Omron NX102-[][][][] Series – CPU Units – NX-Series Controller NX1

Name: Omron NX102-[][][][] Series - CPU Units - NX-Series Controller NX1
SKU: NX-OD6256-5
Price: 321.7896 USD
Availability: InStock

$ 321.79

SKU NX-OD6256-5 Category Omron NX1

Omron produce industrial sensors range such as fiber sensors, photoelectric sensors, displacement sensors/ measurement sensors, proximity sensors, photomicro sensors and rotary encodes.

Features

The NX1 can utilize information, take safety measures, and control quality while at the same time improving production efficiency through high-speed, high-precision control.
This contributes to continuous improvement in productivity.

Real-time traceability

The NX1 provides high-speed control while utilizing information.
For example, the NX1 used for a packaging machine with the capability of handling 1,000 products per minute can collect all traceability data in synchronization with the production cycle while performing motion control.

Integrated safety across production line

The NX1 is the frst in the world* to integrate two different open networks: EtherNet/IP™ for scalable safety control in production lines and EtherCAT® for fast and reliable redundant safety control in machines. Furthermore, it integrates safety control into machine control in lines that require fast cycle times.
This integration allows you to standardize machines and build fexible lines.
* Based on Omron investigation in March 2018.

High-speed in-line inspection

Although special inspection machines with built-in PC are widely used for high-speed inspections, they require special maintenance skills.
Therefore, acceptance sampling is often carried out offline to prevent line stoppages.
The NX1 can be used in conjunction with the High-speed Analog Input Unit to collect measurement data within a fixed cycle time of 5 μs. This standard controller eliminates the need for special machines with PC and can be maintained by on-site engineers. Inline inspections of all products can also be conducted easily.

Seamless Integration: Production Line & IT systems

The NX1 Controller integrates inputs, logic, outputs, safety, and robotics, offering a wide variety of applications that leverage information to boost productivity and measures for quality and safety.

NX1 brings advanced control in miniaturized size

Three industrial Ethernet ports and a power supply are housed in a compact design with a width of 66 mm.
The NX1 provides key functionality to integrate control and information for advanced manufacturing applications.
The new controller contributes to the pursuit of productivity improvements.

High-speed, high-precision control

Synchronized control of I/O and motion within 1 ms cycle time Jitter : 1 μs
Memory capacity for variables : 33.5 MB*1

Redundancy to minimize downtime (NX102-[][]00)

Even if a part of the EtherCAT network is disconnected, Cable Redundancy provides continuous connectivity.
This function allows you to fix disconnection without stopping the machines and production line where one controller provides both machine control and safety control.

Multicore microprocessor for control and data handling

The multicore microprocessor enables information utilization including communications and traceability without compromising control performance.

Secure host connection

OPC UA is an IEC communication protocol which is listed as a recommendation for Industrie 4.0 and PackML. The NX1 comes equipped with an OPC UA server interface and provides a secure connection to IT systems such as MES and ERP.

The NX1 provides a easily and secure connection to the cloud by using MQTT Communications Library.

Enhanced Ethernet functionality

Connectivity to existing devices (e.g., Modbus/TCP*2, FINS communications, and connection to other vendor PLC*3) and EtherNet/IP™ performance (increased to 12,000 pps*4) are improved. Packet Filter enhances security, and visualization of EtherCAT® slave errors makes troubleshooting easier.

*1. The total number of bytes of retained and non-retained variables.
*2. Clients instructions are supported.
*3. SLMP commands are included in the Sysmac Library.
*4. The total pps of two ports.

