Machine Automation Controller

NJ-series

CPU Unit
Software
Users Manual
NJ501-15@@
NJ501-14@@
NJ501-13@@
NJ301-12@@
NJ301-11@@

CPU Unit

W501-E1-09

 OMRON, 2011
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.

Trademarks
Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
Windows, Windows XP, Windows Vista, Windows 7, and Windows 8 are registered trademarks of Microsoft
Corporation in the USA and other countries.
EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.

Introduction

Introduction
Thank you for purchasing an NJ-series CPU Unit.
This manual contains information that is necessary to use the NJ-series CPU Unit. Please read this
manual and make sure you understand the functionality and performance of the NJ-series CPU Unit
before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.

Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).
Personnel in charge of introducing FA systems.
Personnel in charge of designing FA systems.
Personnel in charge of installing and maintaining FA systems.
Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.

Applicable Products
This manual covers the following products.
NJ-series CPU Units
NJ501-15
NJ501-14
NJ501-13
NJ301-12
NJ301-11
Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Relevant Manuals on page 2 and Related Manuals on page 35.

NJ-series CPU Unit Software Users Manual (W501)

Relevant Manuals

Relevant Manuals
The following table provides the relevant manuals for the NJ-series CPU Units.
Read all of the manuals that are relevant to your system configuration and application before you use
the NJ-series CPU Unit.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
Manual
Basic information
NJ-series Troubleshooting Manual

NJ-series Database
Connection CPU Unit
Users Manual

NJ-series CPU Unit

Built-in EtherNet/IP
Port Users Manual

NJ-series CPU Unit

Built-in EtherCAT Port
Users Manual

NJ-series Motion
Control Instructions
Reference Manual

NJ-series CPU Unit

Motion Control Users
Manual

NJ-series Instructions
Reference Manual

NJ-series CPU Unit

Software Users
Manual

Introduction to NJ-series Controllers

NJ-series CPU Unit

Hardware Users
Manual

Purpose of use

Setting devices and hardware

Using motion control

Using EtherCAT

Using EtherNet/IP

Using the database connection service

Software settings

Using motion control

Using EtherCAT

Using EtherNet/IP

Using the database connection service

Writing the user program

Using motion control

Using EtherCAT

Using EtherNet/IP

Using the database connection service

Programming error processing

Testing operation and debugging
Using motion control

Using EtherCAT

Using EtherNet/IP

Using the database connection service

Learning about error management and
corrections*1
Maintenance
Using motion control
Using EtherCAT
Using EtherNet/IP

*1 Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and an overview of
the error items. Refer to the manuals that are indicated with triangles for details on errors for the corresponding Units.

NJ-series CPU Unit Software Users Manual (W501)

Manual Structure

Manual Structure
Page Structure
The following page structure is used in this manual.

Mounting Units

Level 1 heading
Level 2 heading
Level 3 heading

Connecting Controller Components

Gives the current

headings.

4 Installation and Wiring

Level 2 heading
Level 3 heading

4-3
4-3-1

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.

A step in a procedure

Join the Units so that the connectors fit exactly.

Hook

Indicates a procedure.

Hook holes
Connector
4-3 Mounting Units

4
The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place.
Move the sliders toward the back
until they lock into place.
Lock
Release

Slider

Special information
Icons indicate
precautions, additional
information, or reference
information.

Manual name

4-3-1 Connecting Controller Components

Page tab
Gives the number
of the main section.

Precautions for Correct Use

The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.

NJ-series CPU Unit Hardware Users Manual (W500)

4-9

This illustration is provided only as a sample. It may not literally appear in this manual.

NJ-series CPU Unit Software Users Manual (W501)

Manual Structure

Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Version Information
Information on differences in specifications and functionality for CPU Units with different unit versions
and for different versions of the Sysmac Studio is given.
Note References are provided to more detailed or related information.

Precaution on Terminology
In this manual, download refers to transferring data from the Sysmac Studio to the physical Controller
and upload refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, synchronization is used to both upload and download data. Here, synchronize
means to automatically compare the data for the Sysmac Studio on the computer with the data in the
physical Controller and transfer the data in the direction that is specified by the user.

