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Omron NY Series Motion Control, Sysmac NY532-1400 User manual

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Industrial PC Platform
NY-series
IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Industrial Panel PC
Industrial Box PC
Motion Control
User’s Manual
W559-E1-05
NY532-1500
NY532-1400
NY532-1300
NY532-5400
NY512-1500
NY512-1400
NY512-1300
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. Neverthe-
less, 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.
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corpora-
tion in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Trademarks
Copyrights
NOTE
• Microsoft product screen shots reprinted with permission from Microsoft Corporation.
• 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/.
1
Introduction
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Introduction
Thank you for purchasing an NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC.
This manual provides a collective term of Industrial Panel PC and Industrial Box PC which are applica-
ble products as the NY-series Industrial PC. This manual also provides the range of devices that are
directly controlled by the Controller functions embedded the Real-Time OS in the NY-series Industrial
PC as the Controller.
This manual contains information that is necessary to use the Motion Control Function Module of an
NY-series Controller. Please read this manual and make sure you understand the functionality and per-
formance of the NY-series Controller before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.
This manual is intended for the following personnel, who must also have knowledge of electrical sys-
tems (an electrical engineer or the equivalent).
•Personnel in charge of introducing FA systems.
•Personnel in charge of designing FA systems.
•Personnel in charge of installing and maintaining FA systems.
•Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.
This manual covers the following products.
NY-series IPC Machine Controller Industrial Panel PC
•NY532-15
•NY532-14
•NY532-13
•NY532-5400
NY-series IPC Machine Controller Industrial Box PC
•NY512-15
•NY512-14
•NY512-13
Part of the specifications and restrictions for the Industrial PC are given in other manuals. Refer to Rel-
evant Manuals on page 2 and Related Manuals on page 22.
Intended Audience
Applicable Products
Relevant Manuals
2NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Relevant Manuals
The following provides the relevant manuals for NY-series Controller.
Read all of the manuals that are relevant to your system configuration and application before you use
NY-series Controller.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
Purpose of use
Manual
Basic information
NY-series IPC Machine Controller
Industrial Panel PC
Hardware User’s Manual
NY-series IPC Machine Controller
Industrial Box PC
Hardware User’s Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Setup User's Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Software User’s Manual
NY-series
Instructions Reference Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Motion Control User's Manual
NY-series Motion Control
Instructions Reference Manual
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
NJ/Y-series NC Integrated Controller
User's Manual
NY-series
Troubleshooting Manual
Introduction to NY-series Panel PCs
Introduction to NY-series Box PCs
Setting devices and hardware

Using motion control
Using EtherCAT
Using EtherNet/IP
Making setup*1
Making initial settings
Preparing to use Controllers
Software settings
Using motion control
Using EtherCAT
Using EtherNet/IP
Using numerical control
Writing the user program

Using motion control 
Using EtherCAT
Using EtherNet/IP
Using numerical control
Programming error processing
Testing operation and debugging
Using motion control
Using EtherCAT
Using EtherNet/IP
Using numerical control
Learning about error management and
corrections*2
Maintenance

Using motion control
Using EtherCAT
Using EtherNet/IP
3
Relevant Manuals
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
*1 Refer to the NY-series Industrial Panel PC / Industrial Box PC Setup User’s Manual (Cat. No. W568) for how to set up and
how to use the utilities on Windows.
*2 Refer to the NY-series Troubleshooting Manual (Cat. No. W564) for the error management concepts and an overview of
the error items.
Manual Structure
4NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Manual Structure
The following page structure is used in this manual.
Page Structure
4-9
4 Installation and Wiring
NJ-series CPU Unit Hardware User’s Manual (W500)
s t i n U g n i t n u o M 3 - 4
4
s t n e n o p m o C r e l l o r t n o C g n i t c e n n o C 1 - 3 - 4
4-3 Mounting Units
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.
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.
Precautions for Correct Use Precautions for Correct Use
4-3-1 Connecting Controller Components
Connector
Hook Hook holes
Slider
Lock
Release
Move the sliders toward the back
until they lock into place.
Level 1 heading
Level 2 heading
Level 3 heading
Level 2 heading
A step in a procedure
Manual name
Special information
Level 3 heading
Page tab
Gives the current
headings.
Indicates a procedure.
Icons indicate
precautions, additional
information, or reference
information.
Gives the number
of the main section.
This illustration is provided only as a sample. It may not literally appear in this manual.