Lineup

Digital Output Units

Product Name	Specifications						Model
Product Name	Number of points	Internal I/O common	Maximum value of load current	Rated voltage	I/O refreshing method	ON/OFF response time	Model
Transistor Output Unit (Screwless Clamping Terminal Block, 12 mm Width)	2	NPN	0.5 A/point, 1 A/Unit	24 VDC	Output refreshing with specified time stamp only *1	300 ns max./ 300 ns max.	NX-OD2154
	2	PNP	0.5 A/point, 1 A/Unit	24 VDC	Output refreshing with specified time stamp only *1	300 ns max./ 300 ns max.	NX-OD2258
	4	NPN	0.5 A/point, 2 A/Unit	12 to 24 VDC	Switching Synchronous I/O refreshing and Free- Run refreshing	0.1 ms max./ 0.8 ms max.	NX-OD3121
		NPN		24 VDC		300 ns max./ 300 ns max.	NX-OD3153
		PNP				0.5 ms max./ 1.0 ms max.	NX-OD3256
						300 ns max./ 300 ns max.	NX-OD3257
			2 A/point, 8 A/Unit			0.5 ms max./ 1.0 ms max.	NX-OD3268
	8	NPN	0.5 A/point, 4 A/Unit	12 to 24 VDC		0.1 ms max./ 0.8 ms max.	NX-OD4121
	8	PNP		24 VDC		0.5 ms max./ 1.0 ms max.	NX-OD4256
	16	NPN		12 to 24 VDC		0.1 ms max./ 0.8 ms max.	NX-OD5121
	16	PNP		24 VDC		0.5 ms max./ 1.0 ms max.	NX-OD5256
Transistor Output Unit (M3 Screw Terminal Block, 30 mm Width)	16	NPN	0.5 A/point, 5 A/Unit	12 to 24 VDC	Switching Synchronous I/O refreshing and Free- Run refreshing	0.1 ms max./ 0.8 ms max.	NX-OD5121-1
	16	PNP	0.5 A/point, 5 A/Unit	24 VDC		0.5 ms max./ 1.0 ms max.	NX-OD5256-1
Transistor Output Unit (MIL Connector, 30 mm Width)	16	NPN	0.5 A/point, 2 A/Unit	12 to 24 VDC	Switching Synchronous I/O refreshing and Free- Run refreshing	0.1 ms max./ 0.8 ms max.	NX-OD5121-5
	16	PNP	0.5 A/point, 2 A/Unit	24 VDC		0.5 ms max./ 1.0 ms max.	NX-OD5256-5
	32	NPN	0.5 A/point, 2 A/ common, 4 A/Unit	12 to 24 VDC		0.1 ms max./ 0.8 ms max.	NX-OD6121-5
	32	PNP	0.5 A/point, 2 A/ common, 4 A/Unit	24 VDC		0.5 ms max./ 1.0 ms max.	NX-OD6256-5
Transistor Output Unit (Fujitsu Connector, 30 mm Width)	32	NPN	0.5 A/point, 2 A/ common, 4 A/Unit	12 to 24 VDC	Switching Synchronous I/O refreshing and Free- Run refreshing	0.1 ms max./ 0.8 ms max.	NX-OD6121-6
Relay Output Unit (Screwless Clamping Terminal Block, 12 mm Width/24 mm Width)	2	Relay type: N.O.	250 VAC/2 A (cos =1), 250 VAC/2 A (cosφ=0.4), 24 VDC/ 2 A, 4 A/Unit		Free-Run refreshing	15 ms max./ 15 ms max.	NX-OC2633
	2	Relay type: N.O.+N.C.			Free-Run refreshing	15 ms max./ 15 ms max.	NX-OC2733
	8	Relay type: N.O.	250 VAC/2 A (cos =1), 250 VAC/2 A (cosφ=0.4), 24 VDC/ 2 A, 8 A/Unit		Free-Run refreshing	15 ms max./ 15 ms max.	NX-OC4633

*1. To use input refreshing with input changed time, the EtherCAT Coupler Unit with unit version 1.1 or later and the Sysmac Studio version 1.07 or higher are required.

