition C:\Program Files(x86)\OMRON\Communications Middleware\USB\NA5-V1\10\64bit
5 Click the Next Button.
The Windows Security Dialog Box is displayed.
A
6 Click the Install Button.
When installation of the USB driver is completed, the following dialog box is displayed.
A-1-2 Installing a Specified USB Driver
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A-5
Appendices
A-1-3 Confirmation Procedure after Installation
Procedure
1 Connect the computer to the Controller with a USB cable. 2 Start the Device Manager on the computer. 3 Click the Modems Icon in the Device Manager and make sure that the following name is dis-
played. For Controller: OMRON USB DirectLine For Communications Coupler Unit: OMRON USB AbstractControl
A-6
Sysmac Studio Version 1 Operation Manual (W504)
A-2 Specifying One of Multiple Ethernet Interface Cards
Appendices
A-2 Specifying One of Multiple Ethernet Interface Cards
If more than one Ethernet interface card is mounted in the computer that runs the Sysmac Studio, you must specify the Ethernet interface card that is connected to the NJ/NX/NY-series Controller to connect directly through Ethernet. The Ethernet interface card is specified when the Sysmac Studio is installed. You can use a special utility shown below to change the specification after installation.
Specifying the Ethernet Interface Card
1 Select All Programs - OMRON - Communications Middleware Utilities - Direct Ethernet Utility from the Windows Start Menu.
A
The Direct Ethernet Utility Dialog Box is displayed.
2 Select the Ethernet interface card to use to connect the NJ/NX/NY-series Controller in the Direct Ethernet Utility Dialog Box.
3 Click the OK Button. The dialog box is closed.
Precautions for Correct Use If any other application that uses the same network becomes unable to communicate and there is no network card to switch, select the Disable the direct Ethernet connection function Check Box and disable this feature.
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A-7
Appendices
Precautions for Correct Use The settings that you make with the Direct Ethernet Utility are used for Ethernet connections for other OMRON software as well, not just for the Sysmac Studio. Make sure that you do not unintentionally change the connected Controller when you change the Ethernet interface card.
Examples of other OMRON software: Network Configurator and CX-Integrator
A-8
Sysmac Studio Version 1 Operation Manual (W504)
A-3 Differences between the Simulator and the Physical Controller
A-3-1 Operation of Functions
Appendices
A-3 Differences between the Simulator and the Physical Controller
A-3-1 Operation of Functions
The Simulator has the following functional differences in comparison with the physical Controller.
Tasks
Item Starting Synchronization Exiting Scheduling
Clock
Monitoring Resetting
Differences between Simulator and physical Controller
You start the Simulator from the Simulation Menu or the Simulation Pane. (You cannot start it from the Controller Menu.)
The data in the Simulator is synchronized when you go online with the
Simulator. (There is no need to perform synchronization after you start the Simulator.)
A
You exist the Simulator from the Simulation Menu or the Simulation Pane. (When you exist, the online connection is broken and the programs and other data are deleted from the Simulator.)
On the Simulator, tasks are executed according to the Windows scheduling policy. Task priority and timing are ignored, so operation is not necessarily the same as on the physical Controller. If a simulation is executed in Execution Time Estimate Mode, timeouts will not occur even for programs that are not completed within the specified timeout time, i.e., execution of those programs will continue. When execution is completed, a Task Execution Timeout minor fault will occur. (On the Controller, a timeout will occur, resulting in a major fault.) This allows you to check the estimated execution time of a program that does not complete execution within the timeout time. For details on the differences in the overall operation of tasks and the task execution times, refer to A-3-2 Task Execution on page A-13 and A-3-3 Task Execution Times on page A-16 later in this appendix.
In an NX701 Controller, the primary periodic task and priority-5 periodic task are executed in parallel. On the Simulator, this type of parallel processing is not performed. The primary periodic task and priority-5 periodic task are executed sequentially.
The time on the Simulator is different from the time in the operating system. The time on the Simulator is advanced by adding the time required by the control period each time the primary periodic task is executed. Temporarily stopping the programs or performing step execution will not affect the execution of timers or the operation of programs that access the time.
The Simulator displays the estimated execution times for operation on the physical Controller, and not the execution times on the computer.
The Simulator does not provide a reset function. If you restart the Simulator, all POU instances are initialized except for retained variables. If you want to initialize retained variables, restart the Sysmac Studio.
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A-9
Appendices
Variables and memory
Debugging Motion control
Item
Differences between Simulator and physical Controller
Monitoring present values
The Simulator uses non-synchronized operation to read and write data. This creates the following functional differences in comparison with the physical Controller.
� Changes to the present values of variables on the I/O Map are not always possible on the physical Controller, but they are always possible on the Simulator.
� If program inputs for which forced refreshing is specified are changed in the user program, they may flicker on the monitor displays on thy Simulator.
Data on the Simulator
Variable data is valid only while the Simulator is running. The user program and all other data in the Simulator are cleared when you exist the Simulator.
Retain attribute
If you stop a simulation on the Simulator and then perform any of the following operations, the values of retained variables are initialized when the simulation is started again.
� Change the project. � Change the model or unit version. � Edit the configurations, setups, or programs.
However, if you start the simulation again without editing the configurations, setups, or programs, the values of retained variables are retained regardless of the operating mode when you start the simulation.
Clear All Memory
This function is not supported by the Simulator. (Exit the Simulator and then go online with the Simulator again to clear memory.)
Using the debugger
You can use debugger functions, such as step execution and breakpoints, on the Simulator.
Changing the execution speed
You can change the apparent program execution times on the Simulator. (You change the program execution interval on the computer to change the apparent execution speed.) Time passage on the Simulator is not affected by changes in the execution speed.
Debug programs
You can load and execute programs that are set as debug programs only on the Simulator. (You cannot load debug programs on the physical Controller.)
Partial execution of user program
On the Simulator, you can specify to execute only the selected programs. (This is not possible on the physical Controller.)
Axis control
If a Servo axis is specified on the Simulator, Servo operation is emulated. If an encoder axis is specified, you can control the axis with the Simulator instructions.
Position and velocity control On the Simulator, command values for the axes are used directly as the actual positions and actual velocities.
Torque control
The Simulator does not have mechanical machine information and cannot calculate velocities for torque control. A velocity of 0 is used as the actual velocity.
Touch probe function
With the Simulator, you can use Simulator instructions in the debug program to generate external triggers. On the Simulator, the Z phase is generated once for each 2,048 pulses that are input.
MC Test Run
You cannot perform an MC Test Run when connected to the Simulator.
Cam data
The cam data file transfer commands to transfer cam data from the Controller to files or from files to the Controller are not supported on the Simulator.
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Sysmac Studio Version 1 Operation Manual (W504)
A-3 Differences between the Simulator and the Physical Controller
A-3-1 Operation of Functions
Appendices
Networks
CJ-series Unit management
Instructions
Item
Differences between Simulator and physical Controller
Setting communications addresses
Network communications are not performed by the Simulator, so communications address settings are ignored.
Routing tables
Network communications are not performed by the Simulator, so routing table settings are ignored.
Unit configuration
The Simulator uses registered I/O directly as real I/O.
First addresses for slots
The Simulator ignores the first address settings for slots.
CJ-series Unit settings
CJ-series Unit emulation is not performed by the Simulator, so CJseries Unit settings are ignored.
Communications instructions
The Simulator will normally process signal outputs for communications instructions, but it will not execute actual communications for the instructions. If you execute a serial communications instruction (ExecPMCR, SendCmd, SerialRcv, or SerialSend), an error (error ID: 0415) is output.
EtherNet/IP communications instruc-
The Simulator will normally complete the signal output processing for the FTP client communications instructions (FTPGetFileList, FTPGet-
A
tions
File, FTPPutFile, FTPRemoveFile, and FTPRemoveDir), but it will not
execute FTP command processing for these instructions.
EtherCAT communications The Simulator will not operate correctly for the following instructions.
instructions
� EC_StopMon
The instruction is processed normally, but the _EC_PktMonStop external variable remains FALSE.
� EC_SaveMon
The instruction is processed normally, but the _EC_PktSaving external variable remains FALSE.
� EC_CopyMon
Even if the file that is specified in the instruction exists, a File Does Not Exist error (error ID: 1403) is output and the instruction ends in an error.
SD Memory Card instructions
You can use the SD Memory Card instructions on the Simulator in the same way as you can on the physical Controller.
The Simulator uses c:\OMRON\Data\SimulatorData\CARD\Memory001 as a Virtual SD Memory Card.
However, for the BackupToMemoryCard instruction, signal output processing for the instruction is completed normally, but the backup files are not created in the Virtual SD Memory Card.
Real data and conversion instructions
You can use the instructions on the Simulator in the same way as you can on the physical Controller. Rounding error for calculations on the Simulator may produce somewhat different calculation results. Expressions for infinity and nonnumeric data are sometimes different for the results of the Natural Exponential Operation (EXP) instruction or calculation results on the Simulator. For details, refer to Expressions for Infinity and Nonnumeric Data in Real Number-to-Text String Conversion Instructions on page A-17 later in this appendix.
Clock instructions
The Simulator will normally complete signal output processing for clock and time instructions, but it will not execute time change processing for the instructions.
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A-11
Appendices
Maintenance
Item ID information
Programming by multiple programmers
Clock information
SD Memory Cards Backing up variables and memory Peripheral devices
Differences between Simulator and physical Controller
The Simulator does not have production information (i.e., ID information, such as lot numbers).
It is assumed that the Simulator is used on one computer by a single programmer. (It is not possible for more than one programmer to connect to the same Simulator at the same time.)
The time that is read from the computer when the Simulator is started is incremented each time the primary periodic task is executed to generate a virtual clock.
You cannot use Memory Cards with the Simulator.
You cannot back up variables and memory with the Simulator.
You cannot connect peripheral devices when connected to the Simulator.
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Sysmac Studio Version 1 Operation Manual (W504)
A-3 Differences between the Simulator and the Physical Controller
A-3-2 Task Execution
MC
MC UPG IO
Appendices
A-3-2 Task Execution
This section describes the differences in the control methods that are used for task execution between the physical Controller and the Simulator.
NX701 Controller
Physical Controller
An NX701 Controller gives the highest priority to execution of the primary periodic task. Tasks other than the primary periodic task are executed preferentially in order of the execution priority.
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 completed.
Task execution condition is met.
Execution
Primary period
A
priority
High
Primary
periodic task
MC UPG IO
MC
MC UPG IO
MC UPG IO
MC
MC UPG IO
Priority-5 periodic task
Task period
IO UPG
IO UPG
IO UPG
Priority-8
UPG
event task
Task period
Priority-16
UPG
UPG
periodic task
Execution of event
task started.
Task period
Priority-17
UPG
Low periodic task
IO: Indicates I/O refreshing (data outputs and then data inputs). UPG: Indicates user program execution. MC: Indicates motion control.
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A-13
Appendices
Simulator
The NX701 Controller Simulator executes the primary periodic task according to the scheduling period determined by the scheduler in the Simulator. Periodic tasks other than the primary periodic task are executed in order of the execution priority. The priority-5 periodic task is not executed in parallel with the primary periodic task. This differs from the physical Controller. The periods of periodic tasks other than the primary periodic task are integral multiples of the scheduling period of the Simulator.
Execution priority
Task execution condition is met. Scheduling period of Simulator
MC UPG
High
Primary
periodic task
MC UPG
MC UPG
MC UPG
Priority-5 periodic task
MC UPG
Task period
UPG
Priority-8 event task
Priority-16 periodic task
Priority-17 Low periodic task
UPG
Task period
Execution of event task started.
UPG
Task period
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Sysmac Studio Version 1 Operation Manual (W504)
A-3 Differences between the Simulator and the Physical Controller
A-3-2 Task Execution
Appendices
NJ/NY-series Controllers and NX102 or NX1P2 Controllers
Physical Controller
For the NJ/NY-series Controllers and NX102 or NX1P2 Controllers, the tasks are activated every primary period. The execution of a periodic task with a lower priority is interrupted to execute a task with a higher priority (such as the primary periodic task).
An example for an NJ-series Controller is given below.
Execution priority
High
Task execution condition is met.
Primary period
Primary periodic task
MC UPG IO
MC UPG IO
MC UPG IO
MC UPG IO
MC UPG IO
Task period
A
Priority-16
UPG IO
UPG IO
periodic task
Priority-17 Low periodic task
UPG
Task period
IO: Indicates I/O refreshing (data outputs and then data inputs). UPG: Indicates user program execution. MC: Indicates motion control.
Simulator
For the NJ/NY-series Controller and NX102 or NX1P2 Controller Simulator, tasks are executed according to the scheduling policies of the Simulator. Execution of the user program cannot be interrupted like it is in the physical Controller.
An example for an NJ-series Controller is given below.
Execution priority
High
MC UPG
Task execution condition is met.
Scheduling period of Simulator
Primary periodic task
MC UPG
Time stepping (primary period added)
+ Scheduling period of Simulator
MC UPG
Task period
UPG
UPG
Priority-16 periodic task
Task period
Priority-17 Low periodic task
UPG
Other applications
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A-15
Appendices
Differences in Task Execution
The differences in the control methods may cause the following differences in operation. (1) Differences in the Timing of Data Exchanges The end timing of the periodic tasks and the execution order of the tasks are not reproduced precisely. Therefore, the data exchanges between tasks and the timing of obtaining data trace data may be different from the Controller. (2) Differences in Timing of Updating the Time The clock time in the Simulator is updated by adding the time of the primary period when the execution of all tasks in that period is completed. If you access the clock time from a program, the operation may be different. Timer instructions are also evaluated at the same time, so the timers may time out at different times.
(3) Differences in Operation When Task Execution Times Out If a simulation is executed in Execution Time Estimation Mode and the execution time is used to execute a long task, the other tasks are not executed until the execution of the long task is completed. Also, when task processing is completed, a Task Execution Timeout minor fault will occur. On the Controller, a major fault occurs after a timeout, and operation stops.
A-3-3 Task Execution Times
The Simulator estimates*1 and displays the execution times on the Controller. It displays the results of desktop calculations as the results of the simulation. (Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).) *1 This estimation is not possible on an NY-series Controller. � I/O Refresh Processing Time
For the NJ/NX-series Controller, the I/O refresh processing time is calculated based on the common processing time and I/O refresh processing time that are described in A-2 Calculating Guidelines for the Real Processing Times of Tasks for the NX-series System or A-3 Calculating Guidelines for the Real Processing Times of Tasks for the NJ-series System in the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501). Parameters for each version are given in the above manual. � Processing Times for the User Program (UPG) and Motion Programs (MCE) These processing times are estimated with the calibrated execution time estimation method (Japanese patent number 4748286). It is assumed that the estimated value of a task execution time will follow a normal distribution, and estimates are made at the 95% confidence level.
Additional Information
More processing time may be required depending on other applications running on the computer. Do not run any unnecessary applications while the Simulator is running.
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Sysmac Studio Version 1 Operation Manual (W504)
A-3 Differences between the Simulator and the Physical Controller
Appendices
A-3-4 Floating-point Data Expressions
Expressions for Infinity and Nonnumeric Data in Real Number-toText String Conversion Instructions
The output results for instructions that convert real data to text strings may be different between the Controller and Simulator.
Expression on the Controller Expression on the Simulator
Positive infinity
inf
1.#INF00e+000
1.#INF0000000000e+000
Negative infinity -inf
-1.#INF00e+000
-1.#INF0000000000e+000
Positive nonnu-
nan
meric data
1.#QNAN0e+000 1.#QNAN000000000e+000
A
Negative nonnumeric data
-nan
-1.#IND00e+000 -1.#IND0000000000e+000
Note The number of zeros after INF, QNAN, IND will vary.
Exponents
Either two or three digits are given for exponents on the physical Controller. However, you must always give three digits for exponents on the Simulator. When you compare text strings, make sure that the comparison data has the same number of digits.
A-3-4 Floating-point Data Expressions
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A-17
Appendices
A-4 Online Help
Online Help
You can access online help from a Sysmac Studio menu to see instruction descriptions or to check shortcut keys. There are four types of help.
Sysmac Studio help: Contents Instruction Reference Keyboard Mapping Reference System-defined Variable Reference
A-4-1 Sysmac Studio Help Contents
Sysmac Studio Help Contents
This help feature provides operating procedures for the Sysmac Studio.