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.
5
Manual Structure
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Special information in this manual is classified as follows:
Note References are provided to more detailed or related information.
In this manual, “download” refers to transferring data from the Sysmac Studio to the NY-series Control-
ler and “upload” refers to transferring data from the NY-series 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.
Special Information
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.
Precaution on Terminology
Manual Structure
6NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
7
Sections in this Manual
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Sections in this Manual
1
10
2
11
3
4
A
5
6
7
8
9
1
10
2
11
3
4I
A
6
5
7
8
9
Sample Programming
Troubleshooting
Configuring Axes
and Axes Groups Appendices
Checking Wiring from
the Sysmac Studio Index
I
Motion Control Parameters
Motion Control Programming
Manual Operation
Homing
Motion Control Functions
Introduction to the
Motion Control
Function Module
Motion Control
Configuration and
Principles
Sections in this Manual
8NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
9
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
CONTENTS
CONTENTS
Introduction............................................................................................................... 1
Relevant Manuals ..................................................................................................... 2
Manual Structure ...................................................................................................... 4
Sections in this Manual............................................................................................ 7
Terms and Conditions Agreement ........................................................................ 14
Safety Precautions ................................................................................................. 16
Precautions for Safe Use ....................................................................................... 17
Precautions for Correct Use .................................................................................. 18
Regulations and Standards ................................................................................... 19
Versions................................................................................................................... 20
Related Manuals ..................................................................................................... 22
Revision History ..................................................................................................... 25
Section 1 Introduction to the Motion Control Function Module
1-1 Features.................................................................................................................................... 1-2
1-2 System Configuration ............................................................................................................. 1-3
1-3 Basic Flow of Operation ......................................................................................................... 1-4
1-4 Specifications .......................................................................................................................... 1-6
1-4-1 General Specifications................................................................................................................ 1-6
1-4-2 Performance Specifications........................................................................................................ 1-6
1-4-3 Function Specifications............................................................................................................... 1-7
Section 2 Motion Control Configuration and Principles
2-1 Internal Configuration of the Controller Functions.............................................................. 2-2
2-2 Motion Control Configuration ................................................................................................2-3
2-3 Motion Control Principles....................................................................................................... 2-4
2-3-1 Controller Function Tasks ........................................................................................................... 2-4
2-3-2 Example of Task Operations for Motion Control ......................................................................... 2-8
2-4 EtherCAT Communications and Motion Control ................................................................ 2-12
2-4-1 CAN Application Protocol over EtherCAT (CoE)....................................................................... 2-12
2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module .............. 2-13
2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period ........ 2-14
Section 3 Configuring Axes and Axes Groups
3-1 Axes .......................................................................................................................................... 3-2
3-1-1 Introduction to Axes .................................................................................................................... 3-2
10 NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
CONTENTS
3-1-2 Introduction to Axis Parameters .................................................................................................. 3-3
3-1-3 Introduction to Axis Variables ...................................................................................................... 3-7
3-1-4 Specifying an Axis in the User Program...................................................................................... 3-9
3-2 Axis Setting Procedure ......................................................................................................... 3-10
3-2-1 Axis Configuration Procedure ................................................................................................... 3-10
3-2-2 Setting Procedure ..................................................................................................................... 3-10
3-3 Axes Groups .......................................................................................................................... 3-19
3-3-1 Introduction to Axes Groups...................................................................................................... 3-19
3-3-2 Introduction to Axes Group Parameters....................................................................................3-20
3-3-3 Introduction to Axes Group Variables........................................................................................ 3-21
3-3-4 Specifying an Axes Group in the User Program........................................................................ 3-23
3-4 Setting Procedures for Axes Groups................................................................................... 3-24
3-4-1 Setting Procedure for an Axes Group .......................................................................................3-24
3-4-2 Setting Procedure ..................................................................................................................... 3-24
Section 4 Checking Wiring from the Sysmac Studio
4-1 Functions of the Sysmac Studio ............................................................................................ 4-2
4-1-1 MC Test Run Function................................................................................................................. 4-2
4-1-2 Application Procedure ................................................................................................................. 4-4
4-1-3 Axis Parameter Setting Example ................................................................................................ 4-5
4-1-4 Starting the MC Test Run Function ............................................................................................. 4-6
4-2 Monitoring Sensor Signals ..................................................................................................... 4-7
4-3 Checking Motor Operation...................................................................................................... 4-8
4-3-1 Turning ON the Servo ................................................................................................................. 4-8
