NJ501-R[][][] – NJ-Series Robot Integrated CPU Units – Omron CPU Units

$ 21,387.08

SKU N/A Category Omron CPU Units

Model

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CPU Units

I/O capacity/maximum number of configuration Units (Expansion Racks) : 2,560 points/40 Units (3 Expansion Racks)

Product name	Specifications								Model
Product name	Pro- gram ca- pacity	Memory capacity for variables	Num- ber of motion axes	Data- base Conne- ction function	SECS/ GEM Commu- nication function	Number of cont- rolled robots	Number of cont- rolled OMRON robots	Numer- ical Control Func- tions	Model
Robot Integrated CPU Units	20 MB	2 MB: Retained during power interruption 4 MB: Not retained during power interruption	64	No	No	8 max. *1	8 max.	No	NJ501-R500
			64	Yes					NJ501-R520
			32	No					NJ501-R400
			32	Yes					NJ501-R420
			16	No					NJ501-R300
			16	Yes					NJ501-R320

*1. The number of controlled robots varies according to the number of axes used for the system.

General Specification

Item		NJ501-[][][][]
Enclosure		Mounted in a panel
Grounding Method		Ground to less than 100 Ω
Dimensions (height×depth×width)		90 mm × 90 mm × 90 mm
Weight		550 g (including the End Cover)
Current Consumption		5 VDC, 1.90 A (including SD Memory Card and End Cover)
Operation Environment	Ambient Operating Temperature	0 to 55°C
	Ambient Operating Humidity	10% to 90% (with no condensation)
	Atmosphere	Must be free from corrosive gases.
	Ambient Storage Temperature	-20 to 75°C (excluding battery)
	Altitude	2,000 m or less
	Pollution Degree	2 or less: Meets IEC 61010-2-201.
	Noise Immunity	2 kV on power supply line (Conforms to IEC 61000-4-4.)
	Overvoltage Category	Category II: Meets IEC 61010-2-201.
	EMC Immunity Level	Zone B
	Vibration Resistance	Conforms to IEC 60068-2-6. 5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz Acceleration of 9.8 m/s² for 100 min in X, Y, and Z directions (10 sweeps of 10 min each = 100 min total)
	Shock Resistance	Conforms to IEC 60068-2-27. 147 m/s², 3 times in X, Y, and Z directions (100 m/s² for Relay Output Units)
Battery	*Life 1**	5 years at 25°C
Battery	Model	CJ1W-BAT01
*Applicable Standards 2**		cULus, EU, UKCA, RCM, KC, NK, LR *3

*1. This is the value when the power ON time rate is 0% (power OFF).
*2. Consult your OMRON representative for the most recent applicable standards for each model.
*3. Supported only by the CPU Units with unit version 1.01 or later.