A-4-2 Instruction Reference
Instruction Reference
The Instructions Reference describes the basic instructions and motion control instructions that you can use with an NJ/NX/NY-series Controller. For each instruction, the same description as the one in the following manuals is given. NJ/NX-series Instructions Reference Manual (Cat. No. W502) NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) NY-series Instructions Reference Manual (Cat. No. W560) NY-series Motion Control Instructions Reference Manual (Cat. No. W561)
Displaying the Instructions Reference
There are two ways to display the Instructions Reference. Method (1) From the main menus Method (2) From the Ladder Editor, ST Editor, or Instruction Navigator Method (1) From the main menus Select Instruction Reference from the Help Menu. The Sysmac Studio Instruction Reference Help is displayed. Method (2) Displaying the Instructions Reference from the Ladder Editor or ST Editor In the Ladder Editor or ST Editor, select an instruction that was previously entered or select an instruction in the Instruction Navigator in the Toolbox, and then press the F1 Key. The Sysmac Studio Instruction Reference Help is displayed for the selected instruction.
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Sysmac Studio Version 1 Operation Manual (W504)
A-4 Online Help
Appendices
A-4-3 Keyboard Mapping Reference
Keyboard Mapping Reference
You can display a list of convenient shortcut keys that you can use on the Sysmac Studio.
Displaying the Keyboard Mapping Reference
Select Keyboard Mapping Reference from the Help Menu. The Keyboard Mapping Reference is displayed. Refer to A-5 Shortcut Keys for details.
A-4-4 System Defined Variable Reference
A
System Defined Variable Reference
You can display a list of descriptions of the system-defined variables that you can use on the Sysmac Studio.
Procedure to Display the System Defined Variable Reference
Select System Defined Variable Reference from the Help Menu. Tables of the system-defined variables are displayed.
A-4-3 Keyboard Mapping Reference
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A-19
Appendices
A-5 Shortcut Keys
The following tables list the shortcut keys that you can use in the Main Window of the Sysmac Studio. You can change the keyboard mapping of some shortcut keys.
A-5-1 Basic Operations
Operation
Displaying help information Inserting Deleting Moving the cursor up one cell Moving the cursor down one cell Moving the cursor right one cell Moving the cursor left one cell Moving the cursor to the beginning of the row Moving the cursor to the end of the row Placing the cursor in Edit Mode Confirming Edit Mode Moving the cursor to and from the menus Moving the cursor to the next category Moving the cursor to the previous category Moving the cursor to the next lower level at an expanded item Expanding the lower level at a collapsed item Collapsing the lower level at an expanded item Moving the cursor to the next higher level at a collapsed item Displaying/hiding the Output Tab Page Displaying the Watch Tab Page Displaying/hiding the Cross Reference Tab Page Displaying/hiding the Build Tab Page Displaying/hiding the Search and Replace Results Tab Page Opening the Simulation Pane Displaying the Differential Monitor Tab Page Displaying the Smart Project Search Dialog Box Displaying a thumbnail index of recently closed windows Jumping to the Multiview Explorer Enlarging the display Reducing the display Zooming the display to fit the window width
Default key/shortcut key setting
F1 Insert Delete Home End F2 Enter Alt Tab Shift + Tab
Alt + 3 Alt + 4 Alt + 5
Alt + 6 Alt + 7
Alt + 8 Alt + 9 Ctrl + Shift + F
Ctrl + Shift + H
Shift + Alt + L Alt + Alt + Alt +
Menu command
Help - Help Contents None Edit - Delete None None None None None None None None None None None None
None None
None
View - Output Tab Page View - Watch Tab Page View - Cross Reference Tab Page
View - Build Tab Page View - Search and Replace Results Tab Page View - Simulation Pane View - Differential Monitor View - Smart Project Search
View - Recently Closed Windows
Edit - Jump to Multiview Explorer View - Zoom - Zoom In View - Zoom - Zoom Out View - Zoom - Zoom to Fit
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Sysmac Studio Version 1 Operation Manual (W504)
Appendices
A-5 Shortcut Keys
A-5-2 Editing Programs
Operation
Default key/shortcut key setting
Menu command
Restoring the default zoom setting
Alt +
View - Zoom - Zoom Reset
Moving to the next page
PageDown
None
Moving to previous page
PageUp
None
Selecting a menu command
Alt + First underlined letter of the None command
Saving a project
Ctrl + S
File - Save
Printing
Ctrl + P
File - Print
Undoing
Ctrl + Z
Edit - Undo
Redoing
Ctrl + Y
Edit - Redo
Cutting
Ctrl + X
Edit - Cut
Copying
Ctrl + C
Edit - Copy
Pasting
Ctrl + V
Edit - Paste
A
Selecting everything
Ctrl + A
Edit - Select All
Deleting to the left of the cursor
BackSpace
None
Inverting an input or output to a NOT input or / NOT output
None
Copying with dependents
Ctrl + Shift + C
None
Deleting a global variable (including external Ctrl + Shift + Delete variable)
None
A-5-2 Editing Programs
Operation
Showing/hiding variable tables Inserting a line below the cursor Inserting a line above the cursor Entering an N.O. input Entering an N.C. input Entering an OR with an N.O. input Entering an OR with an N.C. input Entering an output Entering a NOT output Setting upward differentiation for an input Setting downward differentiation for an input Calling a function block Calling a function Calling inline ST Displaying the contents of a user-defined function or function block Restoring the previous display from a userdefined function or function block Editing variable comments Jumping from the Ladder or ST Editor to a variable table Adding new members in the Data Type Editor Checking all programs
Default key/shortcut key setting
Ctrl + Shift + V R Shift + R C / W X O Q Ctrl + Shift + U or @ Ctrl + Shift + D or % F I S Ctrl + Shift + L
Ctrl + Shift + P
Ctrl + Enter Ctrl + Alt + J
Ctrl + I F7
Sysmac Studio Version 1 Operation Manual (W504)
Menu command
View - Variable Table None None None None None None None None None None None None None None
None
None None
None Project - Check All Programs
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Appendices
Operation
Checking the selected programs Building the project file Aborting building Show Tooltip Enter Element Comment
Default key/shortcut key setting
Shift + F7 F8 Shift + F8 Shift + T Alt + Enter
Menu command
Project - Check Selected Programs Project - Build Project - Abort Build None None
A-5-3 Searching and Replacing
Operation
Searching and replacing Next Variable Previous Variable Next Input Next Output Retrace Search Specified Rung Specified Comment Search Next Search Previous
Default key/shortcut key setting
Ctrl + F N B Ctrl + Shift + I Ctrl + Shift + O Space G L Alt + N, or F3 Shift + F3
Menu command
Edit - Search and Replace None None None None None Edit - Jump None None None
A-5-4 Online
Operation
Going online
Going offline
Changing to PROGRAM mode
Changing to RUN mode
Synchronizing
Transferring Controller data from computer to Controller
Transferring Controller data from Controller to computer
Changing the selected program input or output to TRUE
Changing the selected program input or output to FALSE
Forcing a selected input or output to TRUE
Forcing a selected input or output to FALSE
Canceling a selected input or output that was forced to TRUE or FALSE
Starting online editing
Default key/shortcut key setting Ctrl + W Ctrl + Shift + W Ctrl + 1 Ctrl + 3 Ctrl + M Ctrl + T
Ctrl + Shift + T
Ctrl + Shift + J
Ctrl + Shift + K
Ctrl + J
Ctrl + K
Ctrl + L
Ctrl + E
Menu command Controller - Online Controller - Offline Controller - Mode - PROGRAM Controller - Mode - RUN Controller - Synchronization Controller - Transfer - To Controller
Controller - Transfer - From Controller
Controller - Set/Reset - Set
Controller - Set/Reset - Reset
Controller - Forced Refreshing - TRUE Controller - Forced Refreshing - FALSE Controller - Forced Refreshing - Cancel Project - Online Edit - Start
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A-5 Shortcut Keys
A-5-5 Simulation
Appendices
Operation
Default key/shortcut key setting
Transferring changes made during online editing
Ctrl + Shift + E
Canceling online editing
Ctrl + U
Jumping to the current online Edit Pane Ctrl + Shift + G
Menu command Project - Online Edit - Transfer
Project - Online Edit - Cancel Project - Online Edit - Go to Edit Pane
A-5-5 Simulation
Operation
Default key/shortcut key setting
Menu command
Executing a simulation
F5
Simulation - Run
Pausing
Ctrl + Alt + Break
Simulation - Pause
Stopping
Shift + F5
Simulation - Stop
Stepping in
F11
Step execution
F10
Simulation - Step In
A
Simulation - Step Execution
Stepping out
Shift + F11
Simulation - Step Out
Displaying the Breakpoint Window
Alt + F9
Simulation - Breakpoint Window
Setting/clearing a breakpoint at the cur- F9 sor position
Simulation - Set/Clear Breakpoints
Clearing all breakpoints
Ctrl + Shift + F9
Simulation - Clear All Breakpoints
A-5-6 SD Memory Card
Operation Going back Going forward Moving up Refreshing Displaying properties Formatting Deleting Copying Pasting Creating a folder Renaming Ending
Default key/shortcut key setting Alt + Alt + Backspace F5 Alt + Enter Ctrl + Alt + A Delete Ctrl + C Ctrl + V Ctrl + Alt + F F2 Alt + F4
None None None None None None None None None None None None
Menu command
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Appendices
A-5-7 Changing Shortcut Keys
You can change the assignment of some shortcut keys for the following functions (commands). � Main menu commands � Commands supported in the Edit window (Ladder Editor) You can assign shortcut keys in the Shortcut Key Customization Dialog Box.
Displaying the Shortcut Key Customization Dialog Box
Select Customize Shortcut Keys from the Tools Menu. The Shortcut Key Customization Dialog Box is displayed.
(a) (b)
(c)
(d) (e)
(f) (g) (h)
(i)
(j)
(k)
(l)
Displayed item
Description
(a) Setting Target Dropdown List
Select the target device for which to set shortcut keys from the device categories included in the current project.
(b) Restore Default Settings Use this button to restore the default settings for the target device selected
Button
from the Setting Target Drop-down List.
(c) Command List
This shows a list of commands and shortcut keys assigned to the commands for the device selected in the Setting Target Drop-down List. From this list, select the command for which to change the shortcut key.
Command column: Main menu commands and commands supported in the Edit window are displayed.
ShortcutKey column: Currently assigned shortcut keys are displayed. For commands whose shortcut key settings cannot be changed, shortcut keys are displayed on a gray background.
For commands whose shortcut key settings have been changed from the default, commands and shortcut keys are shown in purple.
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A-5 Shortcut Keys
Appendices
Displayed item
Description
(d) Remove Shortcut Keys Use this button to remove the shortcut key that is assigned to the command
Button
selected in the Command List.
(e) Restore Shortcut Keys Use this button to restore the default setting for the command selected in the
Button
Command List.
(f) Enter a New Shortcut Key Box
Enter the keys to assign. When you press a key, a text string that represents the pressed key is entered in this box. To clear the entry, press the Delete or BackSpace Key.
Example: When you press the Ctrl Key, Ctrl+ is displayed.
(g) Assign Button
Use this button to assign the shortcut key that is entered in the Enter a New Shortcut Key Box to the command selected in the Command List.
(h) Command Currently Assigned display area
This shows a list of commands to which you assigned shortcut keys, by entering in a text string the Enter a New Shortcut Key Box. Here, you can check for commands with duplicate shortcut key assignment.
Double-clicking a command in the display area causes the corresponding command to be selected in the Command List.
A
(i) Import Button
Use this button to import shortcut key assignment settings from a file.
(j) Export Button
Use this button to save shortcut key assignment settings to a file.
(k) OK Button
Use this button to save the current changes to the shortcut key settings and close the dialog box.
(l) Cancel Button
Use this button to discard the current changes to the shortcut key settings and close the dialog box.
Assigning Shortcut Keys
Use the following procedure to assign shortcut keys.
Here, you assign the shortcut key Ctrl + W to the Window - Close command for the Controller, as an example.
1 In the Setting Target Drop-down List of the Shortcut Key Customization Dialog Box, select the device for which to set the shortcut key. In this example, select Controller.
The current shortcut key settings are displayed in the Command List.
A-5-7 Changing Shortcut Keys
2 Select the command to which to assign the shortcut key and click the Enter a New Shortcut Key Box. In this example, select Close under Main menu - Window.
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A-25
Appendices
3 Press the keys to assign as the shortcut key. In this example, press the Ctrl Key and then press the W Key. Ctrl+W is now displayed in the Enter a New Shortcut Key Box.
If the shortcut key that you enter in the Enter a New Shortcut Key Box has already been assigned to another command, the command will be displayed in the Command Currently Assigned display area.
4 Click the Assign Button.
If the shortcut key has not been assigned to any command, the shortcut key assignment for the command is changed and the change is reflected on the Command List. If the shortcut key has already been assigned to another command, a confirmation dialog box is displayed, which asks whether to cancel the current assignment and assign the shortcut key to the new command. In this example, a confirmation dialog box is displayed because the shortcut key Ctrl + W has been assigned to Online: Main menu - Controller. Click the OK Button to remove the current assignment and assign the shortcut key to the new command.
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Appendices
A-5 Shortcut Keys
A-5-7 Changing Shortcut Keys
A
Additional Information � More than one shortcut key can be assigned to one command. � Different commands in main menus or in the Edit window cannot have the same shortcut key
assigned at the same time. However, commands in main menus and commands in the Edit window can have the same shortcut key assigned. � Changing the default shortcut key is not possible for some commands. Refer to Commands Whose Shortcut Key Assignment Cannot Be Changed on page A-31 for details. � Some shortcut keys can only be assigned to specific commands. You cannot assign them to other commands. Refer to Reserved Shortcut Keys on page A-29 for details. � To restore the default setting after you change the assignment of a shortcut key, select the command and click the Restore Shortcut Keys Button. � To restore all of the default shortcut key settings for the target device selected from the Setting Target Drop-down List, click the Restore Default Settings Button. � The shortcut key assignment settings are stored for each user who logs onto the computer.
Available Shortcut Keys
This section shows a list of keys that can be used as shortcut keys, shortcut keys that can be assigned to main menu commands, and shortcut keys that can be assigned to Ladder Editor commands. It also shows a list of reserved shortcut keys which you cannot assign as shortcut keys.
Keys That Can Be Used as Shortcut Keys
The table below shows a list of keys that can be used as shortcut keys. You can use a combination of modifier keys and other keys to compose a shortcut key.
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A-27
Appendices
Classification
Available keys
Character Alphabetic
keys
letters
A to Z
Numbers
0 to 9
Space
Space
Keyboardlayout dependent characters
Depending on keyboard layout of the computer
Example of available keyboard-layout dependent characters
� Japanese keyboard layout \ - [ ] , . / ; : ^ @
� English keyboard layout: \ - [ ] , . / ; = ' `
� Italian keyboard layout: \ ' � � + � � � , . -
Numeric keys
Numbers Operators
0 to 9 /* -+
Decimal point .
Enter
Enter
Navigation keys
Page Up
Page Down
Home
End
Tab
Function keys
F1 to F24
Enter key
Enter
Pause/Break key
Pause/Break
Modifier keys
Ctrl
Alt
Shift
Display in Enter a New Shortcut Key Box A to Z (Uppercase)
0 to 9 Space As entered by key
0 to 9 /* -+ . Enter Right Left Up Down PageUp PageDown Home End Tab F1 to F24 Enter Break Ctrl Alt Shift
Shortcut Keys That Can Be Assigned to Main Menu Commands
Among the shortcut keys listed in the Keys That Can Be Used as Shortcut Keys on page A-27, you can use the following single keys and combinations keys excluding the reserved shortcut keys (see Reserved Shortcut Keys on page A-29).
Classification of keys Single keys Combination keys
Shortcut key that can be assigned
Function keys
Combination with only Shift Key
Function keys
Combination with Ctrl and Alt Keys
Non-modifier keys that can be used
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Sysmac Studio Version 1 Operation Manual (W504)
A-5 Shortcut Keys
A-5-7 Changing Shortcut Keys
Appendices
Combination of Shortcut Keys That Can Be Used in the Ladder Editor
Among the shortcut keys listed in the Keys That Can Be Used as Shortcut Keys on page A-27, you can use the following single keys and combinations keys excluding the reserved shortcut keys (see Reserved Shortcut Keys on page A-29).