SPECIFICATIONS

Electrical and Mechanical Specifications

Item		Specification
Model		NX102-[][][][]
Enclosure		Mounted in a panel
*Dimensions (mm) 1**		72 × 100 × 90 mm (W×H×D)
*Weight 2**		390 g max.
Unit power supply	Power supply voltage	24 VDC (20.4 to 28.8 VDC)
	Unit power consumption *3	5.80 W max.
	*Inrush current 4**	For cold start at room temperature: 10 A max./0.1 ms max. and 2.5 A max./150 ms max.
	Current capacity of power supply terminal *5	4 A max.
	Isolation method	No isolation: between the Unit power supply terminal and internal circuit
Power supply to the NX Unit power supply	NX Unit power supply capacity	10 W max.
	NX Unit power supply efficiency	80%
	Isolation method	No isolation: between the Unit power supply terminal and NX Unit power supply
I/O Power Supply to NX Units		Not provided *6
External connection terminal	Communication connector	RJ45 for EtherNet/IP Communications × 2 RJ45 for EtherCAT Communications × 1
	Screwless clamping terminal block	For Unit power supply input and grounding (Removable)
	Output terminal (service supply)	Not provided
	RUN output terminal	Not provided
	NX bus connector	32 NX Units can be connected

*1. Includes the End Cover, and does not include projecting parts.
*2. Includes the End Cover. The weight of the End Cover is 82 g.
*3. Includes an SD Memory Card. The NX Unit power consumption to NX Units is not included.
*4. The inrush current that occurs when the supplied power is changed to ON from a continuous OFF state.
The inrush current may vary depending on the operating condition and other conditions. Therefore, select fuses, breakers, and external power supply devices that have enough margin in characteristic and capacity, considering the condition under which the devices are used.
In particular, in case when you insert a switch to turn ON/OFF the DC power supplied from an external power supply, if the duration of an ON-OFF-ON cycle is one second or less, the inrush control circuit may not function, which cause an inrush current of approximately 30 A/0.3 ms.
*5. The amount of current that can be passed constantly through the terminal. Do not exceed this current value when you use a through-wiring for the Unit power supply.
*6. When the type of the I/O power supply to NX Units you use is the supply from NX bus, an Additional I/O Power Supply Unit is required. Refer to NX-series NX102 CPU Unit Hardware User’s Manual (W593) for details.

General Specifications

Item		Specification
Enclosure		Mounted in a panel
Grounding method		Ground to less than 100 Ω.
Operating environment	Ambient operating temperature	0 to 55°C
	Ambient operating humidity	10% to 95% (with no condensation)
	Atmosphere	Must be free from corrosive gases.
	Ambient storage temperature	-25 to 70°C (excluding battery)
	Altitude	2,000 m max.
	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 100 min each 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
Battery	Life	5 years (Power ON time rate 0% (power OFF))
Battery	Model	CJ1W-BAT01 (sold separately)
Applicable standards *1	EU Directives	EN 61131-2
	cULus	Listed UL 61010-2-201 and ANSI/ISA 12.12.01
	Shipbuilding Standards	NK, LR
	Other than the above.	RCM, KC, and EAC

*1. Refer to the consult your OMRON representative for the most recent applicable standards for each model.

