Omron NJ/NX Series Reference guide

Machine Automation Controller

NJ/NX-series

Instructions Reference Manual

W502I-E3-24

NX701-1

NX102-1

NX102-90

NX1P2-1

NX1P2-90

NJ501-

NJ301-1

NJ101-10

NJ101-90

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, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of

Microsoft Corporation in the United States and other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trademarks of their

respective companies.

Trademarks

Copyrights

NOTE

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

1

Introduction

NJ/NX-series Instructions Reference Manual (W502)

Introduction

Thank you for purchasing an NJ/NX-series CPU Unit.

This manual contains information that is necessary to use the NJ/NX-series CPU Unit. Please read this

manual and make sure you understand the functionality and performance of the NJ/NX-series CPU

Unit before you attempt to use it in a control system.

Keep this manual in a safe place where it will be available for reference during operation.

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.

•NX-series CPU Units

•NX701-17

•NX701-16

•NX102-12

•NX102-11

•NX102-10

•NX102-90

•NX1P2-11

•NX1P2-111

•NX1P2-10

•NX1P2-101

•NX1P2-90

•NX1P2-901

•NJ-series CPU Units

•NJ501-5

•NJ501-4

•NJ501-3

•NJ301-12

•NJ301-11

•NJ101-10

•NJ101-90

Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Rele-

vant Manuals on page 2 and Related Manuals on page 28.

Intended Audience

Applicable Products

Relevant Manuals

2NJ/NX-series Instructions Reference Manual (W502)

Relevant Manuals

The following table provides the relevant manuals for the NJ/NX-series CPU Units.

Read all of the manuals that are relevant to your system configuration and application before you use

the NJ/NX-series CPU Unit.

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

NX-series CPU Unit

Hardware User’s Manual

NX-series NX102 CPU Unit

Hardware User’s Manual

NX-series NX1P2 CPU Unit

Hardware User's Manual

NJ-series CPU Unit

Hardware User’s Manual

NJ/NX-series CPU Unit

Software User’s Manual

NX-series NX1P2 CPU Unit

Built-in I/O and Option Board User's Manual

NJ/NX-series

Instructions Reference Manual

NJ/NX-series CPU Unit

Motion Control User’s Manual

NJ/NX-series

Motion Control Instructions Reference Manual

NJ/NX-series CPU Unit

Built-in EtherCAT Port User’s Manual

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 Function 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/NX-series

Troubleshooting Manual

Introduction to NX701 CPU Units 

Introduction to NX102 CPU Units 

Introduction to NX1P2 CPU Units 

Introduction to NJ-series Controllers 

Setting devices and hardware 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Software settings 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA 

Using FINS 

Using the database connection service



Using the GEM Services 

Using robot control 

Using numerical control



Using the NX1P2 CPU Unit functions



3

Relevant Manuals

NJ/NX-series Instructions Reference Manual (W502)

*1 Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error

items. However, refer to the manuals that are indicated with triangles() for details on errors corresponding to the prod-

ucts with the manuals that are indicated with triangles().

Writing the user program 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA 

Using FINS 

Using the database connection service



Using the GEM Services 

Using robot control 

Using numerical control 

Programming error processing 

Using the NX1P2 CPU Unit functions



Testing operation and debugging 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA 

Using FINS 

Using the database connection service



Using the GEM Services 

Using robot control 

Using numerical control



Using the NX1P2 CPU Unit functions



Learning about error management

and corrections *1 

Maintenance



Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Purpose of use

Manual

Basic information

NX-series CPU Unit

Hardware User’s Manual

NX-series NX102 CPU Unit

Hardware User’s Manual

NX-series NX1P2 CPU Unit

Hardware User's Manual

NJ-series CPU Unit

Hardware User’s Manual

NJ/NX-series CPU Unit

Software User’s Manual

NX-series NX1P2 CPU Unit

Built-in I/O and Option Board User's Manual

NJ/NX-series

Instructions Reference Manual

NJ/NX-series CPU Unit

Motion Control User’s Manual

NJ/NX-series

Motion Control Instructions Reference Manual

NJ/NX-series CPU Unit

Built-in EtherCAT Port User’s Manual

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 Function 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/NX-series

Troubleshooting Manual

Manual Structure

4NJ/NX-series Instructions Reference Manual (W502)

Manual Structure

The following page structure is used in this manual.