Classification of keys
Shortcut key that can be assigned
Single keys
Character keys
Alphabetic letters
Space
Keyboard-layout dependent characters
Numeric keys
Operators
Decimal point
Enter
Function keys
Combination keys
Enter key Combination with only
Character keys
Alphabetic letters
A
Shift Key
Space
Keyboard-layout dependent characters
Numeric keys
Operators
Decimal point
Enter
Function keys
Enter key
Combination with Ctrl and Alt Keys
Non-modifier keys that can be used
Reserved Shortcut Keys
The following shortcut keys are reserved for use by the Sysmac Studio. You cannot assign them to other commands.
Shortcut key F1 F2 Ctrl + Tab Ctrl + Shift + Tab Alt + F7 Alt + Shift + F7 Ctrl + Home Ctrl + End
Command Displaying help information Entering Edit Mode Switching windows
Moving to the beginning Moving to the end
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Appendices
Shortcut key Shift + Right Shift + Left Shift + Up Shift + Down Shift + Home Shift + End Shift + Page Up Shift + Page Down Ctrl + Shift + Right Ctrl + Shift + Left Ctrl + Shift + Up Ctrl + Shift + Down Ctrl + Shift + Home Ctrl + Shift + End
Command Selecting an area
Removing Shortcut Keys
Use the following procedure to remove the shortcut keys that are assigned to a command.
1 Select the command for which to remove the shortcut key and click the Remove Shortcut Keys Button.
The shortcut key assigned to the command is removed.
If the command has more than one shortcut key assigned, the Remove Shortcut Keys Dialog Box is displayed.
2 Select the shortcut key to remove from the shortcut key list, click the Remove Button, and then click the OK button. The selected shortcut key is removed from the Command List.
Exporting/Importing Shortcut Keys
You can export/import shortcut key assignment settings after a change to/from an external file.
Export
The export procedure is described below.
1 In the Shortcut Key Customization Dialog Box, click the Export Button.
The dialog box to specify the export destination is displayed.
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A-5 Shortcut Keys
A-5-7 Changing Shortcut Keys
Appendices
2 Select the export destination folder and click the Save Button.
The current shortcut key assignment settings are saved in the file.
Import
The import procedure is described below.
1 In the Shortcut Key Customization Dialog Box, click the Import Button.
The dialog box to select the file to import is displayed.
2 Select the file from which to import shortcut key settings, and then click the Open Button.
The shortcut key settings are imported.
Commands Whose Shortcut Key Assignment Cannot Be Changed
For the following commands, you cannot change shortcut key assignment.
A
Menu
Shortcut key
Edit
Undo
Ctrl + Z
Redo
Ctrl + Y
Cut
Ctrl + X
Copy
Ctrl + C
Paste
Ctrl + V
Delete
Delete
Select All
Ctrl + A
View
Zoom In
Alt + Right
Zoom Out
Alt + Left
Zoom to Fit
Alt + Up
Zoom Reset
Alt + Down
Window
Open Next Tab
Ctrl + F6
Open Previous Tab
Ctrl + Shift + F6
If Controller is selected from the Setting Target Drop-down List, you cannot change the following shortcut key assignment as well.
Insert
Menu Circuit Parts
Line N.O. Input N.C. Input OR with N.O. Input OR with N.C. Input Output NOT Output Function Function Block
Shortcut key -------------------
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Appendices
Edit/Insert
Ladder Editor Start Edit
To Upper Layer
To Lower Layer
Edit Data Type
Go To Variable Table
Bookmarks
Toggle Bookmark
Next Bookmark
Previous Bookmark
Clear All Bookmarks
Fixed Target Cross Ref.
Edit Connect Line Move Line Connection Point Above
Move Line Connection Point Below
Move Line Connection Right
Move Line Connection Left
Shortcut key Enter F2 Ctrl + Shift + P Ctrl + Shift + L --Ctrl + Alt + J ----------Ctrl + UP
Ctrl + Down
Ctrl + Right
Ctrl + Left
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A-6 Simulation Instructions
A-6-1 Simulate Positive Limit Input Signal Instruction
Appendices
A-6 Simulation Instructions
To simulate motion control instructions, you must create virtual external signals, such as the home proximity input signal and limit input signals. Use the simulation instructions to create virtual external signals.
� Simulate Positive Limit Input Signal Instruction
� Simulate Negative Limit Input Signal Instruction
� Simulate Home Proximity Signal Instruction
� Simulate Immediate Stop Input Signal Instruction
� Simulate External Latch Input Signal Instruction
� Simulate Drive Alarm Instruction
� Simulate Drive Warning Instruction
� Encoder Velocity Input Instruction
A
� Write Actual Position Instruction
� Write Actual Velocity Instruction
� Write Actual Torque Instruction
Precautions for Correct Use You cannot use simulation instructions inside event tasks.
A-6-1 Simulate Positive Limit Input Signal Instruction
This instruction creates a virtual positive limit input signal. This instruction can be used only when a Servo axis is set.
Instruction
Name
SIM_SigPosLmt
Simulate Positive Limit Input Signal
FB/ FUN
FB
Graphic expression
SIM_SigPosLmt_instance
Axis Enable
SIM_SigPosLmt
Axis Status
Busy Error ErrorID
ST expression
SIM_SigPosLmt_instance ( Axis :=Parameter, Enable :=Parameter, Status =>Parameter, Busy =>Parameter, Error =>Parameter, ErrorID =>Parameter, );
Variables
Input Variables
Name Enable
Meaning Enable
Data type BOOL
Valid range
TRUE or FALSE
Default FALSE
Description
The positive limit input signal turns ON when Enable changes to TRUE.
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Appendices
Output Variables
Name Status Busy Error ErrorID
Meaning Input signal ON
Data type
BOOL
Busy
BOOL
Error
BOOL
Error code
WORD
In-Out Variables
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when the input signal is ON.
TRUE when the instruction is acknowledged.
TRUE while there is an error.
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specifies the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
� When Enable changes to TRUE, a virtual positive limit input signal is created for the axis specified by Axis.
� When Enable changes to FALSE, the positive limit input signal turns OFF for the axis specified by Axis.
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it creates a virtual input signal. Debug programs cannot be executed on the physical CPU Unit.
Errors
An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID. Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
A-6-2 Simulate Negative Limit Input Signal Instruction
This instruction creates a virtual negative limit input signal. This instruction can be used only when a Servo axis is set.
Instruction SIM_SigNegLmt
Name
Negative Limit Input Signal
FB/ FUN
FB
Graphic expression
SIM_SigNegLmt_instance
Axis Enable
SIM_SigNegLmt
Axis Status
Busy Error ErrorID
ST expression
SIM_SigNegLmt_instance ( Axis :=Parameter, Enable :=Parameter, Status =>Parameter, Busy =>Parameter, Error =>Parameter, ErrorID =>Parameter, );
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A-6 Simulation Instructions
A-6-2 Simulate Negative Limit Input Signal Instruction
Appendices
Variables
Input Variables
Name Enable
Meaning Enable
Data type BOOL
Output Variables
Valid range
TRUE or FALSE
Default FALSE
Description
The negative limit input signal turns ON when Enable changes to TRUE.
Name
Meaning
Data type
Valid range
Description
Status
Input signal ON BOOL
TRUE or FALSE
TRUE when the input signal is ON.
Busy
Busy
BOOL
TRUE or FALSE
TRUE when the instruction is acknowledged.
A
Error
Error
BOOL
TRUE or FALSE
TRUE while there is an error.
ErrorID
Error code
WORD ---
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
In-Out Variables
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specifies the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
� When Enable changes to TRUE, a virtual negative limit input signal is created for the axis specified by Axis.
� When Enable changes to FALSE, the negative limit input signal turns OFF for the axis specified by Axis.
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it creates a virtual input signal. Debug programs cannot be executed on the physical CPU Unit.
Errors
An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID. Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
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Appendices
A-6-3 Simulate Home Proximity Signal Instruction
This instruction creates a virtual home proximity signal. This instruction can be used only when a Servo axis is set.
Instruction SIM_SigOrgProx
Name
Simulate Home Proximity Signal
FB/ FUN
FB
Graphic expression
SIM_SigOrgProx_instance
Axis Enable
SIM_SigOrgProx
Axis Status
Busy Error ErrorID
ST expression
SIM_SigOrgProx_instance ( Axis :=Parameter, Enable :=Parameter, Status =>Parameter, Busy =>Parameter, Error =>Parameter, ErrorID =>Parameter, );
Variables
Input Variables
Name Enable
Meaning Enable
Data type BOOL
Output Variables
Valid range
TRUE or FALSE
Default
Description
FALSE The home proximity signal turns ON when Enable changes to TRUE.
Name Status Busy Error ErrorID
Meaning Input signal ON
Data type
BOOL
Busy
BOOL
Error
BOOL
Error code
WORD
In-Out Variables
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when the input signal is ON.
TRUE when the instruction is acknowledged.
TRUE while there is an error.
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specifies the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
� When Enable changes to TRUE, a virtual home proximity signal is created for the axis specified by Axis.
� When Enable changes to FALSE, the home proximity signal turns OFF for the axis specified by Axis.
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it creates a virtual input signal. Debug programs cannot be executed on the physical CPU Unit.
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Appendices
A-6 Simulation Instructions
A-6-4 Simulate Immediate Stop Input Signal Instruction
Errors
An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID. Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
A-6-4 Simulate Immediate Stop Input Signal Instruction
This instruction creates a virtual immediate stop input signal. This instruction can be used only when a Servo axis is set.
Instruction
Name
FB/ FUN
Graphic expression
ST expression
SIM_SigEmergStop
Simulate
FB
SIM_SigEmergStop_instance
SIM_SigEmergStop_instance (
Immediate
Axis :=Parameter,
Stop Input Signal
Axis Enable
SIM_SigEmergStop
Axis Status
Enable :=Parameter, Status =>Parameter, Busy =>Parameter,
A
Busy
Error =>Parameter,
Error
ErrorID =>Parameter,
ErrorID
);
Variables
Input Variables
Name Enable
Meaning Enable
Data type BOOL
Output Variables
Valid range
TRUE or FALSE
Default
Description
FALSE The immediate stop input signal turns ON when Enable changes to TRUE.
Name Status Busy Error ErrorID
Meaning Input signal ON
Data type
BOOL
Busy
BOOL
Error
BOOL
Error code
WORD
In-Out Variables
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when the input signal is ON.
TRUE when the instruction is acknowledged.
TRUE while there is an error.
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specifies the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
� When Enable changes to TRUE, a virtual immediate stop input signal is created for the axis specified by Axis.
� When Enable changes to FALSE, the immediate stop input signal turns OFF for the axis specified by Axis.
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Appendices
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it creates a virtual input signal. Debug programs cannot be executed on the physical CPU Unit.
Errors
An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID. Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
A-6-5 Simulate External Latch Input Signal Instruction
This instruction creates a virtual external latch input signal.
Instruction SIM_SigExtLatch
Name
Simulate External Latch Input Signal
FB/ FUN
FB
Graphic expression
SIM_SigExtLatch_instance
Axis Enable LatchID
SIM_SigExtLatch
Axis Status
Busy Error ErrorID
ST expression
SIM_SigExtLatch_instance ( Axis :=Parameter, Enable :=Parameter, LatchID :=Parameter, Status =>Parameter, Busy =>Parameter, Error =>Parameter, ErrorID =>Parameter, );
Variables
Input Variables
Name
Meaning
Data type
Valid range Default
Description
Enable
Enable
BOOL
TRUE or FALSE
FALSE The external latch input signal turns ON when Enable changes to TRUE.
LatchID(*)
Latch ID selection
UINT
1, 2
1
Specify which of the two latch functions to
use.
1: Latch 1
2: Latch 2
* For information on the latch IDs, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) or NYseries Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Output Variables
Name Status Busy Error ErrorID
Meaning Input signal ON
Data type
BOOL
Busy
BOOL
Error
BOOL
Error code
WORD
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when the input signal is ON.
TRUE when the instruction is acknowledged.
TRUE while there is an error.
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
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A-6 Simulation Instructions
A-6-6 Simulate Drive Alarm Instruction
Appendices
In-Out Variables
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specifies the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
� When Enable changes to TRUE, a virtual external latch input signal is created for the axis specified by Axis.
� When Enable changes to FALSE, the virtual external latch input signal turns OFF for the axis specified by Axis.
A
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it creates a virtual input signal. Debug programs cannot be executed on the physical CPU Unit.
Errors
An error occurs in the following case. � An error occurs if latch ID selection LatchID is not 1 or 2. The error code (0400 hex) is output to ErrorID. � An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID.
Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
A-6-6 Simulate Drive Alarm Instruction
This instruction creates a virtual Drive alarm. This instruction can be used only when a Servo axis is set.
Instruction SIM_SetDrvAlm
Name
Simulate Drive Alarm
FB/ FUN
FB
Graphic expression
SIM_SetDrvAlm_instance
Axis Execute
SIM_SetDrvAlm
Axis Done Busy Failure Error ErrorID
ST expression
SIM_SetDrvAlm_instance ( Axis :=Parameter, Execute :=Parameter, Done =>Parameter, Busy =>Parameter, Failure =>Parameter, Error =>Parameter, ErrorID =>Parameter, );
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Appendices
Variables
Input Variables
Name Execute
Meaning Execute
Data type BOOL
Output Variables
Valid range
TRUE or FALSE
Default FALSE
Description
The instruction is executed when Execute changes to TRUE.
Name Done Busy Failure Error ErrorID
Meaning Done Busy Error end Error Error code
Data type BOOL
BOOL
BOOL
BOOL
WORD
In-Out Variables
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when instruction execution is completed normally. TRUE when the instruction is acknowledged. TRUE when instruction execution is not completed normally. TRUE while there is an error. Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specifies the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
� When Execute changes to TRUE, a virtual Drive alarm is created for the axis specified by Axis. � Execute the MC_Reset (Reset Axis Error) instruction to reset the Drive alarm.
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it creates a virtual input signal. Debug programs cannot be executed on the physical CPU Unit.
Errors
An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID. Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
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A-6 Simulation Instructions
A-6-7 Simulate Drive Warning Instruction
Appendices
A-6-7 Simulate Drive Warning Instruction
This instruction creates a virtual Drive warning. This instruction can be used only when a Servo axis is set.
Instruction
Name
FB/ FUN
Graphic expression
ST expression
SIM_SetDrvWarn Simulate
FB
Drive Warn-
ing
SIM_SetDrvWarn_instance
Axis Execute
SIM_SetDrvWarn
Axis Done Busy Failure Error ErrorID
SIM_SetDrvWarn_instance ( Axis :=Parameter, Execute :=Parameter, Done =>Parameter, Busy =>Parameter, Failure =>Parameter, Error =>Parameter, ErrorID =>Parameter, );
A
Variables
Input Variables
Name Execute
Meaning Execute
Data type BOOL
Output Variables
Valid range
TRUE, FALSE
Default
Description
FALSE The instruction is executed when Execute changes to TRUE.
Name Done Busy Failure Error ErrorID
Meaning Done Busy Error end Error Error code
Data type BOOL
BOOL
BOOL
BOOL
WORD
In-Out Variables
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when instruction execution is completed normally. TRUE when the instruction is acknowledged. TRUE when instruction execution is not completed normally. TRUE while there is an error. Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specifies the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
� When Execute changes to TRUE, a virtual Drive warning is created for the axis specified by Axis. � A drive warning is automatically reset in the next cycle after the virtual warning.
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A-41
Appendices
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it creates a virtual input signal. Debug programs cannot be executed on the physical CPU Unit.
Errors
An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID. Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
A-6-8 Encoder Velocity Input Instruction
This instruction writes a virtual velocity for the current velocity of an encoder axis. This instruction can be used only when an encoder axis is set. A CPU Unit with unit version 1.02 or later is required to use this instruction.