Performance Specifications

Item				NX102-
Item				12[][]	11[][]	10[][]	90[][]
Processing time	Instruction execution times	LD instruction		3.3 ns
Processing time	Instruction execution times	Math instructions (for long real data)		70 ns or more
Programming	Program capacity *1	Size		5 MB
		Quantity	Number of POU definitions	3,000
		Quantity	Number of POU instances	9,000
	Memory capacity for variables *2	Retain attribute	Size	1.5 MB
		Retain attribute	Number of variables	10,000
		No Retain attribute	Size	32 MB
		No Retain attribute	Number of variables	90,000
	Data types	Number of data types		1,000
	Memory for CJ-series Units (Can be specified with AT specifications for variables.)	CIO Area		0 to 6,144 words (CIO 0 to CIO 6,143) *3
		Work Area		0 to 512 words (W0 to W511) *3
		Holding Area		0 to 1,536 words (H0 to H1,535) *4
		DM Area		0 to 32,768 words (D0 to D32,767) *4
		EM Area		32,768 words × 25 banks (E0_0 to E18_32,767) 4 5
Motion control	Number of controlled axes *6	Maximum number of controlled axes		15 axes			4 axes
			Motion control axes	11 axes			—
			Single-axis position control axes	4 axes
		Maximum number of used real axes		12 axes	8 axes	6 axes	4 axes
			Used motion control servo axes	8 axes	4 axes	2 axes	—
			Used single- axis position control servo axes	4 axes
		Maximum number of axes for linear interpolation axis control		4 axes per axes group			—
		Number of axes for circular interpolation axis control		2 axes per axes group			—
	Maximum number of axes groups			8 axes groups			—
	Motion control period			The same control period as that is used for the process data communications cycle for EtherCAT.
	Cams	Number of cam data points	Maximum points per cam table	65,535 points
		Number of cam data points	Maximum points for all cam tables	262,140 points
		Maximum number of cam tables		160 tables
	Position units			Pulse, mm, μm, nm, degree, and inch
	Override factors			0.00%, or 0.01% to 500.00%
Built-in EtherNet/IP port	Number of ports			2
	Physical layer			10BASE-T/100BASE-TX
	Frame length			1,514 bytes max.
	Media access method			CSMA/CD
	Modulation			Baseband
	Topology			Star
	Baud rate			100 Mbps (100BASE-TX)
	Transmission media			STP (shielded, twisted-pair) cable of Ethernet category 5, 5e or higher
	Maximum transmission distance between Ethernet switch and node			100 m
	Maximum number of cascade connections			There are no restrictions if an Ethernet switch is used.
	CIP service: Tag data links (cyclic com- munications)	Maximum number of connections		32 per port 64 total
		*Packet interval 7**		Can be set for each connection. 1 to 10,000 ms in 1-ms increments
		Permissible communications band		12,000 pps 8 9 (including heartbeat, CIP Safety routing)
		Maximum number of tag sets		32 per port 40 total *10
		Tag types		Network variables CIO/WR/HR/DM
		Number of tags per connection (i.e., per tag set)		8 (7 tags if Controller status is included in the tag set.)
		Maximum number of tags		256 per port 512 total
		Maximum link data size per node (total size for all tags)		19,200 bytes per port 38,400 bytes total
		Maximum data size per connection		600 bytes
		Maximum number of registrable tag sets		32 per port 40 total *10 (1 connection = 1 tag set)
		Maximum tag set size		600 bytes (Two bytes are used if Controller status is included in the tag set.)
		*Multi-cast packet filter 11**		Supported.
	CIP message service: Explicit messages	Class 3 (number of connections)		32 per port 64 total (clients plus server)
		UCMM (non- connection type)	Maximum number of clients that can communicate at one time	32 per port 64 total