Performance Specifications

Item				NJ501-[][][][]
Tasks	Function			I/O refreshing and the user program are executed in units that are called tasks. Tasks are used to specify execution conditions and execution priority.
		Periodically Executed Tasks	Maximum Number of Primary Periodic Tasks	1
		Periodically Executed Tasks	Maximum Number of Periodic Tasks	3
		Conditionally executed tasks *1	Maximum number of event tasks	32
		Conditionally executed tasks *1	Execution conditions	When Activate Event Task instruction is executed or when condition expression for variable is met.
		System Service Tasks (NJ501-R[][][])	Maximum number of V+ Tasks	64
	Setup	System Service Monitoring Settings		The execution interval and the percentage of the total user program execution time are monitored for the system services (processes that are executed by the CPU Unit separate from task execution).
Program- ming	POU (program organization units)	Programs		POUs that are assigned to tasks.
		Function Blocks		POUs that are used to create objects with specific conditions.
		Functions		POUs that are used to create an object that determine unique outputs for the inputs, such as for data processing.
	Programming Languages	Types		Ladder diagrams *2 Structured text (ST) V+ (NJ501-R[][][])
	*Namespaces 3**			A concept that is used to group identifiers for POU definitions.
	Variables	External Access of Variables	Network Variables	The function which allows access from the HMI, host computers, or other Controllers
	Data Types	Data Types	Boolean	BOOL
			Bit Strings	BYTE, WORD, DWORD, LWORD
			Integers	INT, SINT, DINT,LINT, UINT, USINT, UDINT, ULINT
			Real Numbers	REAL, LREAL
			Durations	TIME
			Dates	DATE
			Times of Day	TIME_OF_DAY
			Date and Time	DATE_AND_TIME
			Text Strings	STRING
		Derivative Data Types		Structures, unions, enumerations
		Structures	Function	A derivative data type that groups together data with different variable types.
			Maximum Number of Members	2048
			Nesting Maximum Levels	8
			Member Data Types	Basic data types, structures, unions, enumerations, array variables
			Specifying Member Offsets	You can use member offsets to place structure members at any memory locations.*3
		Unions	Function	A derivative data type that groups together data with different variable types.
			Maximum Number of Members	4
			Member Data Types	BOOL, BYTE, WORD, DWORD, LWORD
		Enumer- ations	Function	A derivative data type that uses text strings called enumerators to express variable values.
	Data Type Attributes	Array specifi- cations	Function	An array is a group of elements with the same data type. You specify the number (subscript) of the element from the first element to specify the element.
			Maximum Number of Dimensions	3
			Maximum Number of Elements	65535
			Array Specifications for FB Instances	Supported.
		Range Specifications		You can specify a range for a data type in advance. The data type can take only values that are in the specified range.
		Libraries		User libraries
Motion Control	Control Modes			position control, velocity control, torque control
	Axis Types			Servo axes, virtual servo axes, encoder axes, and virtual encoder axes
	Positions that can be managed			Command positions and actual positions
	Single-axis	Single-axis Position Control	Absolute Positioning	Positioning is performed for a target position that is specified with an absolute value.
			Relative Positioning	Positioning is performed for a specified travel distance from the command current position.
			Interrupt Feeding	Positioning is performed for a specified travel distance from the position where an interrupt input was received from an external input.
			Cyclic synchronous absolute positioning *1	The function which outputs command positions in every control period in the position control mode.
		Single-axis Velocity Control	Velocity Control	Velocity control is performed in Position Control Mode.
		Single-axis Velocity Control	Cyclic Synchronous Velocity Control	A velocity command is output each control period in Velocity Control Mode.
		Single-axis Torque Control	Torque Control	The torque of the motor is controlled.
		Single-axis Synchro- nized Control	Starting Cam Operation	A cam motion is performed using the specified cam table.
			Ending Cam Operation	The cam motion for the axis that is specified with the input parameter is ended.
			Starting Gear Operation	A gear motion with the specified gear ratio is performed between a master axis and slave axis.
			Positioning Gear Operation	A gear motion with the specified gear ratio and sync position is performed between a master axis and slave axis.
			Ending Gear Operation	The specified gear motion or positioning gear motion is ended.
			Synchronous Positioning	Positioning is performed in sync with a specified master axis.
			Master Axis Phase Shift	The phase of a master axis in synchronized control is shifted.
			Combining Axes	The command positions of two axes are added or subtracted and the result is output as the command position.
		Single-axis Manual Operation	Powering the Servo	The Servo in the Servo Drive is turned ON to enable axis motion.
		Single-axis Manual Operation	Jogging	An axis is jogged at a specified target velocity.
		Auxiliary Functions for Single-axis Control	Resetting Axis Errors	Axes errors are cleared.
			Homing	A motor is operated and the limit signals, home proximity signal, and home signal are used to define home.
			Homing with parameter *1	Specifying the parameter, a motor is operated and the limit signals, home proximity signal, and home signal are used to define home.
			High-speed Homing	Positioning is performed for an absolute target position of 0 to return to home.
			Stopping	An axis is decelerated to a stop at the specified rate.
			Immediately Stopping	An axis is stopped immediately.
			Setting Override Factors	The target velocity of an axis can be changed.
			Changing the Current Position	The command current position or actual current position of an axis can be changed to any position.
			Enabling External Latches	The position of an axis is recorded when a trigger occurs.
			Disabling External Latches	The current latch is disabled.
			Zone Monitoring	You can monitor the command position or actual position of an axis to see when it is within a specified range (zone).
			Enabling digital cam switches *4	You can turn a digital output ON and OFF according to the position of an axis.
			Monitoring Axis Following Error	You can monitor whether the difference between the command positions or actual positions of two specified axes exceeds a threshold value.