Instruction SIM_SetVelocity
Name
Encoder Velocity Input
FB/ FUN
FB
Graphic expression
SIM_SetVelocity_instance
Axis Execute Velocity
SIM_SetVelocity
Axis Done Busy Failure Error ErrorID
ST expression
SIM_SetVelocity_instance( Axis :=parameter, Execute :=parameter, Velocity :=parameter, Done =>parameter, Busy =>parameter, Failure =>parameter, Error =>parameter, ErrorID =>parameter, );
Variables
Input Variables
Name Execute
Velocity
Meaning Execute
Current Velocity
Data type BOOL
LREAL
Valid range TRUE or FALSE
Negative number, positive number, or 0
Default FALSE
0
Description
The instruction is executed when Execute changes to TRUE.
Specify the current velocity. (The unit is pulses/s.)
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A-6 Simulation Instructions
Appendices
Output Variables
Name Done Busy Failure
Error ErrorID
Meaning Done Executing Failure
Error Error code
Data type BOOL
BOOL
BOOL
BOOL
WORD
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description
TRUE when instruction execution is completed normally.
TRUE when the instruction is acknowledged. FALSE when instruction processing is completed. TRUE when instruction execution is not completed normally. * Always FALSE on Sysmac Studio version 1.03. TRUE while there is an error.
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
In-Out Variables
A
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF ---
Specify the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
When Execute changes to TRUE, the current velocity of the axis that is specified by Axis is changed to a virtual velocity.
Precautions for Correct Use
This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it virtually changes the current velocity. Debug programs cannot be executed on the physical CPU Unit.
Errors
An error occurs if there is no slave for the axis specified by Axis. The error code (0406 hex) is output to ErrorID. Refer to A-6-12 Detailed Information on Error Codes later in this manual for information on error codes.
A-6-8 Encoder Velocity Input Instruction
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A-43
Appendices
A-6-9 Write Actual Position Instruction
This instruction writes the actual position from the drive emulator to the process data object in the axis variable. A CPU Unit with unit version 1.09 or later is required to use this instruction.
Instruction SIM_SetActPos
Name
Write Actual Position
FB/ FUN
FB
Graphic expression
SIM_SetActPos_instance
Axis Enable SetPos
SIM_SetActPos
Axis Status
Busy Error ErrorID
ST expression
SIM_SetActPos_instance( Axis :=Parameter, Enable :=Parameter, SetPos :=Parameter, Status =>Parameter, Busy =>Parameter, Error =>Parameter, ErrorID =>Parameter );
Variables
Input Variables
Name Enable
SetPos
Meaning Enable
Data type BOOL
Actual posi- LREAL tion
Output Variables
Valid range
TRUE or FALSE
Negative number, positive number,
or 0
Default FALSE
0
Description
The instruction is executed while Enable is TRUE.
Specify the absolute value of the actual position. (The unit is command units.)
In Rotary Mode, operation is performed with the shortest way specification.
Name Status Busy Error ErrorID
Meaning Input signal ON
Data type
BOOL
Executing
BOOL
Error
BOOL
Error code
WORD
In-Out Variables
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when the input signal is ON.
TRUE when the instruction is acknowledged.
TRUE while there is an error.
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF
---
Specify the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
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A-6 Simulation Instructions
A-6-9 Write Actual Position Instruction
Appendices
Function
While Enable is TRUE, the specified actual position is written to the process data object in Axis.
The drive emulator does not wrap the actual position while execution of this instruction is in progress. When Enable changes to FALSE, the operating mode from before instruction execution is restored and the actual position is updated.
Precautions for Correct Use
� This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it virtually changes the actual position process data. Debug programs cannot be executed on the physical CPU Unit.
� If you use this instruction, place only one instruction in the user program for each axis. The intended operation may not be achieved if you place more than one instruction in the user program for the same axis.
� Make sure that the value that you write to the process data object does not exceed 32 bits A
when converted to pulses by the electronic gear. If 32 bits is exceeded, the intended operation may not occur. � If you use this instruction, assign a different instance for each axis. You cannot use the same instance for more than one axis. � Do not use this instruction for an encoder axis. The intended operation may not occur. � This instruction updates the process data object data instead of the Servo Drive. Use it in the task with the shortest control period. � The following restrictions apply to the use of this instruction. � You cannot use it for a virtual axis. � You cannot use it while the Servo is OFF. � You cannot execute the MC_Home instruction or MC_SetPosition instruction during execu-
tion of this instruction. � Any changes to the axis parameters, such as the gear ratio, that are made with the
MC_WriteAxisParameter instruction are ignored by this instruction.
Errors
An error occurs and an error code is output in the following cases.
Error cause There is no slave that corresponds to Axis. The actual position is outside of the allowable input range. An object that is required for this instruction is not set.
Error code 0406 hex 0400 hex 3461 hex
Refer to A-6-12 Detailed Information on Error Codes on page A-50 later in this manual for information on error codes.
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A-45
Appendices
A-6-10 Write Actual Velocity Instruction
This instruction writes the actual velocity from the drive emulator to the process data object in the axis variable. A CPU Unit with unit version 1.09 or later is required to use this instruction.
Instruction SIM_SetActVel
Name
Write Actual Velocity
FB/ FUN
FB
Graphic expression
SIM_SetActVel_instance
Axis Enable SetVel
SIM_SetActVel
Axis Status
Busy Error ErrorID
ST expression
SIM_SetActVel_instance( Axis :=Parameter, Enable :=Parameter, SetVel :=Parameter, Status =>Parameter, Busy =>Parameter, Error =>Parameter, ErrorID=>Parameter,
);
Variables
Input Variables
Name Enable
Meaning Enable
Data type BOOL
SetVel
Actual veloc- LREAL ity
Output Variables
Valid range TRUE or FALSE
Negative number, positive number, or 0
Default FALSE
0
Description
The instruction is executed while Enable is TRUE.
Specify the actual velocity. (The unit is command units/s.)
Name Status Busy Error ErrorID
Meaning Input signal ON Executing Error Error code
Data type BOOL BOOL BOOL WORD
Valid range TRUE or FALSE TRUE or FALSE TRUE or FALSE
---
Description TRUE when the input signal is ON. TRUE when the instruction is acknowledged. TRUE while there is an error. Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
In-Out Variables
Name
Meaning
Data type Valid range
Description
Axis
Axis
_sAXIS_REF
---
Specify the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
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A-6 Simulation Instructions
A-6-10 Write Actual Velocity Instruction
Appendices
Function
While Enable is TRUE, the specified actual velocity is written to the process data object in Axis.
When Enable changes to FALSE, the actual velocity is not written.
Precautions for Correct Use
� This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it virtually changes the actual velocity process data. Debug programs cannot be executed on the physical CPU Unit.
� To use this instruction, you must map the process data object. An error will occur if you execute this instruction without mapping the object.
� If you use this instruction, place only one instruction in the user program for each axis. The intended operation may not be achieved if you place more than one instruction in the user program for the same axis.
� Make sure that the value that you write to the process data object does not exceed 32 bits A
when converted to pulses by the electronic gear. If 32 bits is exceeded, the intended operation may not occur. � If you use this instruction, assign a different instance for each axis. You cannot use the same instance for more than one axis. � Do not use this instruction for an encoder axis. The intended operation may not occur. � This instruction updates the process data object data instead of the Servo Drive. Use it in the task with the shortest control period. � The following restrictions apply to the use of this instruction. � You cannot use it for a virtual axis. � You cannot use it while the Servo is OFF. � You cannot execute the MC_Home instruction or MC_SetPosition instruction during execu-
tion of this instruction. � Any changes to the axis parameters, such as the gear ratio, that are made with the
MC_WriteAxisParameter instruction are ignored by this instruction.
Errors
An error occurs and an error code is output in the following cases.
Error cause There is no slave that corresponds to Axis. The actual velocity is outside of the allowable input range. An object that is required for this instruction is not set.
Error code 0406 hex 0400 hex 3461 hex
Refer to A-6-12 Detailed Information on Error Codes on page A-50 later in this manual for information on error codes.
Sysmac Studio Version 1 Operation Manual (W504)
A-47
Appendices
A-6-11 Write Actual Torque Instruction
This instruction writes the actual torque from the drive emulator to the process data object in the axis variable.
A CPU Unit with unit version 1.09 or later is required to use this instruction.
Instruction SIM_SetActTrq
Name
Write Actual Torque
FB/ FUN
FB
Graphic expression
SIM_SetActTrq_instance
Axis Enable SetTrq
SIM_SetActTrq
Axis Status
Busy Error ErrorID
ST expression
SIM_SetActTrq_instance( Axis :=Parameter, Enable :=Parameter, SetTrq :=Parameter, Status =>Parameter, Busy =>Parameter, Error =>Parameter, ErrorID=>Parameter );
Variables
Input Variables
Name Enable
SetTrq
Meaning Enable
Data type BOOL
Actual torque LREAL
Valid range TRUE or FALSE
Negative number, positive number,
or 0
Default FALSE
0
Description
The instruction is executed while Enable is TRUE.
Specify the actual torque. (The unit is %.)
Specify the target torque to output to the Servo Drive in increments of 0.1%. Specify a percentage of the rated torque, i.e., the rated torque is 100.0%.
Output Variables
Name Status Busy Error ErrorID
Meaning Input signal ON
Data type
BOOL
Executing
BOOL
Error
BOOL
Error code
WORD
In-Out Variables
Valid range
TRUE or FALSE
TRUE or FALSE
TRUE or FALSE
---
Description TRUE when the input signal is ON.
TRUE when the instruction is acknowledged.
TRUE while there is an error.
Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.
Name
Meaning
Data type
Valid range
Description
Axis
Axis
_sAXIS_REF
---
Specify the axis.*
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (The default axis variable names are MC_Axis***.) or a user-defined variable that specifies the address of an Axis Variable.
Function
While Enable is TRUE, the specified actual torque is written to the process data object in Axis. Specify the target torque to output to the Servo Drive in increments of 0.1%. When Enable changes to FALSE, the actual torque is not written.
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A-6 Simulation Instructions
Appendices
Precautions for Correct Use
� This instruction must be used only for simulation. Use it only in debug programs. If you use it in a normal program, it is not executed on the physical CPU Unit, but it virtually changes the actual torque process data. Debug programs cannot be executed on the physical CPU Unit.
� If you use this instruction, place only one instruction in the user program for each axis. The intended operation may not be achieved if you place more than one instruction in the user program for the same axis.
� Make sure that the value that you write to the process data object does not exceed 32 bits when converted to pulses by the electronic gear. If 32 bits is exceeded, the intended operation may not occur.
� If you use this instruction, assign a different instance for each axis. You cannot use the same instance for more than one axis.
� Do not use this instruction for an encoder axis. The intended operation may not occur.
� This instruction updates the process data object data instead of the Servo Drive. Use it in the task with the shortest control period.
A
� The following restrictions apply to the use of this instruction.
� You cannot use it for a virtual axis.
� You cannot use it while the Servo is OFF.
� You cannot execute the MC_Home instruction or MC_SetPosition instruction during execution of this instruction.
� Any changes to the axis parameters, such as the gear ratio, that are made with the MC_WriteAxisParameter instruction are ignored by this instruction.
Errors
An error occurs and an error code is output in the following cases.
Error cause There is no slave that corresponds to Axis. The actual torque is outside of the allowable input range. An object that is required for this instruction is not set.
Error code 0406 hex 0400 hex 3461 hex
Refer to A-6-12 Detailed Information on Error Codes on page A-50 later in this manual for information on error codes.
A-6-11 Write Actual Torque Instruction
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A-49
Appendices
A-6-12 Detailed Information on Error Codes
Detailed information is available on errors that occur for instructions. Errors are given as event codes that use the error code as the lower four digits. For descriptions of an error code, refer to the description of the corresponding event code. For example, if the error code for the instruction is 0400 hex, refer to the description for event code 54010400 hex.
Event name Meaning Source Error attributes Effects System-defined variables Cause and correction
Attached information
Precautions/ Remarks
Input Value Out of Range
Event code
54010400 hex
An input parameter for an instruction exceeded the valid range for an input variable. Or, division by an integer of 0 occurred in division or remainder calculations.
PLC Function Module
Source details
Instruction
Detection timing
At instruction execution
Level
Observation
Recovery
---
Log category
System
User program
Continues.
Operation
The relevant instruction will end according to specifications.
Variable
Data type
Name
None
---
---
Assumed cause
Correction
Prevention
An input parameter for an instruction exceeded the valid range for an input variable. Or, division by an integer of 0 occurred in division or remainder calculations.
Check the valid range for the input variables of the instruction. Make sure the input parameters are within the valid range and that no division by 0 or remainder calculation for 0 is performed.
Set the value of the input parameter to the instruction so that the input range is not exceeded.
Attached Information 1: Error Location
Attached Information 2: Error Location Detail, Rung Number. For a program section, the rung number from the start of the section is given. For ST, the line number is given.
Attached Information 3: Instruction Name and Instruction Instance Name Where Error Occurred. If there is more than one instruction, all of them are given. If the instruction cannot be identified, nothing is given.
Attached Information 4: Expansion Error Code (ErrorIDEx)
If a program is changed after an error occurs, the attached information that is displayed may not be correct.
Name Meaning Source Error attributes Effects System-defined variables Cause and correction
Attached information
Precautions/ Remarks
Illegal Data Position Specified
Event code
54010406 hex
A memory address or data size that was specified for the instruction is not suitable.
PLC Function Module
Source details
Instruction
Detection timing
At instruction execution
Level
Observation
Recovery
---
Log category
System
User program
Continues.
Operation
The relevant instruction will end according to specifications.
Variable
Data type
Name
None
---
---
Assumed cause
Correction
Prevention
A memory address that was specified for an instruction was outside the valid range. The data size that was specified for an instruction exceeded the valid range. For example, the data type of a variable and the data size may not agree.
Correct the instruction so that the specified data memory addresses and data sizes do not exceed the valid ranges.
Use instructions so that the specified data memory addresses and data sizes do not exceed the valid ranges.
Attached Information 1: Error Location
Attached Information 2: Error Location Detail, Rung Number. For a program section, the rung number from the start of the section is given. For ST, the line number is given.
Attached Information 3: Instruction Name and Instruction Instance Name Where Error Occurred. If there is more than one instruction, all of them are given. If the instruction cannot be identified, nothing is given.
Attached Information 4: Expansion Error Code (ErrorIDEx)
If a program is changed after an error occurs, the attached information that is displayed may not be correct.
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A-6 Simulation Instructions
Appendices
Name
Process Data Object Setting Missing
Event code
54013461 hex
Meaning
The PDO mapping is not correct.
Source
PLC Function Module
Source details
Instruction
Detection timing
At instruction execution
Error attributes Level
Observation
Recovery
---
Log category
System
Effects
User program
Continues.
Operation
The relevant instruction will end according to specifications.
System-defined variables
Variable _MC_AX[*].MFaultLvl.Active
Data type BOOL
Name Axis Minor Fault Occurrence
Cause and correction
Assumed cause
Correction
Prevention
The PDOs that are required for the Map the PDOs that are required for Map the PDOs that are required for
motion control instruction are not
the instruction. Refer to the Function the instructions that are used. Refer
mapped.
section of the relevant instruction for to the NJ/NX-series CPU Unit Motion
the required PDOs.
Control User's Manual (Cat. No.
W507) or NY-series Industrial Panel
PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559) for
A
the PDOs (Servo Drive settings) that
you must map for each instruction.
The relevant instruction was executed for a target device that does not have an object that supports the instruction.
Some devices do not support the relevant instruction. Refer to the manual for the target device, check to see if the relevant instruction is supported, and correct the program so that unsupported instructions are not executed.
Refer to the manual for the target device and write the program so that unsupported instructions are not executed.
Attached information
Attached Information 1: Error Location
Attached Information 2: Error Location Detail, Rung Number. For a program section, the rung number from the start of the section is given. For ST, the line number is given.
Attached Information 3: Instruction Name and Instruction Instance Name Where Error Occurred. If there is more than one instruction, all of them are given. If the instruction cannot be identified, nothing is given.
Attached Information 4: Expansion Error Code (ErrorIDEx)
Precautions/ Remarks
If a program is changed after an error occurs, the attached information that is displayed may not be correct.