Page Structure

Level-2 heading

Level-2

heading

Manual name

Level-1

section number

Gives the number

of the section.

This page is for illustration only. It may not literally appear in this manual.

snoitcurtsnI margaiD reddaL

2

2-13

NJ-series Instructions Reference Manual (W502)

Ladder Diagram Instructions

Instruction Name Page

LD and LDN Load/

Load NOT 2-14

AND and ANDN AND/

AND NOT 2-16

OR and ORN OR/

OR NOT 2-18

Out and OutNot Output/

Output NOT 2-20

5

Manual Structure

NJ/NX-series Instructions Reference Manual (W502)

Special information in this manual is classified as follows:

Note References are provided to more detailed or related information.

Special Information

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 are given.

2-17

2 Instruction Descriptions

NJ-series Instructions Reference Manual (W502)

s

no

itcu

rt

s

n

I

m

a

r

ga

iD

re

dd

aL

2

N

RO dn

a

RO

OR and ORN

None

OR

The OR instruction takes the logical OR of the value of a specified BOOL variable and the execution

condition and outputs it to the next instruction. Use the OR instruction for a NO bit connected in parallel

with the previous instruction. Use the OR instruction to configure a logical OR between an NO bit and

one of the following: a LD or LDN instruction connected directly to the bus bar, or the logic block starting

with a LD or LDN instruction and ending with the instruction immediately before the OR instruction.

ORN

The ORN instruction takes the logical OR of the inverse of the value of a specified BOOL variable and

the execution condition and outputs it to the next instruction. Use the ORN instruction for a NC bit con-

nected in parallel with the previous instruction. Use the ORN instruction to configure a logical OR

between an NC bit and one of the following: a LD or LDN instruction connected directly to the bus bar,

or the logic block starting with a LD or LDN instruction and ending with the instruction immediately

before the ORN instruction.

The following figure shows a programming example of the OR instruction. It takes the logical OR of vari-

able A and variable B and outputs it to variable C.

OR: Takes the logical OR of the value of a BOOL variable and the execution condition.

ORN: Takes the logical OR of the inverse of the value of a BOOL variable and the execution condi-

tion.

Instruction Name FB/FUN Graphic expression ST expression

OR OR --- result:=vBool1 OR vBool2;

ORN OR NOT --- result:=vBool1 OR NOT

vBool2;

Variables

Function

Var iable

Downward

differentiation

Upward

differentiation

Var iable

Var iable Variabl e

Var iable

Downward

differentiation

Upward

differentiation

Var iable

Downward

differentiation

Upward

differentiation

Var iable

Downward

differentiation

Upward

differentiation

B

AC

LD instruction

Out instruction

OR instruction

Level-3

heading

Level-1

section number

Gives the number

of the section.

Level-1 heading

Level-2 heading

Level-3 heading

Manual name

This page is for illustration only. It may not literally appear in this manual.

Give the current

headings.

Manual Structure

6NJ/NX-series Instructions Reference Manual (W502)

7

Sections in this Manual

NJ/NX-series Instructions Reference Manual (W502)

Sections in this Manual

1

2

A

1

2

A

I

Instruction Set

Instruction Descriptions

Appendices

IIndex

Sections in this Manual

8NJ/NX-series Instructions Reference Manual (W502)

9

NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

Introduction............................................................................................................... 1

Relevant Manuals ..................................................................................................... 2

Manual Structure ...................................................................................................... 4

Sections in this Manual............................................................................................ 7

Terms and Conditions Agreement ........................................................................ 17

Safety Precautions ................................................................................................. 19

Precautions for Safe Use ....................................................................................... 20

Precautions for Correct Use .................................................................................. 21

Regulations and Standards ................................................................................... 22

Versions................................................................................................................... 24

Related Manuals ..................................................................................................... 28

Revision History ..................................................................................................... 31

Section 1 Instruction Set

Instruction Set ........................................................................................................... 1-2

Section 2 Instruction Descriptions

Using this Section ...................................................................................................... 2-3

Ladder Diagram Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

LD and LDN ............................................................................................................. 2-16

AND and ANDN ....................................................................................................... 2-18

OR and ORN ........................................................................................................... 2-20

Out and OutNot ....................................................................................................... 2-22

ST Statement Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25

IF .............................................................................................................................2-26