4-3-2 Jogging........................................................................................................................................ 4-8
4-3-3 Homing........................................................................................................................................ 4-9
4-3-4 Absolute Positioning.................................................................................................................. 4-10
4-3-5 Relative Positioning................................................................................................................... 4-11
Section 5 Motion Control Parameters
5-1 Introduction.............................................................................................................................. 5-2
5-2 Axis Parameters ...................................................................................................................... 5-5
5-2-1 Axis Parameters.......................................................................................................................... 5-5
5-2-2 Axis Basic Settings...................................................................................................................... 5-7
5-2-3 Unit Conversion Settings........................................................................................................... 5-10
5-2-4 Operation Settings .................................................................................................................... 5-17
5-2-5 Other Operation Settings .......................................................................................................... 5-21
5-2-6 Limit Settings............................................................................................................................. 5-22
5-2-7 Position Count Settings............................................................................................................. 5-22
5-2-8 Servo Drive Settings ................................................................................................................. 5-24
5-2-9 Homing Settings........................................................................................................................ 5-25
5-2-10 Axis Parameter Setting Example .............................................................................................. 5-27
5-3 Axes Group Parameters........................................................................................................ 5-30
5-3-1 Axes Group Parameters............................................................................................................ 5-30
5-3-2 Axes Group Basic Settings ....................................................................................................... 5-31
5-3-3 Axes Group Operation Settings ................................................................................................ 5-33
5-3-4 Enabling an Axes Group ........................................................................................................... 5-35
Section 6 Motion Control Programming
6-1 Introduction.............................................................................................................................. 6-2
6-2 Motion Control Instructions.................................................................................................... 6-3
6-2-1 Function Blocks for PLCopen® Motion Control .......................................................................... 6-3
6-2-2 Motion Control Instructions of the MC Function Module ............................................................. 6-3
11
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
CONTENTS
6-3 State Transitions...................................................................................................................... 6-4
6-3-1 Status of the Motion Control Function Module............................................................................ 6-4
6-3-2 Axis States.................................................................................................................................. 6-5
6-3-3 Axes Group States...................................................................................................................... 6-7
6-4 Execution and Status of Motion Control Instructions ......................................................... 6-9
6-4-1 Basic Rules for Execution of Instructions ................................................................................... 6-9
6-4-2 Execution Timing Charts............................................................................................................6-11
6-4-3 Timing Chart for Re-execution of Motion Control Instructions .................................................. 6-14
6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ............................................... 6-15
6-5 Positions ................................................................................................................................ 6-16
6-5-1 Types of Positions..................................................................................................................... 6-16
6-5-2 Valid Positions for Each Axis Type............................................................................................ 6-17
6-6 System-defined Variables for Motion Control..................................................................... 6-18
6-6-1 Overview of System-defined Variables for Motion Control ....................................................... 6-18
6-6-2 System for System-defined Variables for Motion Control ......................................................... 6-21
6-6-3 Tables of System-defined Variables for Motion Control ............................................................ 6-22
6-7 Cam Tables and Cam Data Variables................................................................................... 6-33
6-8 Programming Motion Controls............................................................................................. 6-37
6-9 Creating Cam Tables ............................................................................................................. 6-39
Section 7 Manual Operation
7-1 Outline ...................................................................................................................................... 7-2
7-2 Turning ON the Servo.............................................................................................................. 7-3
7-2-1 Turning ON the Servo................................................................................................................. 7-3
7-2-2 Setting Axis Parameters ............................................................................................................. 7-4
7-2-3 Programming Example ............................................................................................................... 7-4
7-3 Jogging..................................................................................................................................... 7-5
7-3-1 Jogging Procedure...................................................................................................................... 7-5
7-3-2 Setting Axis Parameters ............................................................................................................. 7-6
7-3-3 Setting Example for Input Variables............................................................................................ 7-6
7-3-4 Programming Example ............................................................................................................... 7-7
Section 8 Homing
8-1 Outline ...................................................................................................................................... 8-2
8-2 Homing Procedure .................................................................................................................. 8-5
8-2-1 Setting Homing Parameters........................................................................................................ 8-5
8-2-2 Monitoring the Homing Operation............................................................................................. 8-12
8-3 Homing Operation ................................................................................................................. 8-13
8-4 Homing with an Absolute Encoder ...................................................................................... 8-14