A-6-12 Detailed Information on Error Codes
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Appendices
A-7 Directly Connecting to an EtherCAT Slave Terminal
Instead of going online with the NJ/NX/NY-series Controller, you can connect directly to the EtherCAT Coupler Unit with a USB cable. If an OMRON EtherCAT Coupler Unit is connected to an EtherCAT network with a master that is not an OMRON product, you can connect to the Slave Terminal to go online with it and perform operations, such as transferring Unit settings. The operating procedures are given below. Refer to the NX-series EtherCAT Coupler Units User's Manual (Cat. No. W519) for function details. When you connect the computer to the USB port on the Communications Coupler Unit the first time, install the USB driver. Refer to A-1 Driver Installation for Direct USB Cable Connection on page A-3 for installing the USB driver.
A-7-1 Procedure for Directly Connecting to an EtherCAT Slave Terminal
Use the following procedure to directly connect to an EtherCAT Slave Terminal with a USB cable.
1 Connect the computer to the EtherCAT Coupler Unit with a USB cable. 2 Create a project for an NJ/NX/NY-series Controller and create the configuration for an EtherCAT
Slave Terminal. Refer to 5-3 EtherCAT Slave Terminal Configuration and Setup on page 5-22 for the procedures.
3 Right-click the Communications Coupler Unit on the EtherCAT Slave Terminal Tab Page and select Coupler Connection (USB) - Online. Or right-click the Communications Coupler Unit in the Multiview Explorer and select Coupler Connection (USB) - Online. A dialog box to confirm the connection is displayed.
4 Check the EtherCAT Coupler Unit to connect to, and click the OK Button.
The Sysmac Studio goes online with the EtherCAT Slave Terminal.
Additional Information You can also go online by selecting the Communications Coupler Unit in the Slave Terminal and clicking the Online Button in the Coupler Connection (USB) item of the Unit setting item list.
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A-7 Directly Connecting to an EtherCAT Slave Terminal
Appendices
A-7-2 Transferring Settings for an EtherCAT Slave Terminal
Use the following procedures to transfer the Slave Terminal settings when the Sysmac Studio is directly connected to an EtherCAT Slave Terminal.
Transferring Settings from the Computer to the EtherCAT Coupler Unit
1 Go online with the EtherCAT Slave Terminal, right-click the Communications Coupler Unit on the EtherCAT Slave Terminal Tab Page and select Coupler Connection (USB) - Transfer to Coupler. Or right-click the Communications Coupler Unit in the Multiview Explorer and select Coupler Connection (USB) - Transfer to Coupler. The Transfer to Coupler Dialog Box is displayed.
A
2 Click the data to transfer.
A Transfer Confirmation Dialog Box is displayed. Click the Yes Button to transfer the data.
Transferring Settings from the EtherCAT Coupler Unit to the Computer
1 Go online with the EtherCAT Slave Terminal, right-click the Communications Coupler Unit on the EtherCAT Slave Terminal Tab Page, and select Coupler Connection (USB) - Transfer from Coupler. Or right-click the Communications Coupler Unit in the Multiview Explorer and select Coupler Connection (USB) -Transfer from Coupler. A Transfer Confirmation Dialog Box is displayed. Click the Yes Button to transfer the data.
Precautions for Correct Use If you execute Transfer to Coupler, the Unit is restarted after the data is transferred. At that time, I/O communications with the communications master will stop.
A-7-2 Transferring Settings for an EtherCAT Slave Terminal
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Appendices
A-7-3 Comparing the EtherCAT Slave Terminal Configuration Information
Use the following procedures to compare the Slave Terminal configuration information when the Sysmac Studio is directly connected to the EtherCAT Slave Terminal.
1 Go online with the EtherCAT Slave Terminal, right-click the Communications Coupler Unit on the EtherCAT Slave Terminal Tab Page and select Coupler Connection (USB) - Compare. Or, right-click the EtherCAT Coupler Unit in the Multiview Explorer and select Coupler Connection (USB) - Compare. The data is compared. If it is the same, Slave Terminal settings matched is displayed. If there are differences, a dialog box that shows the differences in the settings is displayed.
A-7-4 USB Connection Prohibition Setting for EtherCAT Slave Terminals
You can make a setting to prevent a direct USB connection to an operating Slave Terminal to prevent incorrect machine operation that can occur for direct connections to a Slave Terminal during machine operation.
Prohibition Setting Procedure
1 Place the Sysmac Studio online with the NJ/NX/NY-series CPU Unit or the EtherCAT Coupler Unit.
2 Double-click the Communications Coupler Unit on the Slave Terminal Tab Page or right-click it and select Edit Unit Operation Settings.
The Edit Unit Operation Settings Tab Page is displayed.
3 Set the Preventing Incorrect Operation Setting/USB Connection Prohibition Setting to Enable.
4 Click the Transfer to Unit Button for the Unit operation settings.
The prohibition setting is enabled after you go offline and then back online.
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A-7 Directly Connecting to an EtherCAT Slave Terminal
A-7-5 I/O Wiring Checks for EtherCAT Slave Terminals
Appendices
Procedure to Clear the Prohibition Setting
1 Disconnect the EtherCAT Coupler Unit from the NJ/NX/NY-series CPU Unit or EtherCAT network and place the Sysmac Studio online with the EtherCAT Coupler Unit.
2 A Edit Unit Operation Settings Tab Page is displayed for the EtherCAT Coupler Unit. 3 Set the Preventing Incorrect Operation Setting/USB Connection Prohibition Setting to
Disable.
4 Click the Transfer to Unit Button for the Unit operation settings.
Precautions for Correct Use
� You can connect directly to the EtherCAT Coupler Unit even when the prohibition setting is active as long as the EtherCAT Coupler Unit is not connected to the EtherCAT network.
� Sysmac Studio version 1.07 can be directly connected to the Coupler Unit even if the prohibi-
tion setting is active.
A
A-7-5 I/O Wiring Checks for EtherCAT Slave Terminals
This section describes the I/O wiring checks for a direct connection to an EtherCAT Slave Terminal. All of the following conditions must be met to use this function. � The EtherCAT Coupler Unit must be disconnected from the EtherCAT network or there must not be a
cable connection to the EtherCAT network. � The Slave Terminal configuration information must be the same between the Sysmac Studio and the
Slave Terminal.
I/O Wiring Check Procedure
1 Go online with the EtherCAT Slave Terminal, right-click the Communications Coupler Unit on the EtherCAT Slave Terminal Tab Page, and select Coupler Connection (USB) - Start I/O Check. Or, right-click the EtherCAT Coupler Unit in the Multiview Explorer and select Coupler Connection (USB) - Start I/O Check. You can now check the I/O wiring.
2 Perform the I/O wiring checks from the I/O Map in the Multiview Explorer.
To stop the I/O wiring checks, right-click the EtherCAT Coupler Unit and select Coupler Connection (USB) - Stop I/O Check.
Precautions for Safe Use
Do not disconnect the cable when you change the values of I/O ports or variables from the I/O Map with a direct connection to the EtherCAT Coupler Unit. To connect directly to a different Coupler Unit, go offline, connect the cable to the other Unit, and go online again.
Precautions for Correct Use
� An EtherCAT Coupler Unit with unit version 1.2 or later is required to use this function. � Not all NX Units support this function. Refer to the NX-series Data Reference Manual (Cat.
No. W525) for details.
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Appendices
A-7-6 Differences in Operation from an Online Connection to an NJ/NX/NY-series Controller
When you are directly connected to an EtherCAT Slave Terminal (i.e., online with the Communications Coupler Unit), the following differences exist in the online operations in comparison to operations when online with the NJ/NX/NY-series Controller.
Operation
EtherCAT Network Configuration Compare and Merge
Online with Communications Coupler Unit You cannot perform this operation.
Troubleshooting
You cannot monitor user-defined errors or user-defined logs.
Operation authority verification
Operation authority verification does not work.
Menus
Menu commands that you cannot use are grayed out.
Refer to the NX-series EtherCAT Coupler Units User's Manual (Cat. No. W519) for details on connecting to the EtherCAT Coupler Unit and online operations.
Additional Information
The USB driver is installed when you connect the first time. Refer to A-1 Driver Installation for Direct USB Cable Connection for details.
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A-8 MDP Settings for EtherCAT Network Slaves
Appendices
A-8 MDP Settings for EtherCAT Network Slaves
MDPs (modular device profiles) define data structures for EtherCAT slave settings. They are part of the EtherCAT specifications. You can use slaves that support MDPs from other companies on the EtherCAT Tab Page.
Additional Information Refer to the manuals provided by the vendors of the MDP slaves and modules for information on the MDP slaves, the modules that you can connect to the MDP slaves, and the settings.
A A-8-1 Installing ESI Files for MDP Slaves
1 Install the ESI files for the MDP slaves to use on the EtherCAT Tab Page.
Refer to 5-2-7 Installing and Uninstalling ESI Files on page 5-16 for the installation procedure for ESI files. The MDP slave groups and MDP slave models are displayed in the Toolbox.
A-8-2 Adding MDP Slaves
The procedures to add, delete, and perform other operations for MDP slaves on the EtherCAT Tab Page are the same as those for OMRON slaves. Refer to 5-2 EtherCAT Configuration and Setup on page 5-4 for the procedures.
A-8-3 Editing Module Configurations
Use the following procedure to register modules for MDP slaves and set those modules.
1 Right-click the slave in the EtherCAT Tab Page and select Edit Module Configuration.
The Module Configuration Dialog Box is displayed.
A-8-1 Installing ESI Files for MDP Slaves
2 Select the location at which to register a module and double-click the module to register in the Toolbox. Or, drag the module from the Toolbox to the Module Configuration Dialog Box.
The module is registered.
You can delete, copy, paste, and move modules on the Module Configuration Dialog Box.
To delete all of the modules at the same time, right-click the MDP slave and select Clear All Settings.
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Appendices
A-8-4 Building Module Configurations Online
Use the following procedure to automatically create the module configuration on the Sysmac Studio from the actual configuration of the modules.
1 Go online, right-click one of the modules in the Module Configuration Dialog Box, and select Compare and Merge with Actual Module Configuration. The actual module configuration is read and compared with the module configuration on the Sysmac Studio. The results are displayed in the Compare and Merge with Actual Module Configuration Dialog Box.
2 Click the Apply Actual Module Configuration Button to synchronize the module configuration on the Sysmac Studio with the actual module configuration.
3 Click the OK Button.
The Module Configuration Dialog Box is displayed again.
A-8-5 Setting MDP Slaves and Transferring/Comparing Module Configurations
Setting the MDP slaves and transferring module configuration information are performed in the same ways as with other EtherCAT slaves, i.e., with the synchronization operation. Refer to Synchronizing (Uploading/Downloading after Automatic Verification) on page 7-119 for details on the synchronization operation.
A-8-6 Displaying Production Information
Use the following procedure to display production information online for MDP slaves and the modules that are connected to the MDP slaves.
1 Go online, right-click one of the modules in the Module Configuration Dialog Box, and select Display Production Information. The Production Information Dialog Box is displayed.
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A-9 Changing the Sysmac Studio Display Language
Appendices
A-9 Changing the Sysmac Studio Display Language
You can use the Language Switching Tool to change the language that is displayed on the Sysmac Studio. You can select the display language from the languages that are supported by the Sysmac Studio.
A-9-1 Changing the Display Language
1 Select OMRON - Sysmac Studio - Tools - Language Switching Tool from the Windows Start
Menu.
A
The Language Switching Tool starts.
2 Select the display language to use, and then click the Set Button.
The selected language is used from the next time that the Sysmac Studio starts.
Additional Information
� Changing the display language changes only the language that is displayed on the Sysmac Studio. You cannot change the region that was selected at installation or the Windows region or language setting (local setting).
� For program names, configuration names, and setting names, the language that was used when the project was saved is displayed.
A-9-1 Changing the Display Language
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Appendices
A-10 Changing models among NJ-, NX-, and NY-series Controllers
The settings and the range of values supported by NJ/NX/NY-series Controllers vary depending on the model. This appendix provides precautions for changing among NJ-series, NX-series, and NY-series Controller models: � Changing between NJ-series and NX701 Controllers � Changing between NJ-series and NY-series Controllers � Changing between NY-series and NX701 Controllers � Changing between NX1P2 and NJ-series Controllers � Changing between NX1P2 and NX701 Controllers � Changing between NX1P2 and NY-series Controllers � Changing between NX102 and NJ-series Controllers � Changing between NX102 and NX701 Controllers � Changing between NX102 and NY-series Controllers � Changing between NX102 and NX1P2 Controllers
If you change between Controller models not listed here, the set values for functions that are not supported by the Controller that you change to are lost. In this case, the setting items unique to the model that you change to are set to the default values.
Precautions for Safe Use
If the configuration of the EtherCAT network includes an EtherCAT slave that cannot be used by the Controllers after model change, the configuration and settings of the EtherCAT network will be all cleared. In that case, create and set an EtherCAT network configuration again.
A-10-1 Changing between NJ-series and NX701 Controllers
Item
EtherCAT Configuration and Setup, and EtherCAT Slave Terminal Configuration and Setup
Precautions when changing the Controller model
Changing from NJ Series to NX701 Changing from NX701 to NJ Series
An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change.
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� The slave PDO communications cycle settings (PDO Communications Cycle 1 and PDO Communications Cycle 2) are lost. The slaves operate on the primary periodic task period.
� If a task period that is unique to the NX701 Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings on page A-61 for information on changes in the task periods.
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Appendices
A-10 Changing models among NJ-, NX-, and NY-series Controllers
A-10-1 Changing between NJ-series and NX701 Controllers
Item
Precautions when changing the Controller model Changing from NJ Series to NX701 Changing from NX701 to NJ Series
CPU/Expansion Rack Configuration and Setup
The Unit configuration and the setup parameters for all Units are deleted. All I/O ports are deleted and all variable assignments to I/O ports are deleted.
The CPU/Expansion Rack configuration and setup are added in the same condition as when a new project is created.
Controller Setup
Operation Settings
� The FINS settings are deleted.
� Among the general setting items, those unique to the NJ-series Controller are deleted.
The FINS settings are added in the same condition as when a new project is created.
Built-in Ether- � The IP Address settings in the
� The IP Address - Port 1 and Default
Net/IP Port
TCP/IP settings are used as the IP Gateway settings in the TCP/IP set-
Settings
Address - Port 1 and Default Gate- tings are used as the IP Address set-
way settings.
tings. The IP Address - Port 2 settings
� The LINK Settings are used for the are lost.
LINK Settings - Port 1 settings. � The FINS settings are deleted.
� Of the data registered for the IP router table in the TCP/IP settings, any data
A
that exceeds the upper limit (8) for an
NJ-series Controller is lost.
� The LINK Settings - Port 1 settings are used for the LINK Settings. The LINK Settings - Port 2 settings are lost.
� The 1000 Mbps Full Duplex selection is deleted from the selections for the LINK settings. If 1000 Mbps Full Duplex is selected for the NX701 Controller, it changes to Auto.
Axis Settings
MC1 (primary periodic task) is assigned to all axis motion controls.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� All tasks for devices that are assigned to axes change to the priority-4 primary periodic task.
� The assigned axis variables for axes that are assigned to MC2 (priority-5 periodic task) in the NX701 Controller change from _MC2_AX[] to _MC_AX[].
Axes Group Settings
MC1 (primary periodic task) is assigned to all axes group motion controls.
� An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
� The assigned variables for axes groups that are assigned to MC2 (priority-5 periodic task) in the NX701 Controller change from _MC2_GRP[] to _MC_GRP[].
Task Settings
The task settings do not change.
� The priority-5 periodic task is deleted. All program assignments to this task are deleted.
� If a task period that is unique to the NX701 Controllers is set, it changes to the nearest settable NJ-series Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
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Appendices
Item
EtherNet/IP Connection Settings
Precautions when changing the Controller model
Changing from NJ Series to NX701 Changing from NX701 to NJ Series
� The connection settings in the Builtin EtherNet/IP Port Settings are used for the Built-in EtherNet/IP Port Settings - Port 1 settings.
� If a CJ-series EtherNet/IP Unit is registered, the connection setting to it is lost.
The connection settings in the Built-in EtherNet/IP Port Settings - Port 1 settings are used for the Built-in EtherNet/IP Port Settings. The Built-in EtherNet/IP Port Settings - Port 2 settings are lost.
A-10-2 Changing between NJ-series and NY-series Controllers
Item
Precautions when changing the Controller model
Changing from NJ Series to NY Series
Changing from NY Series to NJ Series
EtherCAT Configuration and Setup, and EtherCAT Slave Terminal Configuration and Setup
An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change.