CASE ....................................................................................................................... 2-30

WHILE ..................................................................................................................... 2-34

REPEAT .................................................................................................................. 2-36

EXIT ........................................................................................................................ 2-38

RETURN ................................................................................................................. 2-41

FOR ......................................................................................................................... 2-42

Sequence Input Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43

R_TRIG (Up) and F_TRIG (Down) .......................................................................... 2-44

TestABit and TestABitN ........................................................................................... 2-47

Sequence Output Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-49

RS ........................................................................................................................... 2-50

SR ........................................................................................................................... 2-53

Set and Reset .......................................................................................................... 2-56

SetBits and ResetBits .............................................................................................. 2-59

SetABit and ResetABit ............................................................................................ 2-61

10 NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

OutABit .................................................................................................................... 2-63

Sequence Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-65

End .......................................................................................................................... 2-66

RETURN ................................................................................................................. 2-67

MC and MCR ........................................................................................................... 2-68

JMP ......................................................................................................................... 2-80

FOR and NEXT ....................................................................................................... 2-82

BREAK .................................................................................................................... 2-89

Comparison Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-91

EQ (=) ...................................................................................................................... 2-92

NE (<>) .................................................................................................................... 2-94

LT (<), LE (<=), GT (>), and GE (>=) ...................................................................... 2-97

EQascii .................................................................................................................. 2-100

NEascii .................................................................................................................. 2-102

LTascii, LEascii, GTascii, and GEascii .................................................................. 2-104

Cmp ....................................................................................................................... 2-107

ZoneCmp ............................................................................................................... 2-109

TableCmp .............................................................................................................. 2-111

AryCmpEQ and AryCmpNE .................................................................................. 2-114

AryCmpLT, AryCmpLE, AryCmpGT, and AryCmpGE ........................................... 2-116

AryCmpEQV and AryCmpNEV ............................................................................. 2-119

AryCmpLTV, AryCmpLEV, AryCmpGTV, and AryCmpGEV ................................. 2-121

Timer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-125

TON ....................................................................................................................... 2-126

TOF ....................................................................................................................... 2-132

TP .......................................................................................................................... 2-135

AccumulationTimer ................................................................................................ 2-138

Timer ..................................................................................................................... 2-141

Counter Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-145

CTD ....................................................................................................................... 2-146

CTD_** .................................................................................................................. 2-148

CTU ....................................................................................................................... 2-150

CTU_** .................................................................................................................. 2-152

CTUD .................................................................................................................... 2-155

CTUD_** ................................................................................................................ 2-159

Math Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-165

ADD (+) ................................................................................................................. 2-166

AddOU (+OU) ........................................................................................................ 2-170

SUB (-) .................................................................................................................. 2-174

SubOU (-OU) ......................................................................................................... 2-177

MUL (*) .................................................................................................................. 2-181

MulOU (*OU) ......................................................................................................... 2-185

DIV (/) .................................................................................................................... 2-189

MOD ...................................................................................................................... 2-192

ABS ....................................................................................................................... 2-194

RadToDeg and DegToRad .................................................................................... 2-196

SIN, COS, and TAN .............................................................................................. 2-198

ASIN, ACOS, and ATAN ....................................................................................... 2-201

SQRT .................................................................................................................... 2-204

LN and LOG .......................................................................................................... 2-206

EXP ....................................................................................................................... 2-209

EXPT (**) ............................................................................................................... 2-211

Inc and Dec ........................................................................................................... 2-217

Rand ...................................................................................................................... 2-219

AryAdd ................................................................................................................... 2-221

AryAddV ................................................................................................................ 2-223

ArySub ................................................................................................................... 2-225

ArySubV ................................................................................................................ 2-227

11

NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

AryMean ................................................................................................................ 2-229

ArySD .................................................................................................................... 2-231

ModReal ................................................................................................................ 2-233

Fraction ................................................................................................................. 2-235

CheckReal ............................................................................................................. 2-237

BCD Conversion Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-241

**_BCD_TO_*** ..................................................................................................... 2-242

**_TO_BCD_*** ..................................................................................................... 2-245

BCD_TO_** ........................................................................................................... 2-247

BCDsToBin ............................................................................................................ 2-250

BinToBCDs_** ....................................................................................................... 2-253

AryToBCD ............................................................................................................. 2-256

AryToBin ................................................................................................................ 2-258