NJ-series CPU Unit Software Users Manual (W501)

Sections in this Manual

Sections in this Manual

Introduction to NJseries Controllers

10

10

11

12

Communications Setup
Example of Actual
Application Procedures

CPU Unit
Operation

11

I/O Ports, Slave

Configuration, and
Unit Configuration

12

Troubleshooting

Controller Setup

Appendices

Designing Tasks

Index

Programming

Checking Operation and

Actual Operation

CPU Unit Functions

Backup Functions

NJ-series CPU Unit Software Users Manual (W501)

Sections in this Manual

NJ-series CPU Unit Software Users Manual (W501)

CONTENTS

CONTENTS
Introduction............................................................................................................... 1
Relevant Manuals...................................................................................................... 2
Manual Structure ...................................................................................................... 3
Sections in this Manual............................................................................................ 5
Terms and Conditions Agreement ........................................................................ 14
Safety Precautions ................................................................................................. 16
Precautions for Safe Use ....................................................................................... 21
Precautions for Correct Use .................................................................................. 27
Regulations and Standards ................................................................................... 30
Unit Versions........................................................................................................... 32
Related Manuals ..................................................................................................... 35
Terminology ............................................................................................................ 37
Revision History ..................................................................................................... 41

Section 1
1-1

Introduction to NJ-series Controllers

The NJ-series Controllers ....................................................................................................... 1-2
1-1-1
1-1-2

Features...................................................................................................................................... 1-2
Introduction to the System Configurations.................................................................................. 1-4

1-2

Main Specifications ................................................................................................................. 1-7

1-3

Overall Operating Procedure for the NJ-series Controller .................................................. 1-9

1-3-1
1-3-2

Section 2
2-1

CPU Unit Operation

Overview of CPU Unit Operation............................................................................................ 2-2
2-1-1
2-1-2

2-2

Software Configuration ............................................................................................................... 2-4

Operation of Software................................................................................................................. 2-5

Accessing I/O......................................................................................................................... 2-10

2-3-1
2-3-2

2-4

Introduction to CPU Unit ............................................................................................................. 2-2

Overview of Operation According to CPU Unit Status................................................................ 2-3

Software ................................................................................................................................... 2-4

2-2-1
2-2-2

2-3

Overall Procedure....................................................................................................................... 1-9

Procedure Details ..................................................................................................................... 1-10

Types of Variables..................................................................................................................... 2-10

Accessing I/O with Variables .................................................................................................... 2-13

Sequence Control and Motion Control ................................................................................ 2-18

2-4-1
2-4-2
2-4-3

Overview of Control .................................................................................................................. 2-18

Sequence Control System ........................................................................................................ 2-20
Motion Control System ............................................................................................................. 2-21

NJ-series CPU Unit Software Users Manual (W501)

CONTENTS

2-4-4

2-5
2-6

Overview of CPU Unit Data ................................................................................................... 2-23

Operation for CPU Unit Status ............................................................................................. 2-25
2-6-1
2-6-2
2-6-3

Section 3
3-1
3-2

Procedure to Create the Slave and Unit Configurations...................................................... 3-2

Creating and Comparing the Slave and Unit Configurations .............................................. 3-5

Section 4
4-2

4-4

Overview of the Controller Setup........................................................................................... 4-2

Initial Settings for the PLC Function Module ........................................................................ 4-4
Introduction ................................................................................................................................. 4-4
Controller Setup .......................................................................................................................... 4-4
Task Settings............................................................................................................................... 4-6
Unit Configuration and Unit Setup............................................................................................. 4-11

Initial Settings for Special Units........................................................................................... 4-13

Initial Settings for the Motion Control Function Module.................................................... 4-15
4-4-1
4-4-2

Introduction ............................................................................................................................... 4-15

Setting Methods ........................................................................................................................ 4-16

4-5

Initial Settings for the EtherCAT Master Function Module ................................................ 4-17

4-6

Initial Settings for the EtherNet/IP Function Module.......................................................... 4-18

Section 5
5-1
5-2

Designing Tasks
Overview of Task Designing Procedure ................................................................................ 5-2
Task System ............................................................................................................................. 5-4
5-2-1
5-2-2
5-2-3
5-2-4
5-2-5
5-2-6
5-2-7

Introduction ............................................................................................................................... 3-16

Axis Variables and Axes Group Variables ................................................................................. 3-17
Creating and Using Axes and Axis Variables ............................................................................ 3-18

Controller Setup

4-2-1
4-2-2
4-2-3
4-2-4

4-3

Procedure to Assign Variables to Units..................................................................................... 3-13