If a task period that is unique to the NY-series Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. (Refer to Task Settings on page A-61 for information on changes in the task periods.)
CPU/Expansion Rack Configu- The Unit configuration and the setup
ration and Setup
parameters for all Units are deleted.
All I/O ports are deleted and all vari-
able assignments to I/O ports are
deleted.
The CPU/Expansion Rack configuration and setup are added in the same condition as when a new project is created.
Controller Setup
Operation Settings
� The FINS settings are deleted.
� Among the general setting items, those unique to the NJ-series Controller are deleted.
� The FINS settings are added in the same condition as when a new project is created.
� Among the general setting items, those unique to the NY-series Controller are deleted.
Built-in EtherNet/IP Port Settings
� The IP Address settings in the
� The IP Address - EtherNet/IP Port
TCP/IP settings are used as the IP
and Default Gateway settings in the
Address - EtherNet/IP Port and
TCP/IP settings are used as the IP
Default Gateway settings.
Address settings. The IP Address -
� The LINK Settings are used for the
Internal Port 1 settings are lost.
LINK Settings - EtherNet/IP Port set- � Of the data registered for the IP
tings.
router table in the TCP/IP settings,
� The FINS settings are deleted.
� The internal port 1 is added in the same condition as when a new project is created.
any data that exceeds the upper limit (8) for an NJ-series Controller is lost.
� The LINK Settings - EtherNet/IP Port settings are used for the LINK
Settings.
� The 1000 Mbps Full Duplex selection is deleted from the selections for the LINK settings. If 1000 Mbps Full Duplex is selected for the NY-series Controller, it changes to Auto.
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Appendices
A-10 Changing models among NJ-, NX-, and NY-series Controllers
A-10-3 Changing between NY-series and NX701 Controllers
Item Task Settings
Precautions when changing the Controller model
Changing from NJ Series to NY Series
Changing from NY Series to NJ Series
The task settings do not change.
If a task period that is unique to the NY-series Controllers is set, it changes to the nearest settable NJ-series Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
A-10-3 Changing between NY-series and NX701 Controllers
Item
Precautions when changing the Controller model
A
Changing from NY Series to NX701 Changing from NX701 to NY Series
EtherCAT Configuration and Setup, and EtherCAT Slave Terminal Configuration and Setup
An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change.
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� The PDO Communications Cycle 2 setting for slaves is lost. The PDO Communications Cycle 1 for slaves is set to the primary periodic task period.
� If a task period that is unique to the NX701 Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. (Refer to Task Settings on page A-61 for information on changes in the task periods.)
Controller Setup
Operation Settings
Among the general setting items,
Among the general setting items,
those unique to the NY-series Control- those unique to the NX701 Controller
ler are deleted.
are deleted.
Built-in EtherNet/IP Port Settings
� The IP Address - EtherNet/IP Port settings in the TCP/IP settings are used as the IP Address - Port 1 settings.
� The IP Address - Internal Port 1 settings are lost.
� The LINK Settings are used for the LINK Settings - Port 1 settings.
� The FINS settings are deleted.
� The IP Address - Port 1 settings in the TCP/IP settings are used as the IP Address - EtherNet/IP Port settings. The IP Address - Port 2 settings are lost.
� The LINK Settings - Port 1 settings are used for the LINK Settings. The LINK Settings - Port 2 settings are lost.
Axis Settings
MC1 (primary periodic task) is assigned to all axis motion controls.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� All tasks for devices that are assigned to axes change to the priority-4 primary periodic task.
� The assigned axis variables for axes that are assigned to MC2 (priority-5 periodic task) in the NX701 Controller change from _MC2_AX[] to _MC_AX[].
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Appendices
Item Axes Group Settings
Task Settings
EtherNet/IP Connection Settings
Precautions when changing the Controller model
Changing from NY Series to NX701 Changing from NX701 to NY Series
MC1 (primary periodic task) is assigned to all axes group motion controls.
� An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
� The assigned variables for axes groups that are assigned to MC2 (priority-5 primary periodic task) in the NX701 Controller change from _MC2_GRP[] to _MC_GRP[].
The task settings do not change.
� The priority-5 periodic task is deleted. All program assignments to this task are deleted.
� If a task period that is unique to the NX701 Controllers is set, it changes to the nearest settable NY-series Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
� The connection settings in the Builtin EtherNet/IP Port Settings are used for the Built-in EtherNet/IP Port Settings - Port 1 settings.
The connection settings in the Built-in EtherNet/IP Port Settings - Port 1 settings are used for the Built-in EtherNet/IP Port Settings. The Built-in EtherNet/IP Port Settings - Port 2 settings are lost.
A-10-4 Changing between NX1P2 and NJ-series Controllers
Item
Precautions when changing the Controller model Changing from NX1P2 to NJ Series Changing from NJ Series to NX1P2
EtherCAT Configuration and Setup,
and EtherCAT Slave Terminal Configuration and Setup
If a task period that is unique to the NX1P2 Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings for information on changes in the task periods.
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change. If a task period that is unique to the NJ-series Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings for information on changes in the task periods.
CPU/Expansion Rack Configu- The Unit configuration and the setup
ration and Setup
parameters for all Units are deleted.
All I/O ports are deleted and all vari-
able assignments to I/O ports are
deleted.
The Unit configuration and the setup parameters for all Units are deleted. All I/O ports are deleted and all variable assignments to I/O ports are deleted.
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A-10 Changing models among NJ-, NX-, and NY-series Controllers
Appendices
Item
Precautions when changing the Controller model Changing from NX1P2 to NJ Series Changing from NJ Series to NX1P2
Controller Setup
Operation Settings
� Among the general setting items, those unique to the NX1P2 Controller are deleted.
� Among the general setting items, those unique to the NJ-series Controller are deleted. In this case, the setting items unique to the NX1P2 Controller are set to the default values.
Built-in EtherNet/IP Port Settings
� The IP Address and Default Gateway settings in the TCP/IP settings are used as the IP Address settings.
� The IP Address settings in the TCP/IP settings are used as the IP Address and Default Gateway settings.
� Among the FINS settings, the FINS/TCP settings are deleted.
Axis Settings
� The Control Function parameter set- � An error is displayed if the limit to
ting for the NX1P2 Controller is deleted.
the number of axes supported by the Controller is exceeded after chang-
A
� An error is displayed if the limit to
ing the Controller model.
the number of axes supported by the � MC1 (primary periodic task) is
Controller is exceeded after chang- assigned to all axis motion controls.
ing the Controller model.
� The Control Function parameter is
set to All.
Axes Group Settings
� An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
� MC1 (primary periodic task) is assigned to all axes group motion controls.
� An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
Task Settings
If a task period that is unique to the NX1P2 Controller is set, it changes to the nearest settable NJ-series Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
� The priority-16 periodic task is deleted. All program assignments to this task are deleted.
� If a task period that is unique to the NJ-series Controllers is set, it changes to the nearest settable NX1P2 Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
A-10-4 Changing between NX1P2 and NJ-series Controllers
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Appendices
A-10-5 Changing between NX1P2 and NX701 Controllers
Item
Precautions when changing the Controller model
Changing from NX1P2 to NX701
Changing from NX701 to NX1P2
EtherCAT Configuration and Setup,
and EtherCAT Slave Terminal Configuration and Setup
An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change.
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� The PDO Communications Cycle 2 setting for slaves is lost. The PDO Communications Cycle 1 for slaves is set to the primary periodic task period.
� If a task period that is unique to the NX701 Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings for information on changes in the task periods.
CPU/Expansion Rack Configu- The Unit configuration and the setup
ration and Setup
parameters for all Units are deleted.
All I/O ports are deleted and all vari-
able assignments to I/O ports are
deleted.
The CPU/Expansion Rack configuration and setup are added in the same condition as when a new project is created.
Controller Setup
Operation Settings
Among the general setting items, those unique to the NX1P2 Controller are deleted.
Among the general setting items, those unique to the NX701 Controller are deleted.
Built-in EtherNet/IP Port Settings
� The IP Address settings in the TCP/IP settings are used as the IP Address - Port 1 settings.
� The LINK Settings are used for the LINK Settings - Port 1 settings.
� The FINS settings are deleted.
� The IP Address - Port 1 settings in the TCP/IP settings are used as the IP Address settings. The IP Address - Port 2 settings are lost.
� Of the data registered for the IP router table in the TCP/IP settings, any data that exceeds the upper limit (8) for an NX1P2 Controller is lost.
� The LINK Settings - Port 1 settings are used for the LINK Settings. The LINK Settings - Port 2 settings are lost.
� The 1000 Mbps Full Duplex selection is deleted from the selections for the LINK settings. If 1000 Mbps Full Duplex is selected for the NX701 Controller, it changes to Auto.
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A-10 Changing models among NJ-, NX-, and NY-series Controllers
Appendices
Item
Precautions when changing the Controller model
Changing from NX1P2 to NX701
Changing from NX701 to NX1P2
Axis Settings
The Control Function parameter setting for the NX1P2 Controller is deleted.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� All tasks for devices that are assigned to axes change to the priority-4 primary periodic task.
Axes Group Settings
The axes group settings do not change.
� The assigned axis variables for axes
that are assigned to MC2 (priority-5
periodic task) in the NX701 Control-
ler change from _MC2_AX[] to _MC_AX[].
� The Control Function parameter is
set to All.
� An error is displayed if the limit to
A
the number of axes groups sup-
ported by the Controller is exceeded
after changing the Controller model.
� The assigned variables for axes
groups that are assigned to MC2 (priority-5 primary periodic task) in
the NX701 Controller change from
_MC2_GRP[] to _MC_GRP[].
Task Settings
The task settings do not change.
� The priority-5 and priority-16 periodic tasks are deleted. All program assignments to this task are deleted.
� If a task period that is unique to the NX701 Controller is set, it changes to the nearest settable NX1P2 Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
EtherNet/IP Connection Settings
� The connection settings in the Builtin EtherNet/IP Port Settings are used for the Built-in EtherNet/IP Port Settings - Port 1 settings.
The connection settings in the Built-in EtherNet/IP Port Settings - Port 1 settings are used for the Built-in EtherNet/IP Port Settings. The Built-in EtherNet/IP Port Settings - Port 2 settings are lost.
A-10-5 Changing between NX1P2 and NX701 Controllers
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Appendices
A-10-6 Changing between NX1P2 and NY-series Controllers
Item
Precautions when changing the Controller model Changing from NX1P2 to NY Series Changing from NY Series to NX1P2
EtherCAT Configuration and Setup,
and EtherCAT Slave Terminal Configuration and Setup
� An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change.
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� If a task period that is unique to the NY-series Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings for information on changes in the task periods.
CPU/Expansion Rack Configu- The Unit configuration and the setup
ration and Setup
parameters for all Units are deleted.
All I/O ports are deleted and all vari-
able assignments to I/O ports are
deleted.
The CPU/Expansion Rack configuration and setup are added in the same condition as when a new project is created.
Controller Setup
Operation Settings
Among the general setting items, those unique to the NX1P2 Controller are deleted.
Among the general setting items, those unique to the NY-series Controller are deleted.
Built-in EtherNet/IP Port Settings
� The IP Address settings in the
� The IP Address - EtherNet/IP Port
TCP/IP settings are used as the IP
settings in the TCP/IP settings are
Address - EtherNet/IP Port settings. used as the IP Address settings.
� The LINK Settings are used for the � The IP Address - Internal Port 1 set-
LINK Settings - EtherNet/IP Port set- tings are lost.
tings.
� Of the data registered for the IP
router table in the TCP/IP settings,
any data that exceeds the upper
limit (8) for an NX1P2 Controller is
lost.
� The LINK Settings - EtherNet/IP Port settings are used for the LINK Settings.
� The 1000 Mbps Full Duplex selection is deleted from the selections for the LINK settings. If 1000 Mbps Full Duplex is selected for the NY-series Controller, it changes to Auto.
Axis Settings
The Control Function parameter setting for the NX1P2 Controller is deleted.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� The Control Function parameter is set to All.
Axes Group Settings
The axes group settings do not change.
An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
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A-10 Changing models among NJ-, NX-, and NY-series Controllers
Appendices
Item Task Settings
Precautions when changing the Controller model
Changing from NX1P2 to NY Series Changing from NY Series to NX1P2
The task settings do not change.
� The priority-16 periodic task is deleted. All program assignments to this task are deleted.
� If a task period that is unique to the NY-series Controllers is set, it changes to the nearest settable NX1P2 Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
A-10-7 Changing between NX102 and NJ-series Controllers
A
Item
Precautions when changing the Controller model Changing from NX102 to NJ Series Changing from NJ Series to NX102
EtherCAT Configuration and Setup,
and EtherCAT Slave Terminal Configuration and Setup
If a task period that is unique to the NX102 Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings for information on changes in the task periods.
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change. If a task period that is unique to the NJ-series Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings for information on changes in the task periods.
CPU/Expansion Rack Configuration and Setup
The Unit configuration and the setup parameters for all Units are deleted. All I/O ports are deleted and all variable assignments to I/O ports are deleted.
The Unit configuration and the setup parameters for all Units are deleted. All I/O ports are deleted and all variable assignments to I/O ports are deleted.
A-10-7 Changing between NX102 and NJ-series Controllers
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Appendices
Item
Controller Setup
Operation Settings
Built-in EtherNet/IP Port Settings
Axis Settings Axes Group Settings Task Settings
EtherNet/IP Connection Settings
Precautions when changing the Controller model
Changing from NX102 to NJ Series Changing from NJ Series to NX102
� Among the general setting items, those unique to the NX102 Controller are deleted.
� Among the general setting items, those unique to the NJ-series Controller are deleted. In this case, the setting items unique to the NX102 Controller are set to the default values.
� The IP Address - Port 1 and Default Gateway settings in the TCP/IP settings are used as the IP Address settings. The IP Address - Port 2 settings are lost.
� Among the data registered for the IP router table in the TCP/IP settings, any data that exceeds the upper limit (8) for an NJ-series Controller is lost.
� The LINK Settings - Port 1 settings are used for the LINK Settings. The LINK Settings - Port 2 settings are lost.
� For the FINS Node Address setting in FINS Settings, the value for the built-in EtherNet/IP port 1 is set as the value for the Built-in EtherNet/IP Port.
� The IP Address settings in the TCP/IP settings are used as the IP Address - Port 1 and Default Gateway settings.
� The Control Function parameter setting for the NX102 Controller is deleted.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� MC1 (primary periodic task) is assigned to all axis motion controls.
� The Control Function parameter is set to All.
An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
� MC1 (primary periodic task) is assigned to all axes group motion controls.
� An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
If a task period that is unique to the NX102 Controllers is set, it changes to the nearest settable NJ-series Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
� The priority-16 periodic task is deleted. All program assignments to this task are deleted.
� If a task period that is unique to the NJ-series Controllers is set, it changes to the nearest settable NX102 Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
The connection settings in the Built-in EtherNet/IP Port Settings - Port 1 settings are used for the Built-in EtherNet/IP Port Settings. The Built-in EtherNet/IP Port Settings - Port 2 settings are lost.
� The connection settings in the Builtin EtherNet/IP Port Settings are used for the Built-in EtherNet/IP Port Settings - Port 1 settings.
� If a CJ-series EtherNet/IP Unit is registered, the connection setting to it is lost.
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A-10 Changing models among NJ-, NX-, and NY-series Controllers
A-10-8 Changing between NX102 and NX701 Controllers
Appendices
A-10-8 Changing between NX102 and NX701 Controllers
Item
Precautions when changing the Controller model
Changing from NX102 to NX701
Changing from NX701 to NX102
EtherCAT Configuration and Setup, and EtherCAT Slave
An EtherCAT configuration and setup � An error is displayed if the limit to that include an EtherCAT Slave Termi- the number of slaves supported by
Terminal Configuration and Setup
nal configuration and setup do not change.
the Controller is exceeded after changing the Controller model.
� The PDO Communications Cycle 2
setting for slaves is lost. The PDO
Communications Cycle 1 for slaves
is set to the primary periodic task
period.
� If a task period that is unique to the
NX701 Controller is set, the task period changes when the Controller
A
model is changed, so the value of
the PDO communications cycle
changes. Refer to Task Settings for
information on changes in the task
periods.
CPU/Expansion Rack Configuration and Setup
The Unit configuration and the setup parameters for all Units are deleted. All I/O ports are deleted and all variable assignments to I/O ports are deleted.