			Resetting the Following Error	The error between the command current position and actual current position is set to 0.
			Torque Limit	The torque control function of the Servo Drive can be enabled or disabled and the torque limits can be set to control the output torque.
			Slave Axis Position Com- pensation *5	This function compensates the position of the slave axis currently in synchronized control.
			Cam monitor (NJ[]01-[][]00)	Outputs the specified offset position for the slave axis in synchronous control.
			*Start velocity 6**	You can set the initial velocity when axis motion starts.
	Axes Groups	Multi-axes Coordinated Control	Absolute Linear Interpolation	Linear interpolation is performed to a specified absolute position.
			Relative Linear Interpolation	Linear interpolation is performed to a specified relative position.
			Circular 2D Interpolation	Circular interpolation is performed for two axes.
			Axes Group Cyclic Synchronous Absolute Positioning	A positioning command is output each control period in Position Control Mode.*3
		Auxiliary Functions for Multi-axes Coordinated Control	Resetting Axes Group Errors	Axes group errors and axis errors are cleared.
			Enabling Axes Groups	Motion of an axes group is enabled.
			Disabling Axes Groups	Motion of an axes group is disabled.
			Stopping Axes Groups	All axes in interpolated motion are decelerated to a stop.
			Immediately Stopping Axes Groups	All axes in interpolated motion are stopped immediately.
			Setting Axes Group Override Factors	The blended target velocity is changed during interpolated motion.
			Reading Axes Group Positions	The command current positions and actual current positions of an axes group can be read.*3
			Changing the Axes in an Axes Group	The Composition Axes parameter in the axes group parameters can be overwritten temporarily.*3
	Common Items	Cams	Setting Cam Table Properties	The end point index of the cam table that is specified in the input parameter is changed.
			Saving Cam Tables	The cam table that is specified with the input parameter is saved in non-volatile memory in the CPU Unit.
			Generating cam tables *7	The cam table that is specified with the input parameter is generated from the cam property and cam node.
		Parameters	Writing MC Settings	Some of the axis parameters or axes group parameters are overwritten temporarily.
		Parameters	Changing axis parameters *7	You can access and change the axis parameters from the user program.
	Auxiliary Functions	Count Modes		You can select either Linear Mode (finite length) or Rotary Mode (infinite length).
		Unit Conversions		You can set the display unit for each axis according to the machine.
		Acceler- ation/ Deceleration Control	Automatic Acceleration/ Deceleration Control	Jerk is set for the acceleration/deceleration curve for an axis motion or axes group motion.
		Acceler- ation/ Deceleration Control	Changing the Acceleration and Deceleration Rates	You can change the acceleration or deceleration rate even during acceleration or deceleration.
		In-position Check		You can set an in-position range and in-position check time to confirm when positioning is completed.
		Stop Method		You can set the stop method to the immediate stop input signal or limit input signal.
		Re-execution of Motion Control Instructions		You can change the input variables for a motion control instruction during execution and execute the instruction again to change the target values during operation.
		Multi-execution of Motion Control Instructions (Buffer Mode)		You can specify when to start execution and how to connect the velocities between operations when another motion control instruction is executed during operation.
		Continuous Axes Group Motions (Transition Mode)		You can specify the Transition Mode for multi-execution of instructions for axes group operation.
Monitoring Functions		Software Limits	Software limits are set for each axis.
		Following Error	The error between the command current value and the actual current value is monitored for an axis.
		Velocity, Acceleration Rate, Deceleration Rate, Torque, Interpolation Velocity, Interpolation Acceleration Rate, And Interpolation Deceleration Rate	You can set and monitor warning values for each axis and each axes group.
Absolute Encoder Support		You can use an OMRON G5-Series or 1S-Series Servomotor with an Absolute Encoder to eliminate the need to perform homing at startup.
*Input signal logic inversion 6**		You can inverse the logic of immediate stop input signal, positive limit input signal, negative limit input signal, or home proximity input signal.
External Interface Signals			The Servo Drive input signals listed on the right are used. Home signal, home proximity signal, positive limit signal, negative limit signal, immediate stop signal, and interrupt input signal
Unit (I/O) Manage- ment		EtherCAT Slaves	Maximum Number of Slaves		192
		CJ-Series Units	Maximum number of Units		40
	Basic I/O Units	CJ-Series Units	Load Short- circuit Protection and I/O Disconnection Detection	Alarm information for Basic I/O Units is read.
Communi- cations	Peripheral USB Port			A port for communications with various kinds of Support Software running on a personal computer.
	Secure Communications			Function for secure communication with support software
	Built-in Ether- Net/IP port Internal Port	Communications protocol		TCP/IP, UDP/IP
		CIP Communi- cations Service	Tag Data Links	Programless cyclic data exchange is performed with the devices on the EtherNet/IP network.
		CIP Communi- cations Service	Message Communications	CIP commands are sent to or received from the devices on the EtherNet/IP network.
		TCP/IP functions	CIDR	The function which performs IP address allocations without using a class (class A to C) of IP address.
		TCP/IP Applications	Socket Services	Data is sent to and received from any node on Ethernet using the UDP or TCP protocol. Socket communications instructions are used.
			*FTP client 7**	File can be read from or written to computers at other Ethernet nodes from the CPU Unit. FTP client communications instructions are used.
			FTP Server	Files can be read from or written to the SD Memory Card in the CPU Unit from computers at other Ethernet nodes.
			Automatic Clock Adjustment	Clock information is read from the NTP server at the specified time or at a specified interval after the power supply to the CPU Unit is turned ON. The internal clock time in the CPU Unit is updated with the read time.
			SNMP Agent	Built-in EtherNet/IP port internal status information is provided to network management software that uses an SNMP manager.