Using Variables Assigned to Units ............................................................................................ 3-14

Creating the Axes and Assigning Them to the Servo Drives/Encoder Input Slaves....... 3-16
3-5-1
3-5-2
3-5-3

4-1

I/O Ports ...................................................................................................................................... 3-8

I/O Port Names ........................................................................................................................... 3-9
Device Variables ....................................................................................................................... 3-10

Allocating Variables to Units ................................................................................................ 3-13

3-4-1
3-4-2

3-5

Creating the EtherCAT Slave Configuration ................................................................................ 3-5

Creating the Unit Configuration................................................................................................... 3-6
Verifying the Unit Configuration................................................................................................... 3-6

I/O Ports and Device Variables ............................................................................................... 3-8

3-3-1
3-3-2
3-3-3

3-4

CPU Unit Status ........................................................................................................................ 2-25

Operation for CPU Unit Status .................................................................................................. 2-27
Operating Modes....................................................................................................................... 2-28

I/O Ports, Slave Configuration, and Unit Configuration

3-2-1
3-2-2
3-2-3

3-3

Synchronizing Sequence Control and Motion Control .............................................................. 2-22

Overview of Tasks ....................................................................................................................... 5-4

Specifications of Tasks................................................................................................................ 5-6
Basic Operation of Tasks ............................................................................................................ 5-7
Event Task Execution Conditions .............................................................................................. 5-13
Event Task Execution Timing .................................................................................................... 5-18
Operation When Execution Condition Is Met Again before Execution
of the Event Task Is Completed ................................................................................................ 5-22
Tag Data Link Service and System Services ............................................................................ 5-23

NJ-series CPU Unit Software Users Manual (W501)

CONTENTS

5-2-8
5-2-9
5-2-10
5-2-11
5-2-12
5-2-13
5-2-14
5-2-15
5-2-16
5-2-17
5-2-18

5-3

Processing Performed in and Execution Timing of the Tag Data Link Service ......................... 5-26
Processing Performed in and Execution Timing of the System Services ................................. 5-29
Assigning I/O Refreshing to Tasks............................................................................................ 5-31
Assigning Tasks to Programs ................................................................................................... 5-32
Parameters for Primary Periodic Task and Periodic Tasks ....................................................... 5-33
Ensuring Concurrency of Variable Values between Tasks........................................................ 5-35
Variable Access from Outside the Controller ............................................................................ 5-39
Instructions Related to Tasks.................................................................................................... 5-42
System-defined Variables Related to Tasks ............................................................................. 5-43
Errors Related to Tasks ............................................................................................................ 5-45
Monitoring Task Execution Status and Task Execution Times.................................................. 5-47

Task Design Methods and I/O Response Times ................................................................. 5-51

5-3-1
5-3-2
5-3-3
5-3-4

Section 6

Checking the Task Execution Time........................................................................................... 5-51

Checking the System Service Monitoring Settings................................................................... 5-53
Examples of Task Design ......................................................................................................... 5-53
System Input and Output Response Times .............................................................................. 5-54

Programming

6-1

Overview of Programming Procedures ................................................................................. 6-3

6-2

POUs (Program Organization Units)...................................................................................... 6-5

6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-2-7
6-2-8

6-3

Variables ................................................................................................................................. 6-27

6-3-1
6-3-2
6-3-3
6-3-4
6-3-5
6-3-6
6-3-7
6-3-8
6-3-9
6-3-10
6-3-11
6-3-12

6-4

Instructions ............................................................................................................................. 6-112

Basic Understanding of Instructions ....................................................................................... 6-112
Instruction Errors .................................................................................................................... 6-115

Namespaces......................................................................................................................... 6-120
6-7-1
6-7-2
6-7-3

6-8

Programming Languages ......................................................................................................... 6-72

Ladder Diagram Language ....................................................................................................... 6-72
Structured Text Language......................................................................................................... 6-78

Instructions .......................................................................................................................... 6-112

6-6-1
6-6-2
6-6-3

6-7

Constants.................................................................................................................................. 6-67
Types of Constants ................................................................................................................... 6-67

Programming Languages ..................................................................................................... 6-72

6-5-1
6-5-2
6-5-3

6-6

Variables ................................................................................................................................... 6-27