The CPU/Expansion Rack configuration and setup are added in the same condition as when a new project is created.
Controller Setup
Operation Settings
Among the general setting items, those unique to the NX102 Controller are deleted.
Among the general setting items, those unique to the NX701 Controller are deleted.
Built-in EtherNet/IP Port Settings
When the model is changed to a model without FINS Settings, the FINS Settings will be deleted.
� Of the data registered for the IP router table in the TCP/IP settings, any data that exceeds the upper limit (64) for an NX102 Controller is lost.
� The 1000 Mbps Full Duplex selection is deleted from the selections for the LINK settings. If 1000 Mbps Full Duplex is selected for the NX701 Controller, it changes to Auto.
Memory Settings
Even when the model is changed to a model with Memory Settings, the data in the Memory Settings is initialized and it is not inherited.
Even when the model is changed from a model with Memory Settings, the data in the Memory Settings is initialized and it is not inherited.
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Appendices
Item Axis Settings
Axes Group Settings Task Settings
Precautions when changing the Controller model
Changing from NX102 to NX701
Changing from NX701 to NX102
The Control Function parameter setting for the NX102 Controller is deleted.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� All tasks for devices that are assigned to axes change to the priority-4 primary periodic task.
� The assigned axis variables for axes that are assigned to MC2 (priority-5 periodic task) in the NX701 Controller change from _MC2_AX[] to _MC_AX[].
� The Control Function parameter is set to All.
The axes group settings do not change.
� An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
� The assigned variables for axes groups that are assigned to MC2 (priority-5 primary periodic task) in the NX701 Controller change from _MC2_GRP[] to _MC_GRP[].
If a task period that is unique to the NX102 Controller is set, it changes to the nearest settable NX701 Controller task period that is not smaller than the original task period.
� The priority-5 and priority-16 periodic tasks are deleted. All program assignments to this task are deleted.
� If a task period that is unique to the NX701 Controller is set, it changes to the nearest settable NX102 Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
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Sysmac Studio Version 1 Operation Manual (W504)
A-10 Changing models among NJ-, NX-, and NY-series Controllers
A-10-9 Changing between NX102 and NY-series Controllers
Appendices
A-10-9 Changing between NX102 and NY-series Controllers
Item
Precautions when changing the Controller model Changing from NX102 to NY Series Changing from NY Series to NX102
EtherCAT Configuration and Setup, and EtherCAT Slave Terminal Configuration and Setup
� An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change.
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� If a task period that is unique to the
NY-series Controller is set, the task
period changes when the Controller
model is changed, so the value of
the PDO communications cycle
changes. Refer to Task Settings for
information on changes in the task periods.
A
CPU/Expansion Rack Configuration and Setup
The Unit configuration and the setup parameters for all Units are deleted. All I/O ports are deleted and all variable assignments to I/O ports are deleted.
The CPU/Expansion Rack configuration and setup are added in the same condition as when a new project is created.
Controller Setup
Operation Settings
Among the general setting items, those unique to the NX102 Controller are deleted.
Among the general setting items, those unique to the NY-series Controller are deleted.
Built-in EtherNet/IP Port Settings
� The IP Address - Port 1 settings in the TCP/IP settings are used as the IP Address - EtherNet/IP Port settings. The IP Address - Port 2 settings are lost.
� The LINK Settings - Port 1 settings are used for the LINK Settings. The LINK Settings - Port 2 settings are lost.
� The IP Address - EtherNet/IP Port settings in the TCP/IP settings are used as the IP Address - Port 1 settings.
� The IP Address - Internal Port 1 settings are lost.
� The LINK Settings are used for the LINK Settings - Port 1 settings.
� Of the data registered for the IP router table in the TCP/IP settings, any data that exceeds the upper limit (64) for an NX102 Controller is lost.
� The 1000 Mbps Full Duplex selection is deleted from the selections for the LINK settings. If 1000 Mbps Full Duplex is selected for the NY-series Controller, it changes to Auto.
Axis Settings
The Control Function parameter setting for the NX102 Controller is deleted.
� An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
� The Control Function parameter is set to All.
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A-73
Appendices
Item Axes Group Settings Task Settings
EtherNet/IP Connection Settings
Precautions when changing the Controller model
Changing from NX102 to NY Series Changing from NY Series to NX102
The axes group settings do not change.
An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
If a task period that is unique to the � The priority-16 periodic task is
NX102 Controllers is set, it changes to deleted. All program assignments to
the nearest settable NY-series Control- this task are deleted.
ler task period that is not smaller than � If a task period that is unique to the
the original task period.
NY-series Controllers is set, it
changes to the nearest settable
NX102 Controller task period that is
not smaller than the original task
period. The results of the change
are displayed in the Output Tab
Page.
The connection settings in the Built-in EtherNet/IP Port Settings - Port 1 settings are used for the Built-in EtherNet/IP Port Settings. The Built-in EtherNet/IP Port Settings - Port 2 settings are lost.
The connection settings in the Built-in EtherNet/IP Port Settings are used for the Built-in EtherNet/IP Port Settings Port 1 settings.
A-10-10 Changing between NX102 and NX1P2 Controllers
Item
Precautions when changing the Controller model
Changing from NX102 to NX1P2
Changing from NX1P2 to NX102
EtherCAT Configuration and Setup, and EtherCAT Slave Terminal Configuration and Setup
� An error is displayed if the limit to the number of slaves supported by the Controller is exceeded after changing the Controller model.
� If a task period that is unique to the NX102 Controller is set, the task period changes when the Controller model is changed, so the value of the PDO communications cycle changes. Refer to Task Settings for information on changes in the task periods.
An EtherCAT configuration and setup that include an EtherCAT Slave Terminal configuration and setup do not change.
CPU/Expansion Rack Configu- The Unit configuration and the setup
ration and Setup
parameters are used. An error is dis-
played if the limit to the number of
Units supported by the Controller is
exceeded after changing the Control-
ler series.
The Unit configuration and the setup parameters are used.
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Sysmac Studio Version 1 Operation Manual (W504)
A-10 Changing models among NJ-, NX-, and NY-series Controllers
Appendices
Item
Precautions when changing the Controller model
Changing from NX102 to NX1P2
Changing from NX1P2 to NX102
Controller Setup
Operation Settings
Among the general setting items, those unique to the NX102 Controller are deleted.
Among the general setting items, those unique to the NX1P2 Controller are deleted.
Built-in Ether- � The IP Address - Port 1 settings in � The IP Address settings in the
Net/IP Port
the TCP/IP settings are used as the TCP/IP settings are used as the IP
Settings
IP Address settings. The IP Address Address - Port 1 settings.
- Port 2 settings are lost.
� The LINK Settings are used for the
� Of the data registered for the IP
LINK Settings - Port 1 settings.
router table in the TCP/IP settings,
any data that exceeds the upper limit (8) for an NX1P2 Controller is
lost.
� The LINK Settings - Port 1 settings
are used for the LINK Settings. The
LINK Settings - Port 2 settings are
A
lost.
� Among the FINS settings, the
FINS/TCP settings are deleted.
Memory Set- The data in the Memory Settings is ini- The data in the Memory Settings is ini-
tings
tialized and it is not inherited.
tialized and it is not inherited.
Axis Settings
An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
An error is displayed if the limit to the number of axes supported by the Controller is exceeded after changing the Controller model.
Axes Group Settings
An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
An error is displayed if the limit to the number of axes groups supported by the Controller is exceeded after changing the Controller model.
Task Settings
If a task period that is unique to the NX102 Controller is set, it changes to the nearest settable NX1P2 Controller task period that is not smaller than the original task period. The results of the change are displayed in the Output Tab Page.
The task settings do not change.
EtherNet/IP Connection Settings
The connection settings in the Built-in EtherNet/IP Port Settings - Port 1 settings are used for the Built-in EtherNet/IP Port Settings. The Built-in EtherNet/IP Port Settings - Port 2 settings are lost.
The connection settings in the Built-in EtherNet/IP Port Settings are used for the Built-in EtherNet/IP Port Settings Port 1 settings.
A-10-10 Changing between NX102 and NX1P2 Controllers
Sysmac Studio Version 1 Operation Manual (W504)
A-75
Appendices
A-11 Report Tools
If a problem occurs in an NJ/NX/NY-series Controller or the Sysmac Studio, you can use the Report Tools to save information in a file to help solve the problem. Please provide the files that are saved to the OMRON support center when you request support.
A-11-1 Sysmac Controller Log Upload Tool
This tool saves the operation log from an NJ/NX/NY-series Controller or Slave Terminal to two or more ZIP files.
1 Select OMRON - Sysmac Studio - Tools - Sysmac Controller Log Upload Tool from the Windows Start Menu. The Sysmac Controller Log Upload Tool is displayed.
2 Enter the IP address of the target Controller in the IP address field in the Target Controller area. If the target Controller is connected directly with a USB cable, enter USB for the IP address.
Click the Communications Test button to see if you can connect to the Controller.
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Sysmac Studio Version 1 Operation Manual (W504)
3 Click the Upload button.
Appendices
A-11 Report Tools
The Controller log is uploaded from the Controller and the directory where the log files were
saved is displayed in the Status area.
4 Click the button labeled with the directory name in the Status area.
A
A-11-1 Sysmac Controller Log Upload Tool
The log files are displayed in Windows Explorer. Send the log files to the support center.
Additional Information � To specify the target Controller, you can click the Browse button to display the Network
Browser Dialog Box and then select the target Controller in it. � The log files that are uploaded by this tool do not contain any information that can be used to
identify you and they do not contain your project files (e.g., settings, configurations, and programs). � The log files uploaded by this tool will not be sent from your computer to any external party without your specific approval.
Version Information
A CPU Unit with unit version 1.10 or later is required to use this tool.
Sysmac Studio Version 1 Operation Manual (W504)
A-77
Appendices
A-11-2 Sysmac Studio Error Report Generating Tool
This tool saves information on the computer and project when problems occur with the Sysmac Studio. The information is saved in a ZIP file.
1 Select OMRON - Sysmac Studio - Tools - Sysmac Studio Error Report Generating Tool from the Windows Start Menu. The Sysmac Studio Error Report Generating Tool is displayed.
A list of the information that is saved is displayed in the Logs for reporting area.
Select the check boxes for the files to save according to instructions from your OMRON support center.
You can click any of the View buttons to check the information files that will be saved.
2 Click the Save button.
The error reports are saved and the name of the file that was created is displayed in the Status area.
3 Click the button labeled with the created file name in the Status area.
A-78
The created file is displayed in Windows Explorer. Send the created file to the support center.
Sysmac Studio Version 1 Operation Manual (W504)
A-11 Report Tools
Appendices
Precautions for Correct Use If you select the check box for the project name in the Logs for reporting area, this tool will create a file that contains your project file (e.g., settings, configurations, and programs). Confirm that there are no problems in including your project information before you select this check box. If you do not check this check box, the files created by this tool do not contain any information that can be used to identify you and they do not contain your project files.
Additional Information The files created by this tool will not be sent from your computer to any external party without your specific approval.
A A-11-3 Sysmac Coupler Log Upload Tool
This tool saves the operation log from a Slave Terminal to a ZIP file.
1 Select OMRON - Sysmac Studio - Tools - Sysmac Coupler Log Upload Tool from the
Windows Start Menu. The Sysmac Coupler Log Upload Tool is displayed.
2 Connect to the Communications Coupler Unit with a USB cable.
Click the Communications Test button to see if you can communicate with the Unit.
3 Click the Upload button.
A-11-3 Sysmac Coupler Log Upload Tool
The Slave Terminal log is uploaded from the Slave Terminal and the directory where the log files were saved is displayed in the Status area.
Sysmac Studio Version 1 Operation Manual (W504)
A-79
Appendices
4 Click the button labeled with the directory name in the Status area.
The log files are displayed in Windows Explorer. Send the log files to the support center. Additional Information � The log files that are uploaded by this tool do not contain any information that can be used to
identify you and they do not contain your project files (e.g., settings, configurations, and programs). � The log files uploaded by this tool will not be sent from your computer to any external party without your specific approval.
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Sysmac Studio Version 1 Operation Manual (W504)
A-12 Downloading Manuals
Appendices
A-12 Downloading Manuals
You can browse the OMRON manual download website from the Sysmac Studio and download the latest manuals for the Sysmac Studio.
Precautions for Correct Use � An Internet connection is required to use this function. � To use this function, Internet Explorer 11 is required. Make sure that it is installed on the com-
puter in advance. Using other browsers may cause improper browsing or inability to download manuals. � You must start this function from the Sysmac Studio, or the Windows Start Menu.
A A-12-1 Displaying the Manual Download Site
1 Select Manual Download from the Help Menu of the Sysmac Studio. Or select All Programs OMRON - Sysmac Manual Download from the Windows Start Menu. Internet Explorer 11 starts and displays the Sysmac Family Manual Download page.
A-12-1 Displaying the Manual Download Site
Select the target product from Product Category and download manuals.