		UCMM (non- connection type)	Maximum number of servers that can communicate at one time	32 per port 64 total
	CIP Safety routing	Maximum number of routable CIP Safety connections		16 total
	CIP Safety routing	Maximum routable safety data length per connection		32 bytes
	Number of TCP sockets			60
	Secure Socket Service	Maximum number of Secure Socket		60
	Secure Socket Service	TLS Version		1.2
	OPC UA Server	Support profile/Model		Micro Embedded Device Server Profile PLCopen Information Model
		Default Endpoint/Port		opc.tcp://192.168.250.1:4840/
		Maximum number of sessions (Client)		5
		Maximum number of Monitored Items per server		2,000
		Sampling rate of Monitored Items (ms)		0, 50, 100, 250, 500, 1000, 2000, 5,000, 10,000 (If set to 0 (zero), it is assumed that is set to 50.)
		Maximum number of Subscriptions per server		100
		Maximum number of variables that can be published		10,000
		Maximum number of value attributes that can be published *16		10,000
		Maximum number of structure definitions that can be published		100
		Restrictions on variables unable to be published		• Variables whose size is over 60 KB • Two-dimensional or higher structure arrays • Structures that include two-dimensional and higher arrays • Structures with four or higher levels of nesting • Unions • Arrays whose index number suffix does no start from 0 • Arrays with 2,048 or more elements • Structures with 100 or more members
		SecurityPolicy/Mode		Select one of the following. None Sign – Basic128Rsa15 Sign – Basic256 Sign – Basic256Sha256 SignAndEncrypt – Basic128Rsa15 SignAndEncrypt – Basic256 SignAndEncrypt – Basic256Sha256
		Application Authentica- tion	Authentication	X.509
		Application Authentica- tion	Maximum number of storable certifications	Trusted certification: 32 Issuer certification: 32 Rejected certification: 32
		User Authentica- tion	Authentication	You can set the following items. User name/password Anonymous
Built-in EtherCAT port	Communications standard			IEC 61158 Type12
	EtherCAT master specifications			Class B (Feature Pack Motion Control compliant)
	Physical layer			100BASE-TX
	Modulation			Baseband
	Baud rate			100 Mbps (100BASE-TX)
	Duplex mode			Auto
	Topology			Line, daisy chain, branching and ring *13
	Transmission media			Twisted-pair cable of category 5 or higher (double- shielded straight cable with aluminum tape and braiding)
	Maximum transmission distance between nodes			100 m
	Maximum number of slaves			64
	Range of node addresses that can be set			1 to 192
	Maximum process data size			Input: 5,736 bytes Output: 5,736 bytes *14
	Maximum process data size per slave			Input: 1,434 bytes Output: 1,434 bytes
	Communications cycle			1,000 to 32,000 μs (in 250-μs increments)
	Sync jitter			1 μs max.
Unit configura- tion	Units on CPU Rack	Maximum number of NX Units that can be mounted to the CPU Unit		32
	Units on CPU Rack	Maximum I/O data size that can be allocated in the CPU Unit		Inputs: 8,192 bytes 15 Outputs: 8,192 bytes 15
	Maximum number of NX Units for entire controller			400
	Power supply	Model		A non-isolated power supply for DC input is built into the CPU Unit.
	Power supply	Power OFF detection time		2 to 8 ms
Internal clock	Accuracy			At ambient temperature of 55°C: -3.5 to 0.5 min error per month At ambient temperature of 25°C: -1.5 to 1.5 min error per month At ambient temperature of 0°C: -3 to 1 min error per month
Internal clock	Retention time of built-in capacitor			At ambient temperature of 40°C: 10 days