Types of Variables..................................................................................................................... 6-27
Types of User-defined Variables in Respect to POUs .............................................................. 6-28
Attributes of Variables............................................................................................................... 6-29
Data Types................................................................................................................................ 6-30
Derivative Data Types ............................................................................................................... 6-39
Array Specifications and Range Specifications for Data Types ................................................ 6-49
Variable Attributes..................................................................................................................... 6-54
Changes to Variables for Status Changes ................................................................................ 6-62
Function Block Instances.......................................................................................................... 6-64
Monitoring Variable Values ....................................................................................................... 6-64
Restrictions on Variable Names and Other Program-related Names ....................................... 6-65

Constants (Literals) ............................................................................................................... 6-67

6-4-1
6-4-2

6-5

What Are POUs? ........................................................................................................................ 6-5

Overview of the Three Types of POUs ....................................................................................... 6-6
Differences between Programs, Functions, and Function Blocks............................................... 6-7
Details on Programs ................................................................................................................... 6-7
Details on Function Blocks ......................................................................................................... 6-8
Details on Functions ................................................................................................................. 6-17
Operation That Applies to Both Functions and Function Blocks............................................... 6-22
POU Restrictions ...................................................................................................................... 6-24

Namespaces........................................................................................................................... 6-120
Namespace Specifications ..................................................................................................... 6-121
Procedure for Using Namespaces.......................................................................................... 6-124

Libraries ............................................................................................................................... 6-125

6-8-1

Introduction to Libraries .......................................................................................................... 6-125

NJ-series CPU Unit Software Users Manual (W501)

CONTENTS

6-8-2
6-8-3
6-8-4

6-9

Programming Precautions.................................................................................................. 6-129

6-9-1
6-9-2
6-9-3

Section 7
7-1
7-2

Overview of Steps in Checking Operation and Actual Operation....................................... 7-2

Offline Debugging.................................................................................................................... 7-3

Section 8

Data Management, Clock, and Operating Functions............................................................ 8-3

Authentication of User Program Execution IDs ......................................................................... 8-19

User Program Transfer with No Restoration Information........................................................... 8-22
Overall Project File Protection................................................................................................... 8-22
Data Protection ......................................................................................................................... 8-23
Operation Authority Verification................................................................................................. 8-25
CPU Unit Write Protection ........................................................................................................ 8-26
CPU Unit Names and Serial IDs ............................................................................................... 8-28

Debugging .............................................................................................................................. 8-30

8-5-1
8-5-2
8-5-3
8-5-4
8-5-5

10

SD Memory Card Operations.................................................................................................... 8-10

Specifications of Supported SD Memory Cards, Folders, and Files ......................................... 8-11
SD Memory Card Operation Instructions .................................................................................. 8-12
FTP Client Communications Instructions .................................................................................. 8-13
FTP Server................................................................................................................................ 8-13
File Operations from the Sysmac Studio................................................................................... 8-13
SD Memory Card Life Expiration Detection .............................................................................. 8-13
List of System-defined Variables Related to SD Memory Cards............................................... 8-14
SD Memory Card Self-diagnostic Functions ............................................................................. 8-15
Exclusive Control of File Access in SD Memory Cards............................................................. 8-17

Security .................................................................................................................................. 8-18

8-4-1
8-4-2
8-4-3
8-4-4
8-4-5
8-4-6
8-4-7

8-5

Basic I/O Units ............................................................................................................................ 8-7

Special Units ............................................................................................................................... 8-8

SD Memory Card Operations................................................................................................ 8-10

8-3-1
8-3-2
8-3-3
8-3-4
8-3-5
8-3-6
8-3-7
8-3-8
8-3-9
8-3-10

8-4

Clearing All Memory.................................................................................................................... 8-3

Clock ........................................................................................................................................... 8-3
RUN Output................................................................................................................................. 8-6

Management Functions for CJ-series Units.......................................................................... 8-7

8-2-1
8-2-2

8-3

Procedures.................................................................................................................................. 7-8
Downloading the Project ............................................................................................................. 7-8
Checking I/O Wiring .................................................................................................................... 7-9
MC Test Run ............................................................................................................................... 7-9
Checking the Operation of the User Program ............................................................................. 7-9
Starting Actual Operation.......................................................................................................... 7-10

CPU Unit Functions

8-1-1
8-1-2
8-1-3

8-2

Features of Simulation ................................................................................................................ 7-3