		OPC UA (NJ501-1[]00)	Server Function	Functions to respond to requests from clients on the OPC UA network
	EtherCAT Port	Supported Services	Process Data Communications	Control information is exchanged in cyclic communications between the EtherCAT master and slaves.
		Supported Services	SDO Communications	A communications method to exchange control information in noncyclic event communications between EtherCAT master and slaves. This communications method is defined by CoE.
		Network Scanning		Information is read from connected slave devices and the slave configuration is automatically generated.
		DC (Distributed Clock)		Time is synchronized by sharing the EtherCAT system time among all EtherCAT devices (including the master).
		Enable/disable Settings for Slaves		The slaves can be enabled or disabled as communications targets.
		Disconnecting/Connecting Slaves		Temporarily disconnects a slave from the EtherCAT network for maintenance, such as for replacement of the slave, and then connects the slave again.
		Supported Application Protocol	CoE	SDO messages of the CAN application can be sent to slaves via EtherCAT.
	Communications Instructions			The following instructions are supported. CIP communications instructions, socket communications instructions, SDO message instructions, no-protocol communications instructions, protocol macro instructions, and FTP client instructions 7, and Modbus RTU protcol instructions 8
Operation Manage- ment	RUN Output Contacts			The output on the Power Supply Unit turns ON in RUN mode.
System Manage- ment	Event Logs	Function		Events are recorded in the logs.
		Maximum number of events	System event log	1,024
			Access event log	1,024
			User-defined event log	1,024
Debugging	Online Editing	Single		Programs, function blocks, functions, and global variables can be changed online. Different operators can change different POUs across a network.
	Forced Refreshing			The user can force specific variables to TRUE or FALSE.
		Maximum Number of Forced Variables	Device Variables for EtherCAT Slaves	64
		Maximum Number of Forced Variables	Device Variables for CJ-series Units and Variables with AT Specifications	64
	*MC Test Run 9**			Motor operation and wiring can be checked from the Sysmac Studio.
	Synchronizing			The project file in the Sysmac Studio and the data in the CPU Unit can be made the same when online.
	*Differentiation monitoring 1**			Rising/falling edge of contacts can be monitored.
		*Maximum number of contacts 1**		8
	Data Tracing	Types	Single Triggered Trace	When the trigger condition is met, the specified number of samples are taken and then tracing stops automatically.
		Types	Continuous Trace	Data tracing is executed continuously and the trace data is collected by the Sysmac Studio.
		Maximum Number of Simultaneous Data Trace		4 *10
		Maximum Number of Records		10,000
		Sampling	Maximum Number of Sampled Variables	192 variables
		Timing of Sampling		Sampling is performed for the specified task period, at the specified time, or when a sampling instruction is executed.
		Triggered Traces		Trigger conditions are set to record data before and after an event.
			Trigger Conditions	When BOOL variable changes to TRUE or FALSE Comparison of non-BOOL variable with a constant Comparison Method: Equals (=), Greater than (>), Greater than or equals (≥), Less Than (<), Less than or equals (≤), Not equal (≠)
			Delay	Trigger position setting: A slider is used to set the percentage of sampling before and after the trigger condition is met.
	Simulation			The operation of the CPU Unit is emulated in the Sysmac Studio.
Reliability Functions	Self-diagnosis	Controller Errors	Levels	Major fault, partial fault, minor fault, observation, and information
		User-defined errors		User-defined errors are registered in advance and then records are created by executing instructions.
			Levels	8 levels
Security	Protecting Software Assets and Preventing Operating Mistakes	CPU Unit Names and Serial IDs		When going online to a CPU Unit from the Sysmac Studio, the CPU Unit name in the project is compared to the name of the CPU Unit being connected to.
		Protection	User Program Transfer with No Restoration Information	You can prevent reading data in the CPU Unit from the Sysmac Studio.
			CPU Unit Write Protection	You can prevent writing data to the CPU Unit from the Sysmac Studio or SD Memory Card.
			Overall Project File Protection	You can use passwords to protect .smc files from unauthorized opening on the Sysmac Studio.
			Data Protection	You can use passwords to protect POUs on the Sysmac Studio.*3
		Verification of Operation Authority		Online operations can be restricted by operation rights to prevent damage to equipment or injuries that may be caused by operating mistakes.
			Number of Groups	5 *11
		Verification of User Program Execution ID		The user program cannot be executed without entering a user program execution ID from the Sysmac Studio for the specific hardware (CPU Unit).
SD Memory Card Functions	Storage Type			SD Memory Card, SDHC Memory Card
	Application	Automatic transfer from SD Memory Card *1		The data in the autoload folder on an SD Memory Card is automatically loaded when the power supply to the Controller is turned ON.
		Transfer program from SD Memory Card *8		The user program on an SD Memory Card is loaded when the user changes system-defined variable to TRUE.
		SD Memory Card Operation Instructions		You can access SD Memory Cards from instructions in the user program.
		File Operations from the Sysmac Studio		You can perform file operations for Controller files in the SD Memory Card and read/write standard document files on the computer.
		SD Memory Card Life Expiration Detection		Notification of the expiration of the life of the SD Memory Card is provided in a systemdefined variable and event log.
Backup functions *1	SD Memory Card backup functions	Operation	Using front switch	You can use front switch to backup, compare, or restore data.
			Using system- defined variables	You can use system-defined variables to backup, compare, or restore data. *12
			Memory Card Operations Dialog Box on Sysmac Studio	Backup and verification operations can be performed from the SD Memory Card Operations Dialog Box on the Sysmac Studio.
			Using instruction *7	Backup operation can be performed by using instruction.
		Protection	Prohibiting backing up data to the SD Memory Card	Prohibit SD Memory Card backup functions.
	Sysmac Studio Controller backup functions			Backup, restore, and verification operations for Units can be performed from the Sysmac Studio.