*1. Execution objects and variable tables (including variable names)
*2. Memory used for CJ-series Units is included.
*3. The value can be set in 1-word increments. The value is included in the total size of variables without a Retain attribute.
*4. The value can be set in 1-word increments. The value is included in the total size of variables with a Retain attribute.
*5. It is not possible to use the maximum number of words simultaneously for all banks, because the memory capacity for variables with a Retain attribute is limited to 1.5 MB.
*6. For terminology, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507).
*7. Data will be refreshed at the set interval, regardless of the number of nodes.
*8. “pps” means packets per second, i.e., the number of communications packets that can be sent or received in one second.
*9. The allowable bandwidth varies depending on the RPI of the connection in use, the primary task period, and the number of ports simultaneously used for EtherNet/IP communications.
*10.When tag sets that exceed the total of 40 are set, a Number of Tag Sets for Tag Data Links Exceeded (840E0000 hex) occurs.
*11.As the EtherNet/IP port implements the IGMP client, unnecessary multi-cast packets can be filtered by using an Ethernet switch that supports IGMP Snooping.
*12.The number of value attributes is defined by the following formula.
Number of value attributes = (Number of basic data type variables) + (Number of array-specified elements) + (Number of values in the structure)
*13.Ring topology is supported with the project version 1.40 or later of NX102-[][]00. Slaves on a ring topology should support a ring topology. If Omron slaves, please see the user’s manual of slaves.
*14.For project unit version earlier than 1.40, the data must be within four frames.
*15.You can check the I/O allocation status with the Sysmac Studio. Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for how to check the I/O allocation status. Also, refer to the relevant manuals for specific Units for the maximum I/O data size per NX Unit.