Data Type Conversion Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-261

**_TO_*** (Integer-to-Integer Conversion Group) ................................................. 2-262

**_TO_*** (Integer-to-Bit String Conversion Group) .............................................. 2-265

**_TO_*** (Integer-to-Real Number Conversion Group) ....................................... 2-268

**_TO_*** (Bit String-to-Integer Conversion Group) .............................................. 2-270

**_TO_*** (Bit String-to-Bit String Conversion Group) .......................................... 2-272

**_TO_*** (Bit String-to-Real Number Conversion Group) .................................... 2-274

**_TO_*** (Real Number-to-Integer Conversion Group) ....................................... 2-276

**_TO_*** (Real Number-to-Bit String Conversion Group) .................................... 2-279

**_TO_*** (Real Number-to-Real Number Conversion Group) ............................. 2-281

**_TO_STRING (Integer-to-Text String Conversion Group) ................................. 2-283

**_TO_STRING (Bit String-to-Text String Conversion Group) .............................. 2-285

**_TO_STRING (Real Number-to-Text String Conversion Group) ....................... 2-287

RealToFormatString .............................................................................................. 2-289

LrealToFormatString ............................................................................................. 2-294

STRING_TO_** (Text String-to-Integer Conversion Group) ................................. 2-299

STRING_TO_** (Text String-to-Bit String Conversion Group) .............................. 2-301

STRING_TO_** (Text String-to-Real Number Conversion Group) ....................... 2-303

TO_** (Integer Conversion Group) ........................................................................ 2-306

TO_** (Bit String Conversion Group) .................................................................... 2-308

TO_** (Real Number Conversion Group) .............................................................. 2-310

EnumToNum ......................................................................................................... 2-312

NumToEnum ......................................................................................................... 2-314

TRUNC, Round, and RoundUp ............................................................................. 2-316

Bit String Processing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-319

AND (&), OR, and XOR ......................................................................................... 2-320

XORN .................................................................................................................... 2-323

NOT ....................................................................................................................... 2-325

AryAnd, AryOr, AryXor, and AryXorN .................................................................... 2-327

Selection Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-331

SEL ........................................................................................................................ 2-332

MUX ...................................................................................................................... 2-334

LIMIT ..................................................................................................................... 2-337

Band ...................................................................................................................... 2-339

Zone ...................................................................................................................... 2-342

MAX and MIN ........................................................................................................ 2-345

AryMax and AryMin ............................................................................................... 2-347

ArySearch .............................................................................................................. 2-350

Data Movement Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-353

MOVE .................................................................................................................... 2-354

MoveBit ................................................................................................................. 2-357

MoveDigit .............................................................................................................. 2-359

TransBits ............................................................................................................... 2-361

MemCopy .............................................................................................................. 2-363

SetBlock ................................................................................................................ 2-365

12 NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

Exchange .............................................................................................................. 2-367

AryExchange ......................................................................................................... 2-369

AryMove ................................................................................................................ 2-371

Clear ...................................................................................................................... 2-373

Copy**ToNum (Bit String to Signed Integer) ......................................................... 2-375

Copy**To*** (Bit String to Real Number) ............................................................... 2-377

CopyNumTo** (Signed Integer to Bit String) ......................................................... 2-379

CopyNumTo** (Signed Integer to Real Number) .................................................. 2-381

Copy**To*** (Real Number to Bit String) ............................................................... 2-383

Copy**ToNum (Real Number to Signed Integer) .................................................. 2-385

Shift Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-387

AryShiftReg ........................................................................................................... 2-388

AryShiftRegLR ....................................................................................................... 2-390

ArySHL and ArySHR ............................................................................................. 2-393

SHL and SHR ........................................................................................................ 2-396

NSHLC and NSHRC ............................................................................................. 2-398

ROL and ROR ....................................................................................................... 2-400

Conversion Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-403

Swap ..................................................................................................................... 2-404

Neg ........................................................................................................................ 2-405

Decoder ................................................................................................................. 2-407

Encoder ................................................................................................................. 2-410

BitCnt ..................................................................................................................... 2-412

ColmToLine_** ...................................................................................................... 2-413

LineToColm ........................................................................................................... 2-415

Gray ....................................................................................................................... 2-417

UTF8ToSJIS .......................................................................................................... 2-422

SJISToUTF8 .......................................................................................................... 2-424