Sysmac Studio Version 1 Operation Manual (W504)
A-81
Appendices
A-82
Sysmac Studio Version 1 Operation Manual (W504)
Index
I
Sysmac Studio Version 1 Operation Manual (W504)
Index-1
Index
Index
Numerics
2D Path Display ........................................................... 7-67 3D equipment models
axis settings ........................................................... 7-98 creating .................................................................. 7-72 3D Motion Monitor Display Mode ................................ 7-65 3G3AX-MX2-ECT ........................................................ 5-34
A
access rights ............................................................... 8-32 releasing ................................................................ 8-32
administrator .................................................................. 2-2 administrator rights ........................................................ 2-2 Application Window ..................................................... 3-32 AT attribute .................................................................. 4-37 AT specification ........................................................... 4-37 author
project .................................................................... 3-17 Automation Software ..................................................... 1-6 axes ............................................................................. 5-73
settings .................................................................. 5-73 Axes Group Variables .................................................... 4-3
creating .................................................................. 4-27 axes groups ................................................................. 5-81
setting .................................................................... 5-81 Axis Basic Settings ...................................................... 5-74 Axis Setting Table ........................................................ 5-77 Axis Status Monitor ..................................................... 7-49 Axis Variables ................................................................ 4-3
creating .................................................................. 4-25
B
backup data ........................................................................ 8-43 variables and memory ........................................... 8-42
backup parameters ...................................................... 5-12 setting .................................................................... 5-12
Base Type attribute ..................................................... 4-66 Basic Input Units ......................................................... 5-54
setting .................................................................... 5-54 Basic Settings View ..................................................... 5-60 bookmarks ...................................................... 4-124, 4-138 BOOL variables ........................................................... 7-24
controlling .............................................................. 7-24 breakpoints .................................................................. 7-90 Build Tab Page ............................................................ 3-43 building ...................................................................... 4-151 built-in EtherNet/IP port ............................................... 5-66
setting .................................................................... 5-66 Built-in EtherNet/IP Port Settings ................................ 5-66
Index-2
C
calibration .................................................................... 7-85 task execution time estimates ................................ 7-85
cam data ...................................................................... 5-83 editing .................................................................... 5-83 exporting settings ................................................... 5-90 importing settings ................................................... 5-89 registering .............................................................. 5-83 settings .................................................................. 5-83 transferring ............................................................. 5-88 transferring from Controller to files ........................ 5-92 transferring from files to Controller ........................ 5-93
cam data variables ........................................................ 4-3 creating .................................................................. 4-29
cam tables ................................................................... 5-91 exporting ................................................................ 5-91
circuit parts .................................................................. 4-79 changing ................................................................ 4-89 entering variables .................................................. 4-93
CJ1W-DRM21 ............................................................. 10-2 CJ1W-EIP21 ................................................................ 10-2 CJ1W-SCU22 .............................................................. 10-2 CJ1W-SCU32 .............................................................. 10-2 CJ1W-SCU42 .............................................................. 10-2 clearing memory .......................................................... 8-29 Comment attribute ..............................................4-39, 4-66 comments
ST Editor .............................................................. 4-137 communications .......................................................... 3-68 Communications Middleware .................................1-6, 2-3 Communications Setup ................................................. 6-4 conditional breakpoints ................................................ 7-94 Configurations and Setup Layer .................................. 3-33 connection methods ...................................................... 6-4 Constant attribute ........................................................ 4-38 constants ................................................................... 4-136 Controller ....................................................................... 6-2 Controller backup ........................................................ 8-37 Controller Configurations and Setup ......................3-3, 3-5 Controller errors ............................................................ 1-3 Controller event log ..................................................... 8-88 Controller Menu ........................................................... 3-50 Controller Setup .......................................................... 5-60 Controller status ............................................................ 1-3 Controller Status Monitor ............................................. 7-44 Controller Status Pane ................................................ 3-41 CPU Rack and Expansion Rack Configuration of
NJ-series Controllers .............................................. 7-140 CPU Rack and Expansion Racks ................................ 5-57
configuring ............................................................. 5-57 CPU/Expansion Racks
transferring configuration information .................... 5-58 creating a library ............................................................ 9-8 creating and using libraries ........................................... 9-8
Sysmac Studio Version 1 Operation Manual (W504)
Index
Cross Reference Tab Page ......................................... 3-42 cross references ......................................................... 7-35 CS-Protocol ................................................................... 1-6 CX-Designer ........................................ 1-6, 2-3, 10-2, 10-3 CX-Integrator ................................................ 1-6, 2-3, 10-2 CX-One installation ....................................................... 2-3 CX-Protocol .......................................................... 2-3, 10-2 CX-Server .............................................................. 1-6, 2-3
D
data backup ................................................................... 8-43 restoring ................................................................ 8-44
data formats ................................................................ 7-14 data protection ............................................................ 8-18 data tracing ................................................................. 7-51
displaying results ................................................... 7-56 exporting results .................................................... 7-62 importing results .................................................... 7-62 printing results ....................................................... 7-64 Data Type attribute ...................................................... 4-34 data types attributes ............................................................... 4-66 creating ................................................................. 4-58 debug programs .......................................................... 7-81 special instructions ................................................ 7-83 debugging ................................................................... 3-63 derivative variables ....................................................... 4-3 device variables ............................................................ 4-3 creating ................................................................. 4-10 DeviceNet Unit ............................................................ 10-2 diagnostic and statistical information .......................... 8-59 Differential Monitor ...................................................... 7-21 direct connection via Ethernet ....................................... 6-3 direct connection via USB ............................................. 6-3 direct Ethernet connection .......................................... 2-10 DirectX .......................................................................... 2-4 display format .............................................................. 7-15 download ................................................................... 7-119 DVD media .................................................................. 1-11
E
Edge attribute .............................................................. 4-39 Edit Menu .................................................................... 3-48 Edit Pane .................................................................... 3-36 Edit Properties ............................................................ 3-13 Element Comment ......................................... 4-123, 8-115 Enum Value attribute ................................................... 4-66 enumerations .............................................................. 4-61
creating ................................................................. 4-61 ESI files ....................................................................... 5-16
installing ................................................................ 5-16 EtherCAT configuration ............................................. 7-132
synchronizing, transferring, and verifying ............ 7-132 EtherCAT Drives
monitoring ............................................................. 5-41 setting .................................................................... 5-36
Sysmac Studio Version 1 Operation Manual (W504)
EtherCAT Servo Drives applicable models .................................................. 5-34 setting .................................................................... 5-34
Ethernet connection via a hub ...................................... 6-3 Ethernet Interface Card ................................................. A-7 EtherNet/IP Unit .......................................................... 10-2 event log ..................................................................... 8-99
CSV file format ...................................................... 8-99 Event Setting Table ............................................ 8-94, 8-96 exclusive control of variables in tasks ....................... 5-105
F
File Menu .................................................................... 3-48
Filter Pane ................................................................... 3-35
FINS Settings ..................................................... 5-63, 5-67
FINS Settings View ............................................ 5-62, 5-68
forced refreshing ......................................................... 7-29
checking when going offline .................................... 6-7
FTP Settings ............................................................... 5-66
function block circuit part ............................................ 4-79
I
function block instance variables .................................. 4-3
creating .................................................................. 4-31
function blocks .............................................. 1-2, 1-3, 4-74
calling .................................................................. 4-131
editing .................................................................... 4-89
inserting ................................................................. 4-97
parameters .......................................................... 4-101
registering .............................................................. 4-54
function circuit part ...................................................... 4-79
function instructions ....................................... 4-103, 4-104
functions ........................................................ 1-2, 1-3, 4-74
calling .................................................................. 4-131
inserting ............................................................... 4-103
parameters .......................................................... 4-106
G
G5 Series .................................................................... 5-34 global variables ............................................................. 4-3
creating .................................................................... 4-4
H
Help Menu ................................................................... 3-52 Homing Settings .......................................................... 5-74
I
IEC 61131-3 .................................................................. 1-3 IEC 61131-3 programming ............................................ 3-3 In/Out attribute ............................................................ 4-39 indenting ................................................................... 4-137 Initial Value attribute .................................................... 4-36 inline ST .................................................................... 4-111 Inline ST circuit part .................................................... 4-79 input circuit part ........................................................... 4-79 inputs
AND structure ........................................................ 4-80
Index-3
Index
editing .................................................................... 4-89 OR structure .......................................................... 4-82 Insert Menu ................................................................. 3-49 installation ..................................................................... 2-4 instructions SIM_SetActPos .....................................................A-44 SIM_SetActTrq ......................................................A-48 SIM_SetActVel .......................................................A-46 SIM_SetDrvAlm .....................................................A-39 SIM_SetDrvWarn ...................................................A-41 SIM_SetVelocity ....................................................A-42 SIM_SigEmergStop ...............................................A-37 SIM_SigExtLatch ...................................................A-38 SIM_SigNegLmt ....................................................A-34 SIM_SigOrgProx ....................................................A-36 SIM_SigPosLmt .....................................................A-33 Instructions Reference ................................................A-18
J
jump circuit part ........................................................... 4-79 jump label .................................................................. 4-121 jump label circuit part .................................................. 4-79 jump labels ................................................................ 4-121 jumps ......................................................................... 4-121
K
Keyboard Mapping ......................................................A-20 Keyboard Mapping Reference .....................................A-19
L
ladder diagram programs ............................................ 4-52 registering .............................................................. 4-52
ladder diagrams ............................................................. 1-3 programming ......................................................... 4-74
Ladder Editor ............................................................... 4-74 libraries .......................................................................... 9-8
creating a library ...................................................... 9-8 using a library ........................................................ 9-11 license activation ........................................................... 1-9 license number .............................................................. 2-6 licenses ................................................................1-4, 1-11 Limit Settings ............................................................... 5-74 Link Settings ................................................................ 5-66 local variables ................................................................ 4-3 creating .................................................................. 4-21
M
maintenance ................................................................ 3-68 master parameters ........................................................ 5-8
setting ...................................................................... 5-8 MC Test Run .............................................................. 7-142 members ..................................................................... 4-63
changing ................................................................ 4-63 memory addresses ........................................................ 1-2 monitoring
Index-4
axis status .............................................................. 7-49 Controller status ..................................................... 7-44 I/O Map .................................................................. 7-18 Ladder Editor ........................................................... 7-4 ST Editor .................................................................. 7-6 task execution status ............................................. 7-47 monitoring information ................................................. 3-67 Multiview Explorer ....................................................... 3-33 MX2 or RX Series ........................................................ 5-36 MX2 Series .................................................................. 5-34
N
NA Series .................................................................... 3-78 Name attribute ....................................................4-33, 4-66 namespaces ................................................................ 4-68 .NET Framework ......................................................... 1-10 Network Configurator ....................................1-6, 2-3, 10-2 Network Publish attribute ............................................ 4-39 New Project Button ........................................................ 3-9 NS Series .................................................................... 10-3 NTP Settings ............................................................... 5-66
O
offline ............................................................................. 6-6 offline comparison ..................................................... 4-153 online ............................................................................. 6-5 online connection .......................................................... 6-2 online editing ............................................................... 7-39 online help ......................................................... 3-70, A-18 Open Project Button ...................................................... 3-9 operating modes .......................................................... 7-43 operation ....................................................................... 3-4
testing ...............................................................3-4, 3-6 operation authority verification ...................................... 8-8 operation lock .............................................................. 8-13 Operation Settings ..............................................5-60, 5-74 Other Operation Settings ............................................. 5-74 output circuit part ......................................................... 4-79 Output Tab Page ......................................................... 3-42 outputs
AND structure ........................................................ 4-85 editing .................................................................... 4-89 OR structure .......................................................... 4-87
P
packet monitoring ........................................................ 8-58 parameters .................................................................. 3-56 PDO map settings ....................................................... 5-10 Position Count Settings ............................................... 5-74 POUs ....................................................................1-3, 4-74
registering .............................................................. 4-51 present values
changing .........................................................1-3, 7-23 variables
changing ........................................................ 7-26 printing ......................................................................... 8-23
Sysmac Studio Version 1 Operation Manual (W504)
Index
Program Assignments ............................................... 5-104 program check .......................................................... 4-149
all programs ........................................................ 4-149 selected programs ............................................... 4-149 PROGRAM mode ....................................................... 7-43 Programmable Terminals ............................................ 10-3 programming ............................................................... 3-60 entering ................................................................. 4-74 structured text ..................................................... 4-129 Programming Layer .................................................... 3-33 programs ....................................................... 1-2, 1-3, 4-74 registering ............................................................. 4-51 project comment ............................................................... 3-17 created date .......................................................... 3-17 creating ............................................................ 3-3, 3-5 last modified .......................................................... 3-17 project file closing ................................................................... 3-14 creating ................................................................... 3-9 exporting ...................................................... 3-15, 3-19 importing ............................................................... 3-21 importing a file with a password ............................ 3-26 opening ................................................................. 3-17 saving .................................................................... 3-15 saving under a different name ............................... 3-16 project file properties ................................................... 3-12 project management ................................................... 3-63 Project Menu ............................................................... 3-49 project name ............................................................... 3-17
R
rebuilding .................................................................. 4-151 recommended video cards .......................................... 1-11 remote connection via USB .......................................... 6-3 replacing ................................................................... 4-147
all N.O. and N.C. inputs ...................................... 4-148 replacing all occurrences .................................... 4-148 restoring data .............................................................. 8-44 Retain attribute ............................................................ 4-38 returning to the Project Window .................................. 3-14 reusing device and program assets .............................. 9-4 RUN mode .................................................................. 7-43 rung comments ......................................................... 4-125 rung errors ................................................................ 4-127 rungs ........................................................................... 4-96 inserting ................................................................. 4-96
S
SD Memory Card .......................................................... 8-3 operations ............................................................... 8-3
SD Memory Card backup ............................................ 8-40 Search and Replace Pane ............................... 3-41, 4-142 Search and Replace Results Tab Page ...................... 3-43 searching .................................................................. 4-146
searching for all occurrences .............................. 4-148 searching and replacing ............................................ 4-142
Sysmac Studio Version 1 Operation Manual (W504)
sections ....................................................................... 4-75
security measures ....................................................... 3-69
Security Settings ........................................................... 8-8
Serial Communications Units ...................................... 10-2
serial IDs ....................................................................... 6-7
confirming ................................................................ 6-7
Servo Drive Settings ................................................... 5-74
Set/Reset .................................................................... 7-23
setting parameters ...................................................... 3-56
setting .................................................................... 5-11
Simulate Drive Alarm instruction ................................. A-39
Simulate Drive Warning instruction ............................. A-41
Simulate External Latch Input Signal instruction ......... A-38
Simulate Home Proximity Signal instruction ............... A-36
Simulate Immediate Stop Input Signal instruction ...... A-37
Simulate Negative Limit Input Signal instruction ......... A-34
Simulate Positive Limit Input Signal Instruction .......... A-24
Simulate Positive Limit Input Signal instruction .......... A-33
simulation .................................................................... 3-66
changing the speed ............................................... 7-90
continuous step execution ..................................... 7-92
I
one-period execution ............................................. 7-93
pausing .................................................................. 7-93
step execution ....................................................... 7-92
Step In ................................................................... 7-93
Step Out ................................................................ 7-93
simulation instructions ................................................. A-33
Simulation Menu ......................................................... 3-51
Simulation Pane .......................................................... 3-42
simulations .................................................................... 1-3
Simulator ....................................................................... 6-2
comparison with the physical Controller .................. A-9
Simulator connection .................................................... 6-2
slave parameters .......................................................... 5-9
setting ...................................................................... 5-9
slave settings
exporting ................................................................ 5-14
importing ................................................................ 5-15
slaves
disconnecting from the network ............................. 8-56
reconnecting from the network .............................. 8-56
registering offline ..................................................... 5-4
registering online ..................................................... 5-6
SNMP Settings ............................................................ 5-66
SNMP Trap Settings ................................................... 5-66
Special Units
reading setting file ................................................. 5-57
saving settings ....................................................... 5-56
setting .................................................................... 5-55
ST Editor ................................................................... 4-129
ST programs ............................................................... 4-52
registering .............................................................. 4-52
statement error displays ............................................ 4-138
structure data types .................................................... 4-58
creating .................................................................. 4-58
structured text ............................................................... 1-3
editing .................................................................. 4-129
synchronization ......................................................... 7-119
Sysmac Studio .............................................................. 1-6
Index-5
Index
uninstalling ............................................................. 2-12 System requirements .................................................... 1-9 system-defined variables ......................................4-3, 4-32
T
Task Execution Status Monitor .................................... 7-47 Task Execution Time Monitor ...................................... 7-48
connected to the Controller ................................... 7-48 connected to the Simulator .................................... 7-48 task execution times .................................................... 7-84 estimating .............................................................. 7-84 Task I/O Settings ....................................................... 5-103 Task Settings ............................................................. 5-102 tasks designing ..........................................................3-3, 3-5 I/O settings .......................................................... 5-103 program assignments .......................................... 5-104 registering ............................................................ 5-102 setting .................................................................. 5-102 TCP/IP Settings ........................................................... 5-66 testing axis operation ................................................ 7-142 Toolbox ........................................................................ 3-41 Tools Menu .................................................................. 3-51 troubleshooting ............................................1-3, 8-83, 11-1
U
uninstalling .................................................................. 2-12 Sysmac Studio ....................................................... 2-12
unions .......................................................................... 4-60 creating .................................................................. 4-60
Unit configuration ........................................................ 5-52 Unit Conversion Settings ............................................. 5-74 Units ............................................................................ 5-52
registering online .......................................... 5-52, 5-57 upload ........................................................................ 7-119 USB driver .....................................................................A-3
installation ................................................................A-3 USB Driver for OMRON SYSMAC PLCs and
NS-series PTs ........................................................... 2-11 USB port ........................................................................A-3 User Memory Usage Monitor ...................................... 8-22 user program
debugging offline .............................................. 3-3, 3-5 debugging online .............................................. 3-4, 3-6 designing ..........................................................3-3, 3-5 preparations for online debugging .................... 3-4, 3-6 user program execution ID ............................................ 8-8 user program execution IDs ........................................ 8-14 authentication ........................................................ 8-14 user-defined errors ...............................................1-3, 8-92 user-defined events ..................................................... 8-93 log .......................................................................... 8-93 user-defined function blocks and function block instructions inserting ................................................................. 4-98 user-defined functions ............................................... 4-104 using a library .............................................................. 9-11
V
variable attributes ........................................................ 4-33 Variable Manager ........................................................ 4-43 variables ........................................................................ 4-3
registration ............................................................... 4-3 verification
individual operations .............................................. 8-13 when going online .................................................. 8-12 View Menu ................................................................... 3-48
W
Watch Tab Page .......................................................... 3-43 display format ........................................................ 7-14 registering variables ............................................... 7-10
Windows 10 (32-bit or 64-bit edition) ......................1-9, 2-2 Windows 7 (32-bit or 64-bit edition) ........................1-9, 2-2 Windows 8 (32-bit or 64-bit edition) ........................1-9, 2-2 Windows 8.1 (32-bit or 64-bit edition) .....................1-9, 2-2 WinPcap
installation ................................................................ 2-9 write protection ............................................................ 8-16 write protection of the CPU Unit ...........................8-8, 8-16
Index-6
Sysmac Studio Version 1 Operation Manual (W504)
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Control Components � Power Supplies � Timers � Counters � Programmable Relays � Digital Panel Meters � Monitoring Products
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Software � Programming & Configuration � Runtime
W504I-E3-35 Note: Specifications are subject to change.
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