*1. When the hardware revision for the Unit is A or B.
*2. When the hardware revision for the Unit is A.
*3. This is the capacity for the execution objects and variable tables (including variable names).
*4. Words for CJ-series Units in the Holding, DM, and EM Areas are not included.
*5. The number of variables of the CPU Unit version 1.19 or earlier is 90,000.
*6. The number of variables of the CPU Unit version 1.18 or earlier is 22,500.
*7. Words for CJ-series Units in the CIO and Work Areas are not included.
*8. When the Spool function of the NJ501-[][]20 is enabled, the DB Connection Service uses E9_0 to E18_32767
(NJ501-1[]20).
When the Spool function of the NJ101-[][]20 is enabled, the DB Connection Service uses E1_0 to E3_32767
(NJ101-[][]20).
*9 This number of axes is achieved in a combination of a CPU Unit with unit version 1.06 or later and Sysmac Studio
version 1.07 or higher.
In other combinations, the maximum number of controlled axes is 8 axes (NJ301-1200) or 4 axes (NJ301-1100).
*10.Data is updated on the line in the specified interval regardless of the number of nodes.
*11.The Packet interval of the CPU Unit version 1.02 or earlier is 10 to 10,000 ms in 1.0-ms increments.
*12.Means packets per second, i.e., the number of communications packets that can be sent or received in one second.
*13.The Permissible Communications Band of the CPU Unit version 1.02 or earlier is 1,000 pps.
*14.An IGMP client is mounted for the EtherNet/IP port. If an ethernet switch that supports IGMP snooping is used,
filtering of unnecessary multicast packets is performed.
*15.The Maximum number of TCP socket service of the CPU Unit version 1.02 or earlier is 16.
*16.Roles can be set for the unit versions 1.62 or later of CPU Units.
*17.Ring topology is supported with the project version 1.40 or later of NJ[]01-[][]00.
Slaves on a ring topology should support a ring topology. If Omron slaves, please see the user’s manual of slaves.
*18.For project unit version earlier than 1.40, the data must be within four frames.
*19.The Maximum Communications Cycle of the NJ301 CPU Unit version 1.02 or earlier and NJ501-R[][][] are
1,000/2,000/4,000 μs.
The EtherCAT communications cycle of NJ501-4[][]0 for robot control is 1 ms or more.
Note: For robot control by NJ501-4[][]0, use the G5 series/1S series AC Servo Drive with built-in EtherCAT communications, absolute encoder, and brake.