PWLApprox and PWLApproxNoLineChk .............................................................. 2-426

PWLLineChk ......................................................................................................... 2-432

MovingAverage ..................................................................................................... 2-435

DispartReal ............................................................................................................ 2-441

UniteReal ............................................................................................................... 2-444

NumToDecString and NumToHexString ............................................................... 2-446

HexStringToNum_** .............................................................................................. 2-449

FixNumToString .................................................................................................... 2-451

StringToFixNum .................................................................................................... 2-453

DtToString ............................................................................................................. 2-456

DateToString ......................................................................................................... 2-458

TodToString ........................................................................................................... 2-459

GrayToBin_** and BinToGray_** .......................................................................... 2-461

StringToAry ........................................................................................................... 2-463

AryToString ........................................................................................................... 2-465

DispartDigit ............................................................................................................ 2-467

UniteDigit_** .......................................................................................................... 2-469

Dispart8Bit ............................................................................................................. 2-471

Unite8Bit_** ........................................................................................................... 2-473

ToAryByte .............................................................................................................. 2-475

AryByteTo .............................................................................................................. 2-480

SizeOfAry .............................................................................................................. 2-485

PackWord .............................................................................................................. 2-487

PackDword ............................................................................................................ 2-489

LOWER_BOUND / UPPER_BOUND .................................................................... 2-491

Stack and Table Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-497

StackPush ............................................................................................................. 2-498

StackFIFO and StackLIFO .................................................................................... 2-507

StackIns ................................................................................................................. 2-510

StackDel ................................................................................................................ 2-512

RecSearch ............................................................................................................. 2-514

13

NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

RecRangeSearch .................................................................................................. 2-519

RecSort ................................................................................................................. 2-524

RecNum ................................................................................................................ 2-530

RecMax and RecMin ............................................................................................. 2-532

FCS Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-537

StringSum .............................................................................................................. 2-538

StringLRC .............................................................................................................. 2-540

StringCRCCCITT ................................................................................................... 2-542

StringCRC16 ......................................................................................................... 2-544

AryLRC_** ............................................................................................................. 2-546

AryCRCCCITT ....................................................................................................... 2-548

AryCRC16 ............................................................................................................. 2-550

Text String Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-553

CONCAT ............................................................................................................... 2-554

LEFT and RIGHT .................................................................................................. 2-556

MID ........................................................................................................................ 2-558

FIND ...................................................................................................................... 2-560

LEN ....................................................................................................................... 2-562

REPLACE .............................................................................................................. 2-563

DELETE ................................................................................................................ 2-565

INSERT ................................................................................................................. 2-567

GetByteLen ........................................................................................................... 2-569

ClearString ............................................................................................................ 2-571

ToUCase and ToLCase ......................................................................................... 2-573

TrimL and TrimR ................................................................................................... 2-575

AddDelimiter .......................................................................................................... 2-577

SubDelimiter .......................................................................................................... 2-588

Time and Time of Day Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-599

ADD_TIME ............................................................................................................ 2-600

ADD_TOD_TIME ................................................................................................... 2-602

ADD_DT_TIME ..................................................................................................... 2-604

SUB_TIME ............................................................................................................ 2-606

SUB_TOD_TIME ................................................................................................... 2-608

SUB_TOD_TOD .................................................................................................... 2-610

SUB_DATE_DATE ................................................................................................ 2-611

SUB_DT_DT ......................................................................................................... 2-612

SUB_DT_TIME ...................................................................................................... 2-614

MULTIME .............................................................................................................. 2-616

DIVTIME ................................................................................................................ 2-618

CONCAT_DATE_TOD .......................................................................................... 2-620

DT_TO_TOD ......................................................................................................... 2-622

DT_TO_DATE ....................................................................................................... 2-624

SetTime ................................................................................................................. 2-626

GetTime ................................................................................................................. 2-628

DtToSec ................................................................................................................ 2-630

DateToSec ............................................................................................................ 2-632

TodToSec .............................................................................................................. 2-633

SecToDt ................................................................................................................ 2-634

SecToDate ............................................................................................................ 2-636

SecToTod .............................................................................................................. 2-638

TimeToNanoSec ................................................................................................... 2-640

TimeToSec ............................................................................................................ 2-641

NanoSecToTime ................................................................................................... 2-642