Simulation Execution................................................................................................................... 7-3
Setting Up Simulations................................................................................................................ 7-6

Checking Operation on the Actual System and Actual Operation...................................... 7-8

7-3-1
7-3-2
7-3-3
7-3-4
7-3-5
7-3-6

8-1

Array Specifications for Input Variables, Output Variables, In-Out Variables........................... 6-129
Structure Variables for Input Variables, Output Variables, In-Out Variables............................ 6-129
Master Control......................................................................................................................... 6-130

Checking Operation and Actual Operation

7-2-1
7-2-2
7-2-3

7-3

Specifications of Libraries ....................................................................................................... 6-125

Library Object Specifications .................................................................................................. 6-126
Procedure to Use Libraries ..................................................................................................... 6-127

Forced Refreshing..................................................................................................................... 8-30

Changing Present Values.......................................................................................................... 8-34
Online Editing............................................................................................................................ 8-35
Data Tracing .............................................................................................................................. 8-37
Differential Monitoring ............................................................................................................... 8-42

NJ-series CPU Unit Software Users Manual (W501)

CONTENTS

8-6

Event Logs ............................................................................................................................. 8-48

8-6-1
8-6-2
8-6-3
8-6-4

8-7

Changing Event Levels ......................................................................................................... 8-62

8-7-1
8-7-2
8-7-3

Section 9
9-1

Applications of Changing Event Levels..................................................................................... 8-62

Events for Which the Event Level Can Be Changed................................................................. 8-62
Procedure to Change an Event Level ....................................................................................... 8-62

Backup Functions
The Backup Functions ............................................................................................................ 9-3
9-1-1
9-1-2
9-1-3
9-1-4
9-1-5
9-1-6

9-2

Introduction ............................................................................................................................... 8-48

Detailed Information on Event Logs.......................................................................................... 8-49
Controller Events (Controller Errors and Information) .............................................................. 8-54
User-defined Events (User-defined Errors and Information) .................................................... 8-55

Applications of Backup Functions............................................................................................... 9-3

Examples of Operating Procedures for the Backup Functions ................................................... 9-3
Data That Is Backed Up.............................................................................................................. 9-6
Types of Backup Functions......................................................................................................... 9-7
Relation Between the Different Types of Backup Functions and Data Groups........................... 9-9
Applicable Range of the Backup Functions .............................................................................. 9-10

SD Memory Card Backups.................................................................................................... 9-12

9-2-1
9-2-2
9-2-3

Backup (Controller to SD Memory Card) .................................................................................. 9-13

Restore (SD Memory Card to Controller) ................................................................................. 9-18
Verify (between Controller and SD Memory Card) ................................................................... 9-20

9-3

Disabling Backups to SD Memory Cards ............................................................................ 9-25

9-4

Automatic Transfers from SD Memory Cards ..................................................................... 9-26

9-5

Sysmac Studio Controller Backups..................................................................................... 9-28

9-5-1
9-5-2
9-5-3

Backup (Controller to Computer) .............................................................................................. 9-29

Restore (Computer to Controller) ............................................................................................. 9-30
Verify (between Controller and Computer) ............................................................................... 9-31

9-6

Importing and Exporting Sysmac Studio Backup File Data .............................................. 9-32

9-7

Sysmac Studio Variable and Memory Backup Functions.................................................. 9-33

9-7-1
9-7-2
9-7-3

9-8

Backup Functions When EtherCAT Slaves Are Connected............................................... 9-36

9-8-1
9-8-2
9-8-3
9-8-4

9-9

Applicable Data for Sysmac Studio Variable and Memory Backup Functions .......................... 9-33
Using Sysmac Studio Variable and Memory Backup Functions ............................................... 9-33
Compatibility between CPU Unit Models .................................................................................. 9-34
Backed Up EtherCAT Slave Data ............................................................................................. 9-36
Backup Support Depending on the Controller Status ............................................................... 9-36
Conditions for Restoring EtherCAT Slave Data ........................................................................ 9-37
EtherCAT Slaves for Which You Can Back Up Data ................................................................. 9-38

Backup Functions When EtherCAT Slave Terminals Are Connected............................... 9-40

9-9-1
9-9-2
9-9-3

Backing Up Data in an EtherCAT Slave Terminal ..................................................................... 9-40