Function Specifications

Item				NJ501-[][][][]
Tasks	Function			I/O refreshing and the user program are executed in units that are called tasks. Tasks are used to specify execution conditions and execution priority.
		Periodically Executed Tasks	Maximum Number of Primary Periodic Tasks	1
		Periodically Executed Tasks	Maximum Number of Periodic Tasks	3
		Conditionally executed tasks *1	Maximum number of event tasks	32
		Conditionally executed tasks *1	Execution conditions	When Activate Event Task instruction is executed or when condition expression for variable is met.
		System Service Tasks (NJ501-R[][][])	Maximum number of V+ Tasks	64
	Setup	System Service Monitoring Settings		The execution interval and the percentage of the total user program execution time are monitored for the system services (processes that are executed by the CPU Unit separate from task execution).
Program- ming	POU (program organization units)	Programs		POUs that are assigned to tasks.
		Function Blocks		POUs that are used to create objects with specific conditions.
		Functions		POUs that are used to create an object that determine unique outputs for the inputs, such as for data processing.
	Programming Languages	Types		Ladder diagrams *2 Structured text (ST) V+ (NJ501-R[][][])
	*Namespaces 3**			A concept that is used to group identifiers for POU definitions.
	Variables	External Access of Variables	Network Variables	The function which allows access from the HMI, host computers, or other Controllers
	Data Types	Data Types	Boolean	BOOL
			Bit Strings	BYTE, WORD, DWORD, LWORD
			Integers	INT, SINT, DINT,LINT, UINT, USINT, UDINT, ULINT
			Real Numbers	REAL, LREAL
			Durations	TIME
			Dates	DATE
			Times of Day	TIME_OF_DAY
			Date and Time	DATE_AND_TIME
			Text Strings	STRING
		Derivative Data Types		Structures, unions, enumerations
		Structures	Function	A derivative data type that groups together data with different variable types.
			Maximum Number of Members	2048
			Nesting Maximum Levels	8
			Member Data Types	Basic data types, structures, unions, enumerations, array variables
			Specifying Member Offsets	You can use member offsets to place structure members at any memory locations.*3
		Unions	Function	A derivative data type that groups together data with different variable types.
			Maximum Number of Members	4
			Member Data Types	BOOL, BYTE, WORD, DWORD, LWORD
		Enumer- ations	Function	A derivative data type that uses text strings called enumerators to express variable values.
	Data Type Attributes	Array specifi- cations	Function	An array is a group of elements with the same data type. You specify the number (subscript) of the element from the first element to specify the element.
			Maximum Number of Dimensions	3
			Maximum Number of Elements	65535
			Array Specifications for FB Instances	Supported.
		Range Specifications		You can specify a range for a data type in advance. The data type can take only values that are in the specified range.
		Libraries		User libraries
Motion Control	Control Modes			position control, velocity control, torque control
	Axis Types			Servo axes, virtual servo axes, encoder axes, and virtual encoder axes
	Positions that can be managed			Command positions and actual positions
	Single-axis	Single-axis Position Control	Absolute Positioning	Positioning is performed for a target position that is specified with an absolute value.
			Relative Positioning	Positioning is performed for a specified travel distance from the command current position.
			Interrupt Feeding	Positioning is performed for a specified travel distance from the position where an interrupt input was received from an external input.
			Cyclic synchronous absolute positioning *1	The function which outputs command positions in every control period in the position control mode.
		Single-axis Velocity Control	Velocity Control	Velocity control is performed in Position Control Mode.
		Single-axis Velocity Control	Cyclic Synchronous Velocity Control	A velocity command is output each control period in Velocity Control Mode.
		Single-axis Torque Control	Torque Control	The torque of the motor is controlled.
		Single-axis Synchro- nized Control	Starting Cam Operation	A cam motion is performed using the specified cam table.
			Ending Cam Operation	The cam motion for the axis that is specified with the input parameter is ended.
			Starting Gear Operation	A gear motion with the specified gear ratio is performed between a master axis and slave axis.
			Positioning Gear Operation	A gear motion with the specified gear ratio and sync position is performed between a master axis and slave axis.
			Ending Gear Operation	The specified gear motion or positioning gear motion is ended.
			Synchronous Positioning	Positioning is performed in sync with a specified master axis.
			Master Axis Phase Shift	The phase of a master axis in synchronized control is shifted.
			Combining Axes	The command positions of two axes are added or subtracted and the result is output as the command position.
		Single-axis Manual Operation	Powering the Servo	The Servo in the Servo Drive is turned ON to enable axis motion.
		Single-axis Manual Operation	Jogging	An axis is jogged at a specified target velocity.
		Auxiliary Functions for Single-axis Control	Resetting Axis Errors	Axes errors are cleared.
			Homing	A motor is operated and the limit signals, home proximity signal, and home signal are used to define home.
			Homing with parameter *1	Specifying the parameter, a motor is operated and the limit signals, home proximity signal, and home signal are used to define home.
			High-speed Homing	Positioning is performed for an absolute target position of 0 to return to home.
			Stopping	An axis is decelerated to a stop at the specified rate.
			Immediately Stopping	An axis is stopped immediately.
			Setting Override Factors	The target velocity of an axis can be changed.
			Changing the Current Position	The command current position or actual current position of an axis can be changed to any position.
			Enabling External Latches	The position of an axis is recorded when a trigger occurs.
			Disabling External Latches	The current latch is disabled.
			Zone Monitoring	You can monitor the command position or actual position of an axis to see when it is within a specified range (zone).
			Enabling digital cam switches *4	You can turn a digital output ON and OFF according to the position of an axis.
			Monitoring Axis Following Error	You can monitor whether the difference between the command positions or actual positions of two specified axes exceeds a threshold value.
			Resetting the Following Error	The error between the command current position and actual current position is set to 0.
			Torque Limit	The torque control function of the Servo Drive can be enabled or disabled and the torque limits can be set to control the output torque.
			Slave Axis Position Com- pensation *5	This function compensates the position of the slave axis currently in synchronized control.
			Cam monitor (NJ[]01-[][]00)	Outputs the specified offset position for the slave axis in synchronous control.
			*Start velocity 6**	You can set the initial velocity when axis motion starts.
	Axes Groups	Multi-axes Coordinated Control	Absolute Linear Interpolation	Linear interpolation is performed to a specified absolute position.
			Relative Linear Interpolation	Linear interpolation is performed to a specified relative position.
			Circular 2D Interpolation	Circular interpolation is performed for two axes.
			Axes Group Cyclic Synchronous Absolute Positioning	A positioning command is output each control period in Position Control Mode.*3
		Auxiliary Functions for Multi-axes Coordinated Control	Resetting Axes Group Errors	Axes group errors and axis errors are cleared.
			Enabling Axes Groups	Motion of an axes group is enabled.
			Disabling Axes Groups	Motion of an axes group is disabled.
			Stopping Axes Groups	All axes in interpolated motion are decelerated to a stop.
			Immediately Stopping Axes Groups	All axes in interpolated motion are stopped immediately.
			Setting Axes Group Override Factors	The blended target velocity is changed during interpolated motion.
			Reading Axes Group Positions	The command current positions and actual current positions of an axes group can be read.*3
			Changing the Axes in an Axes Group	The Composition Axes parameter in the axes group parameters can be overwritten temporarily.*3
	Common Items	Cams	Setting Cam Table Properties	The end point index of the cam table that is specified in the input parameter is changed.
			Saving Cam Tables	The cam table that is specified with the input parameter is saved in non-volatile memory in the CPU Unit.
			Generating cam tables *7	The cam table that is specified with the input parameter is generated from the cam property and cam node.
		Parameters	Writing MC Settings	Some of the axis parameters or axes group parameters are overwritten temporarily.
		Parameters	Changing axis parameters *7	You can access and change the axis parameters from the user program.
	Auxiliary Functions	Count Modes		You can select either Linear Mode (finite length) or Rotary Mode (infinite length).
		Unit Conversions		You can set the display unit for each axis according to the machine.
		Acceler- ation/ Deceleration Control	Automatic Acceleration/ Deceleration Control	Jerk is set for the acceleration/deceleration curve for an axis motion or axes group motion.
		Acceler- ation/ Deceleration Control	Changing the Acceleration and Deceleration Rates	You can change the acceleration or deceleration rate even during acceleration or deceleration.
		In-position Check		You can set an in-position range and in-position check time to confirm when positioning is completed.
		Stop Method		You can set the stop method to the immediate stop input signal or limit input signal.