SecToTime ............................................................................................................ 2-643

ChkLeapYear ........................................................................................................ 2-645

GetDaysOfMonth ................................................................................................... 2-646

DaysToMonth ........................................................................................................ 2-648

GetDayOfWeek ..................................................................................................... 2-650

GetWeekOfYear .................................................................................................... 2-652

14 NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

DtToDateStruct ...................................................................................................... 2-654

DateStructToDt ...................................................................................................... 2-656

TruncTime ............................................................................................................. 2-658

TruncDt .................................................................................................................. 2-662

TruncTod ............................................................................................................... 2-666

Analog Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-671

PIDAT .................................................................................................................... 2-672

PIDAT_HeatCool ................................................................................................... 2-697

TimeProportionalOut ............................................................................................. 2-735

LimitAlarm_** ......................................................................................................... 2-752

LimitAlarmDv_** .................................................................................................... 2-756

LimitAlarmDvStbySeq_** ....................................................................................... 2-761

ScaleTrans ............................................................................................................ 2-776

AC_StepProgram .................................................................................................. 2-779

System Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-805

TraceSamp ............................................................................................................ 2-806

TraceTrig ............................................................................................................... 2-809

GetTraceStatus ..................................................................................................... 2-812

SetAlarm ................................................................................................................ 2-816

ResetAlarm ............................................................................................................ 2-821

GetAlarm ............................................................................................................... 2-823

ResetPLCError ...................................................................................................... 2-825

GetPLCError .......................................................................................................... 2-828

ResetCJBError ...................................................................................................... 2-830

GetCJBError .......................................................................................................... 2-832

GetEIPError ........................................................................................................... 2-834

ResetMCError ....................................................................................................... 2-836

GetMCError ........................................................................................................... 2-841

ResetECError ........................................................................................................ 2-843

GetECError ............................................................................................................ 2-845

ResetNXBError ...................................................................................................... 2-848

GetNXBError ......................................................................................................... 2-850

GetNXUnitError ..................................................................................................... 2-852

SetInfo ................................................................................................................... 2-860

ResetUnit ............................................................................................................... 2-862

GetNTPStatus ....................................................................................................... 2-866

RestartNXUnit ....................................................................................................... 2-868

NX_ChangeWriteMode ......................................................................................... 2-874

NX_SaveParam ..................................................................................................... 2-879

NX_ReadTotalPowerOnTime ................................................................................ 2-885

PLC_ReadTotalPowerOnTime .............................................................................. 2-893

Program Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-897

PrgStart ................................................................................................................. 2-898

PrgStop ................................................................................................................. 2-907

PrgStatus ............................................................................................................... 2-927

EtherCAT Communications Instructions . . . . . . . . . . . . . . . . . . . . . . . . .2-933

EC_CoESDOWrite ................................................................................................ 2-934

EC_CoESDORead ................................................................................................ 2-937

EC_StartMon ......................................................................................................... 2-942

EC_StopMon ......................................................................................................... 2-948

EC_SaveMon ........................................................................................................ 2-950

EC_CopyMon ........................................................................................................ 2-952

EC_DisconnectSlave ............................................................................................. 2-954

EC_ConnectSlave ................................................................................................. 2-961

EC_ChangeEnableSetting .................................................................................... 2-963

NX_WriteObj ......................................................................................................... 2-980

NX_ReadObj ......................................................................................................... 2-995

IO-Link Communications Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1005

15

NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

IOL_ReadObj ...................................................................................................... 2-1006

IOL_WriteObj ....................................................................................................... 2-1015

EtherNet/IP Communications Instructions . . . . . . . . . . . . . . . . . . . . . . 2-1025

CIPOpen .............................................................................................................. 2-1026

CIPOpenWithDataSize ........................................................................................ 2-1035

CIPRead .............................................................................................................. 2-1039

CIPWrite .............................................................................................................. 2-1045

CIPSend .............................................................................................................. 2-1051

CIPClose ............................................................................................................. 2-1056

CIPUCMMRead ................................................................................................... 2-1059

CIPUCMMWrite ................................................................................................... 2-1064

CIPUCMMSend ................................................................................................... 2-1071

SktUDPCreate ..................................................................................................... 2-1081

SktUDPRcv ......................................................................................................... 2-1089

SktUDPSend ....................................................................................................... 2-1092

SktTCPAccept ..................................................................................................... 2-1095