8-4-1 Outline of Function.................................................................................................................... 8-15
8-4-2 Setting Procedure..................................................................................................................... 8-16
8-5 High-speed Homing............................................................................................................... 8-18
Section 9 Motion Control Functions
9-1 Single-axis Position Control................................................................................................... 9-3
9-1-1 Outline of Operation.................................................................................................................... 9-3
9-1-2 Absolute Positioning ................................................................................................................... 9-4
9-1-3 Relative Positioning .................................................................................................................... 9-4
9-1-4 Interrupt Feeding ........................................................................................................................ 9-5
9-1-5 Cyclic Synchronous Positioning.................................................................................................. 9-6
12 NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
CONTENTS
9-1-6 Stopping...................................................................................................................................... 9-6
9-1-7 Override Factors ....................................................................................................................... 9-11
9-2 Single-axis Synchronized Control ....................................................................................... 9-12
9-2-1 Overview of Synchronized Control............................................................................................ 9-12
9-2-2 Gear Operation ......................................................................................................................... 9-12
9-2-3 Positioning Gear Operation....................................................................................................... 9-13
9-2-4 Cam Operation.......................................................................................................................... 9-14
9-2-5 Cam Tables ............................................................................................................................... 9-15
9-2-6 Synchronous Positioning........................................................................................................... 9-23
9-2-7 Combining Axes ........................................................................................................................ 9-24
9-2-8 Master Axis Phase Shift ............................................................................................................ 9-25
9-2-9 Slave Axis Position Compensation............................................................................................ 9-26
9-3 Single-axis Velocity Control ................................................................................................. 9-27
9-3-1 Velocity Control ......................................................................................................................... 9-27
9-3-2 Cyclic Synchronous Velocity Control......................................................................................... 9-28
9-4 Single-axis Torque Control ................................................................................................... 9-29
9-5 Common Functions for Single-axis Control ....................................................................... 9-30
9-5-1 Positions.................................................................................................................................... 9-30
9-5-2 Velocity...................................................................................................................................... 9-32
9-5-3 Acceleration and Deceleration .................................................................................................. 9-33
9-5-4 Jerk ........................................................................................................................................... 9-35
9-5-5 Specifying the Operation Direction............................................................................................ 9-36
9-5-6 Re-executing Motion Control Instructions .................................................................................9-40
9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ................................................... 9-45
9-6 Multi-axes Coordinated Control ........................................................................................... 9-51
9-6-1 Outline of Operation.................................................................................................................. 9-51
9-6-2 Linear Interpolation ................................................................................................................... 9-54
9-6-3 Circular Interpolation................................................................................................................. 9-55
9-6-4 Axes Group Cyclic Synchronous Positioning ............................................................................ 9-55
9-6-5 Stopping Under Multi-axes Coordinated Control....................................................................... 9-56
9-6-6 Overrides for Multi-axes Coordinated Control........................................................................... 9-57
9-7 Common Functions for Multi-axes Coordinated Control................................................... 9-59
9-7-1 Velocity Under Multi-axes Coordinated Control ........................................................................ 9-59
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control.....................................9-60
9-7-3 Jerk for Multi-axes Coordinated Control.................................................................................... 9-61
9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control ......................... 9-62
9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated
Control....................................................................................................................................... 9-63
9-8 Other Functions..................................................................................................................... 9-71
9-8-1 Changing the Current Position.................................................................................................. 9-71
9-8-2 Torque Limit............................................................................................................................... 9-72
9-8-3 Latching..................................................................................................................................... 9-72
9-8-4 Zone Monitoring ........................................................................................................................ 9-73
9-8-5 Software Limits.......................................................................................................................... 9-74
9-8-6 Following Error Monitoring ........................................................................................................ 9-75
9-8-7 Following Error Counter Reset.................................................................................................. 9-76
9-8-8 Axis Following Error Monitoring ................................................................................................ 9-76
9-8-9 In-position Check ...................................................................................................................... 9-77
9-8-10 Changing Axis Use.................................................................................................................... 9-79
9-8-11 Enabling Digital Cam Switch..................................................................................................... 9-79
9-8-12 Displaying 3D Motion Monitor for User Coordinate System...................................................... 9-80