		Re-execution of Motion Control Instructions		You can change the input variables for a motion control instruction during execution and execute the instruction again to change the target values during operation.
		Multi-execution of Motion Control Instructions (Buffer Mode)		You can specify when to start execution and how to connect the velocities between operations when another motion control instruction is executed during operation.
		Continuous Axes Group Motions (Transition Mode)		You can specify the Transition Mode for multi-execution of instructions for axes group operation.
Monitoring Functions		Software Limits	Software limits are set for each axis.
		Following Error	The error between the command current value and the actual current value is monitored for an axis.
		Velocity, Acceleration Rate, Deceleration Rate, Torque, Interpolation Velocity, Interpolation Acceleration Rate, And Interpolation Deceleration Rate	You can set and monitor warning values for each axis and each axes group.
Absolute Encoder Support		You can use an OMRON G5-Series or 1S-Series Servomotor with an Absolute Encoder to eliminate the need to perform homing at startup.
*Input signal logic inversion 6**		You can inverse the logic of immediate stop input signal, positive limit input signal, negative limit input signal, or home proximity input signal.
External Interface Signals			The Servo Drive input signals listed on the right are used. Home signal, home proximity signal, positive limit signal, negative limit signal, immediate stop signal, and interrupt input signal
Unit (I/O) Manage- ment		EtherCAT Slaves	Maximum Number of Slaves		192
		CJ-Series Units	Maximum number of Units		40
	Basic I/O Units	CJ-Series Units	Load Short- circuit Protection and I/O Disconnection Detection	Alarm information for Basic I/O Units is read.
Communi- cations	Peripheral USB Port			A port for communications with various kinds of Support Software running on a personal computer.
	Secure Communications			Function for secure communication with support software
	Built-in Ether- Net/IP port Internal Port	Communications protocol		TCP/IP, UDP/IP
		CIP Communi- cations Service	Tag Data Links	Programless cyclic data exchange is performed with the devices on the EtherNet/IP network.
		CIP Communi- cations Service	Message Communications	CIP commands are sent to or received from the devices on the EtherNet/IP network.
		TCP/IP functions	CIDR	The function which performs IP address allocations without using a class (class A to C) of IP address.
		TCP/IP Applications	Socket Services	Data is sent to and received from any node on Ethernet using the UDP or TCP protocol. Socket communications instructions are used.
			*FTP client 7**	File can be read from or written to computers at other Ethernet nodes from the CPU Unit. FTP client communications instructions are used.
			FTP Server	Files can be read from or written to the SD Memory Card in the CPU Unit from computers at other Ethernet nodes.
			Automatic Clock Adjustment	Clock information is read from the NTP server at the specified time or at a specified interval after the power supply to the CPU Unit is turned ON. The internal clock time in the CPU Unit is updated with the read time.
			SNMP Agent	Built-in EtherNet/IP port internal status information is provided to network management software that uses an SNMP manager.
		OPC UA (NJ501-1[]00)	Server Function	Functions to respond to requests from clients on the OPC UA network
	EtherCAT Port	Supported Services	Process Data Communications	Control information is exchanged in cyclic communications between the EtherCAT master and slaves.
		Supported Services	SDO Communications	A communications method to exchange control information in noncyclic event communications between EtherCAT master and slaves. This communications method is defined by CoE.
		Network Scanning		Information is read from connected slave devices and the slave configuration is automatically generated.
		DC (Distributed Clock)		Time is synchronized by sharing the EtherCAT system time among all EtherCAT devices (including the master).
		Enable/disable Settings for Slaves		The slaves can be enabled or disabled as communications targets.
		Disconnecting/Connecting Slaves		Temporarily disconnects a slave from the EtherCAT network for maintenance, such as for replacement of the slave, and then connects the slave again.
		Supported Application Protocol	CoE	SDO messages of the CAN application can be sent to slaves via EtherCAT.
	Communications Instructions			The following instructions are supported. CIP communications instructions, socket communications instructions, SDO message instructions, no-protocol communications instructions, protocol macro instructions, and FTP client instructions 7, and Modbus RTU protcol instructions 8
Operation Manage- ment	RUN Output Contacts			The output on the Power Supply Unit turns ON in RUN mode.
System Manage- ment	Event Logs	Function		Events are recorded in the logs.
		Maximum number of events	System event log	1,024
			Access event log	1,024
			User-defined event log	1,024
Debugging	Online Editing	Single		Programs, function blocks, functions, and global variables can be changed online. Different operators can change different POUs across a network.
	Forced Refreshing			The user can force specific variables to TRUE or FALSE.
		Maximum Number of Forced Variables	Device Variables for EtherCAT Slaves	64
		Maximum Number of Forced Variables	Device Variables for CJ-series Units and Variables with AT Specifications	64
	*MC Test Run 9**			Motor operation and wiring can be checked from the Sysmac Studio.
	Synchronizing			The project file in the Sysmac Studio and the data in the CPU Unit can be made the same when online.
	*Differentiation monitoring 1**			Rising/falling edge of contacts can be monitored.
		*Maximum number of contacts 1**		8
	Data Tracing	Types	Single Triggered Trace	When the trigger condition is met, the specified number of samples are taken and then tracing stops automatically.
		Types	Continuous Trace	Data tracing is executed continuously and the trace data is collected by the Sysmac Studio.
		Maximum Number of Simultaneous Data Trace		4 *10
		Maximum Number of Records		10,000
		Sampling	Maximum Number of Sampled Variables	192 variables
		Timing of Sampling		Sampling is performed for the specified task period, at the specified time, or when a sampling instruction is executed.
		Triggered Traces		Trigger conditions are set to record data before and after an event.
			Trigger Conditions	When BOOL variable changes to TRUE or FALSE Comparison of non-BOOL variable with a constant Comparison Method: Equals (=), Greater than (>), Greater than or equals (≥), Less Than (<), Less than or equals (≤), Not equal (≠)
			Delay	Trigger position setting: A slider is used to set the percentage of sampling before and after the trigger condition is met.
	Simulation			The operation of the CPU Unit is emulated in the Sysmac Studio.
Reliability Functions	Self-diagnosis	Controller Errors	Levels	Major fault, partial fault, minor fault, observation, and information
		User-defined errors		User-defined errors are registered in advance and then records are created by executing instructions.
			Levels	8 levels
Security	Protecting Software Assets and Preventing Operating Mistakes	CPU Unit Names and Serial IDs		When going online to a CPU Unit from the Sysmac Studio, the CPU Unit name in the project is compared to the name of the CPU Unit being connected to.
		Protection	User Program Transfer with No Restoration Information	You can prevent reading data in the CPU Unit from the Sysmac Studio.
			CPU Unit Write Protection	You can prevent writing data to the CPU Unit from the Sysmac Studio or SD Memory Card.
			Overall Project File Protection	You can use passwords to protect .smc files from unauthorized opening on the Sysmac Studio.
			Data Protection	You can use passwords to protect POUs on the Sysmac Studio.*3
		Verification of Operation Authority		Online operations can be restricted by operation rights to prevent damage to equipment or injuries that may be caused by operating mistakes.
			Number of Groups	5 *11
		Verification of User Program Execution ID		The user program cannot be executed without entering a user program execution ID from the Sysmac Studio for the specific hardware (CPU Unit).
SD Memory Card Functions	Storage Type			SD Memory Card, SDHC Memory Card
	Application	Automatic transfer from SD Memory Card *1		The data in the autoload folder on an SD Memory Card is automatically loaded when the power supply to the Controller is turned ON.
		Transfer program from SD Memory Card *8		The user program on an SD Memory Card is loaded when the user changes system-defined variable to TRUE.
		SD Memory Card Operation Instructions		You can access SD Memory Cards from instructions in the user program.
		File Operations from the Sysmac Studio		You can perform file operations for Controller files in the SD Memory Card and read/write standard document files on the computer.
		SD Memory Card Life Expiration Detection		Notification of the expiration of the life of the SD Memory Card is provided in a systemdefined variable and event log.
Backup functions *1	SD Memory Card backup functions	Operation	Using front switch	You can use front switch to backup, compare, or restore data.
			Using system- defined variables	You can use system-defined variables to backup, compare, or restore data. *12
			Memory Card Operations Dialog Box on Sysmac Studio	Backup and verification operations can be performed from the SD Memory Card Operations Dialog Box on the Sysmac Studio.
			Using instruction *7	Backup operation can be performed by using instruction.
		Protection	Prohibiting backing up data to the SD Memory Card	Prohibit SD Memory Card backup functions.
	Sysmac Studio Controller backup functions			Backup, restore, and verification operations for Units can be performed from the Sysmac Studio.