Function Specifications

Item				NX102
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	2
		Conditionally executed tasks	Maximum number of event tasks	32
		Conditionally executed tasks	Execution condition	When Activate Event Task instruction is executed or when condition expression for variable is met
Programming	POU (Program Organization Unit)	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 objects that determine unique outputs for the inputs, such as for data processing
	Programming languages	Types		Ladder diagrams *1 and structured text (ST)
	Namespaces			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	Basic 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	2,048
			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
		Unions	Function	A derivative data type that enables access to the same data with different data types
			Maximum number of members	4
			Member data types	BOOL, BYTE, WORD, DWORD, LWORD
		Enumerations	Function	A derivative data type that uses text strings called enumerators to express variable values
	Data type attributes	Array specifications	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	65,535
			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, virtual encoder axes, PTP axes
	Positions that can be managed			Command positions and actual positions
	Single axes	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	A positioning command is output each control period in 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 synchronized 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	The parameters are specified, the 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
			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	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 Compensation	This function compensates the position of the slave axis currently in synchronized control.
			Cam monitor	Outputs the specified offset position for the slave axis in synchronous control.
			Start velocity	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
		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
			Changing the axes in an axes group	The Composition Axes parameter in the axes group parameters can be overwritten temporarily
	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	The cam table is generated from the cam property and cam node that is specified in input parameters
		Parameters	Writing MC settings	Some of the axis parameters or axes group parameters are overwritten temporarily
		Parameters	Changing axis parameters	The axis parameters can be accessed or changed 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
		Acceleration/ deceleration control	Automatic acceleration/ deceleration control	Jerk is set for the acceleration/deceleration curve for an axis motion or axes group motion
		Acceleration/ 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	The movement range of an axis is monitored
		Following error	The error between the command current value and the actual current value is monitored for each axis
		Velocity, acceleration rate, deceleration rate, torque, interpolation velocity, interpolation acceleration rate, 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 1S-series Servomotor or G5-series Servomotor with an Absolute Encoder to eliminate the need to perform homing at startup
Input signal logic inversion		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 below are used. Home signal, home proximity signal, positive limit signal, negative limit signal, immediate stop signal, interrupt input signal
Unit (I/O) management		EtherCAT slaves	Maximum number of slaves		64
Communi- cations		Built-in EtherNet/IP port	Communications protocol		TCP/IP, UDP/IP
	TCP/IP functions		CIDR	The function which performs IP address allocations without using a class (class A to C) of IP address
			IP Forwarding	The function which forwards IP packets between interfaces
			Packet Filter	The function which checks the IP packet to determine whether to receive and send it based on the source IP address and TCP port number
	CIP communica- tions service		Tag data links	Programless cyclic data exchange is performed with the devices on the EtherNet/IP network
			Message communications	CIP commands are sent to or received from the devices on the EtherNet/IP network
			CIP Safety routing	Routing function for CIP Safety on the EtherNet/IP network. The endpoint of CIP Safety is NX-SL5[]00 in the system
	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
			Secure Socket service (Client)	Establishes a TLS session with the TCP protocol, and sends and receives arbitrary data to and from the server and any node on the Ethernet using instructions for secure socket communication
			FTP client	Files are transferred via FTP from the CPU Unit to computers or controllers at other Ethernet nodes. FTP client communications instructions are used
			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		Server function	The function to respond to requests from clients on the OPC UA network
	EtherCAT port	Supported services	Process data communications	A communications method to exchange control information in cyclic communications between the EtherCAT master and slaves. This communications method is defined by CoE
		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			CIP communications instructions, socket communications instructions, SDO message instructions, no-protocol communications instructions, FTP client instructions, Modbus RTU protcol instructions, Modbus TCP protcol instructions
System management	Event logs	Function		Events are recorded in the logs
		Maximum number of events	System event log	768 *2 [containing] • For CPU Unit: 512 • For NX Unit without MPU: 256
			Access event log	576 [containing] • For CPU Unit: 512 • For NX Unit without MPU: 64
			User-defined event log	512
Debugging	Online editing	Single		Programs, function blocks, functions, and global variables can be changed online. More than one operators can change POUs individually via network
	Forced refreshing			The user can force specific variables to TRUE or FALSE
		Maximum number of forced variables	Device variables for EtherCAT slaves	64
	MC Test Run			Motor operation and wiring can be checked from the Sysmac Studio
	Synchronizing			The project file in the Sysmac Studio and the data in the CPU Unit can be made the same when online
	Differential monitoring			You can monitor when a variable changes to TRUE or changes to FALSE
		Maximum number of monitored variables		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 traces		2
		Maximum number of records		10,000
		Sampling	Maximum number of sampled variables	48
		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	You can set the percentage of sampling before and after the trigger condition is met
	Safety data logging	Function		Records variables used in the safety program of the Safety CPU Unit in a chronological order
		Targets	Target Safety CPU Unit	NX-SL5[]00 *3
			Target variable types	Exposed variables and device variables used in the safety program
			Maximum number of logged variables	100
			Data types	SAFEBOOL, SAFEBYTE, SAFEWORD, SAFEINT, SAFEDINT,BOOL, BYTE, WORD, INT, DINT
			Maximum logging time	480 s (Depends on logging interval)
			Logging interval	Select from minimum value which stores from primary periodic task cycle or adds constant number multiple (x1, x2, x3, x4) of primary periodic task cycle *4
		Maximum number of simultaneous executions		2
	Simulation			The operation of the CPU Unit is emulated in the Sysmac Studio
Reliability functions	Self- diagnosis	Controller errors	Levels	Major faults, partial faults, minor faults, observation, information
		User-defined errors		User-defined errors are registered in advance and then records are created by executing instructions
			Levels	8
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
		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
		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		When the power supply to the controller is turned ON, the data that is stored in the autoload directory of the SD Memory Card is transferred to the controller
		Program transfer from SD Memory Card		With the specification of the system-defined variable, you can transfer a program that is stored in the SD Memory Card to the controller
		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 system- defined variable and event log
Backing up data	SD Memory Card backups	Operating methods	CPU Unit front- panel DIP switch	You can perform backup, verification, and restoration operations by manipulating the front-panel DIP switch on the CPU Unit
			Specification with system-defined variables	You can perform backup, verification, and restoration operations by manipulating system-defined variables
			SD Memory Card Window in Sysmac Studio	Backup and verification operations are performed from the SD Memory Card Window of the Sysmac Studio
			Special instruction	The special instruction is used to backup data
		Protection	Disabling backups to SD Memory Cards	Backing up data to a SD Memory Card is prohibited
	Safety Unit Restore from SD Memory Card			Restores the data of the Safety CPU Unit using the front-panel DIP switch on the Safety CPU Unit and SD Memory Card
	Sysmac Studio Controller backups			The Sysmac Studio is used to backup, restore, or verify controller data