SktTCPConnect ................................................................................................... 2-1098

SktTCPRcv .......................................................................................................... 2-1107

SktTCPSend ........................................................................................................ 2-1110

SktGetTCPStatus ................................................................................................ 2-1113

SktClose .............................................................................................................. 2-1116

SktClearBuf ......................................................................................................... 2-1119

SktSetOption ....................................................................................................... 2-1122

ModbusTCPCmd ................................................................................................. 2-1127

ModbusTCPRead ................................................................................................ 2-1135

ModbusTCPWrite ................................................................................................ 2-1143

ChangeIPAdr ....................................................................................................... 2-1151

ChangeFTPAccount ............................................................................................ 2-1159

ChangeNTPServerAdr ........................................................................................ 2-1163

FTPGetFileList .................................................................................................... 2-1167

FTPGetFile .......................................................................................................... 2-1184

FTPPutFile .......................................................................................................... 2-1193

FTPRemoveFile .................................................................................................. 2-1204

FTPRemoveDir .................................................................................................... 2-1214

Serial Communications Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1219

ExecPMCR .......................................................................................................... 2-1220

SerialSend ........................................................................................................... 2-1233

SerialRcv and SerialRcvNoClear ........................................................................ 2-1244

SendCmd ............................................................................................................ 2-1259

NX_SerialSend .................................................................................................... 2-1272

NX_SerialRcv ...................................................................................................... 2-1285

NX_ModbusRtuCmd ........................................................................................... 2-1299

NX_ModbusRtuRead .......................................................................................... 2-1310

NX_ModbusRtuWrite ........................................................................................... 2-1322

NX_SerialSigCtl ................................................................................................... 2-1334

NX_SerialSigRead .............................................................................................. 2-1343

NX_SerialStatusRead ......................................................................................... 2-1348

NX_SerialBufClear .............................................................................................. 2-1353

NX_SerialStartMon .............................................................................................. 2-1363

NX_SerialStopMon .............................................................................................. 2-1368

SD Memory Card Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1373

FileWriteVar ......................................................................................................... 2-1374

FileReadVar ........................................................................................................ 2-1379

FileOpen .............................................................................................................. 2-1384

FileClose ............................................................................................................. 2-1388

FileSeek .............................................................................................................. 2-1391

FileRead .............................................................................................................. 2-1395

FileWrite .............................................................................................................. 2-1403

FileGets ............................................................................................................... 2-1411

16 NJ/NX-series Instructions Reference Manual (W502)

CONTENTS

FilePuts ............................................................................................................... 2-1419

FileCopy .............................................................................................................. 2-1428

FileRemove ......................................................................................................... 2-1437

FileRename ......................................................................................................... 2-1442

DirCreate ............................................................................................................. 2-1447

DirRemove .......................................................................................................... 2-1450

BackupToMemoryCard ....................................................................................... 2-1453

Time Stamp Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1469

NX_DOutTimeStamp ........................................................................................... 2-1470

NX_AryDOutTimeStamp ..................................................................................... 2-1476

Other Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1485

ReadNbit_** ......................................................................................................... 2-1486

WriteNbit_** ......................................................................................................... 2-1488

ChkRange ........................................................................................................... 2-1490

GetMyTaskStatus ................................................................................................ 2-1492

GetMyTaskInterval .............................................................................................. 2-1495

Task_IsActive ...................................................................................................... 2-1498

Lock and Unlock .................................................................................................. 2-1500

ActEventTask ...................................................................................................... 2-1507

Get**Clk ............................................................................................................... 2-1513

Get**Cnt .............................................................................................................. 2-1514

Appendices

A-1 Error Codes That You Can Check with ErrorID ....................................................................A-2

A-2 Error Codes............................................................................................................................A-22

A-3 Instructions You Cannot Use in Event Tasks .....................................................................A-23

A-4 Instructions Related to NX Message Communications Errors..........................................A-25

A-5 SDO Abort Codes ..................................................................................................................A-26

A-6 Version Information...............................................................................................................A-27

Index

17

Terms and Conditions Agreement

NJ/NX-series Instructions Reference Manual (W502)

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

Terms and Conditions Agreement

18 NJ/NX-series Instructions Reference Manual (W502)

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

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Omron NJ/NX Series Reference guide

Omron NJ/NX Series Reference guide

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