*1. Supported only by the CPU Units with unit version 1.03 or later.
*2. Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)
*3. Supported only by the CPU Units with unit version 1.01 or later.
*4. Supported only by the CPU Units with unit version 1.06 or later.
*5. Supported only by the CPU Units with unit version 1.10 or later.
*6. Supported only by the CPU Units with unit version 1.05 or later.
*7. Supported only by the CPU Units with unit version 1.08 or later.
*8. Supported only by the CPU Units with unit version 1.11 or later.
*9. Cannot be used with the NJ101-9000.
*10.Maximum Number of Simultaneous Data Trace of the NJ501-[][]20 CPU Unit with unit version 1.08 or later is 2.
*11.When the NJ501 CPU Units with unit version 1.00 is used, this value becomes two.
*12. Restore is supported with unit version 1.14 or later.

Function Specifications of Robot integrated CPU Units

Besides functions of the NJ501-1[][]0, functions supported by the NJ501-R[][]0 are as follows.

Item			Description
Item			NJ501-R[][]0
Robot Control	Number of robots	Maximum number of robots	8 robots
	Motion Operation	Basic operation	Joint interpolation operation, Linear motion, Arc motion, Jog motion
		Coordinate system of Tool	Descent (APPRO), Rising (DEPART), Tool alignment (ALIGN)
		Joint motion	Each joint operation (DRIVE)
		Application	Pick or Place
		Continous-path motion	ON, OFF
		Deceleration Stop	Braking current motion
		Home position	Move to home position (READY)
	Motion Modifiers	Speed of the robot	Velocity profile, Velocity, Acceleration, Deceleration, Minimum operation time
		Unit of speed	Ratio for maximum velocity, [mm/s], [inch/s]
		Arm configuration	ABOVE/BELOW, LEFTY/RIGHTY, FLIP/NOFLIP
		Hardware servo	High accuracy/Low accuracy
		Axis of rotation	Rotation Range, Rotation Range Over Error
		Position Deviation	Pending position deviation cancellation
	Latching	Robot position	You can read the robot position in the V+ program when a latch signal occurred.
	Latching	Local encoder	You can read the counter value of encoder that is connected to the encoder input port of OMRON robot in the V+ program when a latch signal occurred.
	Other functions	Coordinate system	World coordinate system, Tool coordinate system, Conversion from/to NJ Robotics function coordinate system
		Position variable	Conversion, Relative conversion, High accuracy position
		Robot tool	Tool offset setting
		End effector operation	Open/Close/Loosen Gripper
		Conveyor tracking	Belt variable, Nominal transformation, Encoder scaling factor, Encoder offset, Belt window, Belt relative motion
		Stop	Specified time stop (DELAY)