*1. Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)
*2. Up to 512 system logs for events in the CPU Unit and 256 system logs in the NX Unit can be recorded.
*3. When connected to a CPU rack.
*4. Minimum value fulfills all these conditions.
• Larger than 5 ms
• Constant number multiple of primary periodic task cycle

Function Specifications of the Database Connection CPU Units

Besides functions of the NX102-[][][][], functions supported by the NX102-[][]20 are as follows.

Item			Description
Item			NX102-1220	NX102-1120	NX102-1020	NX102-9020
Supported port			Built-in EtherNet/IP port
Supported DB versions 1 2	SQL Server by Microsoft		2012/2014/2016/2017/2019
	Oracle Database by Oracle		11g/12c/18c/19c
	DB2 for Linux, UNIX and Windows by IBM		9.7/10.1/10.5/11.1
	MySQL Community Edition by Oracle*3		5.6/5.7/8.0
	Firebird by Firebird Foundation		2.5
	PostgreSQL by PostgreSQL Global Development Group		9.4/9.5/9.6/10/11/12/13
Number of DB Connections (Number of databases that can be connected at the same time)			2 4 5
Instruction	Supported operations		The following operations can be performed by executing DB Connection Instructions in the CPU Units: Inserting records (INSERT), Updating records (UPDATE), Retrieving records (SELECT), Deleting records (DELETE), Execute Stored Procedure6, and Execute Batch Insert6
	Max. number of instructions for simultaneous execution		32
	Max. number of columns in an INSERT operation		SQL Server: 1,024 Oracle: 1,000 DB2: 1,000 MySQL: 1,000 Firebird: 1,000 PostgreSQL: 1,000
	Max. number of columns in an UPDATE operation		SQL Server: 1,024 Oracle: 1,000 DB2: 1,000 MySQL: 1,000 Firebird: 1,000 PostgreSQL: 1,000
	Max. number of columns in a SELECT operation		SQL Server: 1,024 Oracle: 1,000 DB2: 1,000 MySQL: 1,000 Firebird: 1,000 PostgreSQL: 1,000
	Max. number of records in the output of a SELECT operation		65,535 elements, 4 MB
	Stored procedure call *6	Supported databases	• SQL Server • Oracle Database • MySQL Community Edition • PostgreSQL
		Argument (Sum of IN, OUT and INOUT)	Up to 256 variables*7
		Return value	One variable
		Result set	Supported
		Spool function	Not supported
	Batch insert execution *6	Supported databases	• SQL Server • Oracle Database • MySQL Community Edition • PostgreSQL
		Supported data size	Less than 1,000 columns and upper limit (8 MB) of structure variable size or less*8
		Spool function	Not supported
	Max. number of DB Map Variables for which a mapping can be connected *9		SQL Server: 3010 Oracle: 2010 DB2: 2010 MySQL: 2010 Firebird: 15 PostgreSQL: 20*10
Run mode of the DB Connection Service			Operation Mode or Test Mode • Operation Mode: When each instruction is executed, the service actually accesses the DB • Test Mode: When each instruction is executed, the service ends the instruction normally without accessing the DB actually
Spool function			Used to store SQL statements when an error occurred and resend the statements when the communications are recovered from the error
	*Spool capacity11**		192 KB
Operation Log function			The following three types of logs can be recorded: • Execution Log: Log for tracing the executions of the DB Connection Service • Debug Log: Detailed log for SQL statement executions of the DB Connection Service • SQL Execution Failure Log: Log for execution failures of SQL statements in the DB
DB Connection Service Shutdown function			Used to shut down the DB Connection Service after automatically saving the operation log files into the SD Memory Card
Encrypted Communi- cation	Supported databases		• SQL Server • Oracle Database • MySQL Community Edition • PostgreSQL
Encrypted Communi- cation	TLS Ver.		TLS 1.2

*1. SQL Server 2014, Oracle Database 12c and PostgreSQL 9.4 are supported by the DB Connection Service Version 1.02 or higher.
SQL Server 2016, MySQL 5.7, DB2 11.1 and PostgreSQL 9.5/9.6 are supported by the DB Connection Service Version 1.03 or higher.
SQL Server 2017 is supported by the DB Connection Service Version 1.04 or higher.
Oracle Database 18c, MySQL Community Edition 8.0 and PostgreSQL 10 are supported by the DB Connection Service Version 2.00 or higher.
You cannot use Oracle 10g with the DB Connection Service version 2.00 or higher.
SQL Server 2019, Oracle Database 19c and PostgreSQL 11/12/13 are supported by the DB Connection Service Version 2.01 or higher.
*2. Connection to the DB on the cloud is not supported.
*3. The supported storage engines of the DB are InnoDB and MyISAM.
*4. When two or more DB Connections are established, the operation cannot be guaranteed if you set different database types for the connections.
*5. For the DB Connection Service Version lower than 1.04, Number of DB Connection is 1.
*6. The function is available for the DB Connection Service Version 2.00 or higher.
*7. Depends on members of a structure.
*8. Constrained by the memory capacity for variables. See the specifications for the memory capacity for variables.
*9. Even if the number of DB Map Variables has not reached the upper limit, the maximum total number of members of structures used as data type of DB Map Variables is 10,000.
*10.For DB Connection Service Version lower than 1.04, Max. number of DB Map Variables for which a mapping can be connected is 15.
*11.Refer to the NJ/NX-series Database Connection CPU Units User’s Manual (Cat. No. W527) for the information.
Note: The extended support for databases has ended for the following DB versions. Please consider replacing the current database with a new version.

Item	Discription
Microsoft Corporation: SQL Server	2008/2008R2
Oracle Corporation: Oracle Database	10g
Oracle Corporation: MySQL Community Edition	5.1/5.5
International Business Machines Corporation (IBM): DB2 for Linux, UNIX and Windows	9.5
Firebird Foundation Incorporated: Firebird	2.1
The PostgreSQL Global Development Group: PostgreSQL	9.2/9.3