Section 10 Sample Programming
10-1 Overview of Sample Programming ...................................................................................... 10-2
10-1-1 Devices ..................................................................................................................................... 10-2
10-1-2 Installation and Wiring............................................................................................................... 10-2
10-1-3 Setup......................................................................................................................................... 10-2
10-2 Basic Programming Samples............................................................................................... 10-3
13
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
CONTENTS
10-2-1 Monitoring EtherCAT Communications and Turning ON Servos .............................................. 10-3
10-2-2 Interlocking Axis Operation with Master Control Instructions.................................................... 10-5
10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation. 10-7
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation............................ 10-9
10-2-5 Monitoring for Instruction Errors ............................................................................................. 10-15
10-2-6 Checking to See If Errors Are Reset....................................................................................... 10-17
10-2-7 Stopping Axes during Single-axis Operation .......................................................................... 10-19
10-2-8 Stopping an Axes Group in Coordinated Motion..................................................................... 10-23
10-2-9 Homing and Absolute Positioning ........................................................................................... 10-29
10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................ 10-34
10-2-11 Interrupt Feeding .................................................................................................................... 10-40
10-2-12 Changing the Cam Table by Re-execution of an Instruction................................................... 10-44
10-2-13 Using a Cam Profile Curve to Correct the Sync Position........................................................ 10-53
10-2-14 Shifting the Phase of a Master Axis in Cam Motion................................................................ 10-63
10-2-15 Changing the Actual Position during Velocity Control............................................................. 10-71
10-2-16 Changing a Cam Data Variable and Saving the Cam Table ................................................... 10-77
10-2-17 Temporarily Changing Axis Parameters.................................................................................. 10-85
10-2-18 Updating the Cam Table End Point Index............................................................................... 10-89
Section 11 Troubleshooting
11-1 Overview of Errors ................................................................................................................ 11-2
11-1-1 How to Check for Errors ............................................................................................................11-3
11-1-2 Errors Related to the Motion Control Function Module..............................................................11-5
11-2 Error Causes and Remedies................................................................................................11-11
11-2-1 Preliminary Check Items..........................................................................................................11-11
11-2-2 Problems and Countermeasures .............................................................................................11-12
Appendices
A-1 Connecting the 1S-series Servo Drive ..................................................................................A-2
A-1-1 Wiring the Servo Drive................................................................................................................ A-2
A-1-2 Servo Drive Settings ................................................................................................................... A-2
A-2 Connecting the G5-series Servo Drive ................................................................................A-11
A-2-1 Wiring the Servo Drive.............................................................................................................. A-11
A-2-2 Servo Drive Settings ................................................................................................................. A-11
A-3 Connecting to Encoder Input Terminals..............................................................................A-22
A-3-1 Wiring to Encoder Input Terminals............................................................................................ A-22
A-3-2 Settings for Encoder Input Terminals........................................................................................ A-22
A-4 Connecting to NX Units ........................................................................................................A-28
A-5 PDS State Transition .............................................................................................................A-29
A-5-1 PDS State Control Method ....................................................................................................... A-30
A-5-2 Main Circuit Power Supply OFF Detection ............................................................................... A-31
A-6 Terminology ...........................................................................................................................A-32
A-6-1 NY-series Controller.................................................................................................................. A-32
A-6-2 Motion Control .......................................................................................................................... A-33
A-6-3 EtherCAT Communications ...................................................................................................... A-34
A-7 Version Information...............................................................................................................A-35
Index
Terms and Conditions Agreement
14 NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Terms and Conditions Agreement
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combi-
nation with any electrical or electronic components, circuits, system assemblies or any other materi-
als or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
Warranty, Limitations of Liability
Warranties
Limitation on Liability; Etc
15
Terms and Conditions Agreement
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a com-
plete determination of the suitability of the Product in combination with the end product, machine, sys-
tem, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take applica-
tion responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP-
MENT OR SYSTEM.
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor-
mance is subject to the Omron’s Warranty and Limitations of Liability.
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
Application Considerations
Suitability of Use
Programmable Products
Disclaimers
Performance Data
Change in Specifications
Errors and Omissions
Safety Precautions
16 NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Safety Precautions
Refer to the following manuals for safety precautions.
• NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)
• NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
• NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)
17
Precautions for Safe Use
NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Precautions for Safe Use
Refer to the following manuals for precautions for safe use.
• NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)
• NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
• NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)
Precautions for Correct Use
18 NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)
Precautions for Correct Use
Refer to the following manuals for precautions for correct use.
• NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)
• NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
• NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)
/