Backup Support Depending on the EtherCAT Slave Terminal Status....................................... 9-41
Conditions for Restoring EtherCAT Slave Terminal Data.......................................................... 9-41

9-10 Backup Functions When CJ-series Units Are Connected ................................................. 9-42
9-10-1
9-10-2
9-10-3

Backed Up CJ-series Unit Data ................................................................................................ 9-42

Backup Support Depending on the Controller Status ............................................................... 9-42
Conditions for Restoring CJ-series Unit Data ........................................................................... 9-42

9-11 Backup-related Files ............................................................................................................. 9-44

9-11-1
9-11-2
9-11-3
9-11-4
9-11-5
9-11-6
9-11-7
9-11-8

Types of Backup-related Files................................................................................................... 9-44

Specifications of a Backup File................................................................................................. 9-45
Specifications of a Restore Command File............................................................................... 9-45
Specifications of an Automatic Transfer Command File ........................................................... 9-47
Specifications of a Controller Verification Results File.............................................................. 9-49
Specifications of an EtherCAT Verification Results File............................................................ 9-49
Specifications of an EtherCAT Slave Terminal Verification Results File ................................... 9-51
Specifications of CJ-series Unit Verification Results File.......................................................... 9-52

NJ-series CPU Unit Software Users Manual (W501)

11

CONTENTS

9-12 Compatibility between Backup-related Files ...................................................................... 9-54

9-12-1
9-12-2
9-12-3

Compatibility between Backup Functions ................................................................................. 9-54

Compatibility between CPU Unit Models .................................................................................. 9-55
Compatibility between Unit Versions of CPU Units ................................................................... 9-56

9-13 Functions That Cannot Be Executed during Backup Functions....................................... 9-57

Section 10

Communications Setup

10-1 Communications System Overview..................................................................................... 10-2

10-1-1

Introduction ............................................................................................................................... 10-3

10-2 Connection with Sysmac Studio .......................................................................................... 10-4

10-2-1
10-2-2

Configurations That Allow Online Connections......................................................................... 10-4

Configurations That Do Not Allow Online Connections............................................................. 10-5

10-3 Connection with Other Controllers or Slaves ..................................................................... 10-7

10-3-1
10-3-2

Connection Configurations between Controllers....................................................................... 10-7

Connection Configuration between Controllers and Slaves .................................................... 10-10

10-4 Connection with HMIs or Serial Communications Devices ............................................. 10-11

10-4-1
10-4-2

Section 11

Connections to HMIs............................................................................................................... 10-11

Connections to Devices with Serial Communications ............................................................. 10-12

Example of Actual Application Procedures

11-1 Example Application ............................................................................................................. 11-2

11-1-1
11-1-2

System Configuration................................................................................................................ 11-2

Operation .................................................................................................................................. 11-2

11-2 Overview of the Example Procedure ................................................................................... 11-3

11-2-1
11-2-2
11-2-3
11-2-4
11-2-5
11-2-6

Section 12

Wiring and Settings................................................................................................................... 11-3

Software Design........................................................................................................................ 11-3
Software Settings from the Sysmac Studio............................................................................... 11-4
Programming with the Sysmac Studio ...................................................................................... 11-7
Simulation with the Sysmac Studio ........................................................................................... 11-8
Checking Operation and Starting Operation on the Actual System .......................................... 11-9

Troubleshooting

12-1 Operation after an Error ........................................................................................................ 12-2

12-1-1
12-1-2
12-1-3

Overview of NJ-series Status.................................................................................................... 12-2

Fatal Errors in the CPU Unit...................................................................................................... 12-3
Non-fatal error in CPU Unit ....................................................................................................... 12-4

12-2 Troubleshooting................................................................................................................... 12-12

12-2-1
12-2-2
12-2-3
12-2-4
12-2-5

Checking to See If the CPU Unit Is Operating ........................................................................ 12-12

Troubleshooting Flowchart for Non-fatal Errors....................................................................... 12-13
Error Table............................................................................................................................... 12-13
Error Descriptions ................................................................................................................... 12-22
Troubleshooting Errors That Are Not in the CPU Unit............................................................. 12-55

Appendices
A-1 Specifications ..........................................................................................................................A-3
A-1-1
A-1-2
A-1-3

General Specifications ................................................................................................................A-3

Performance Specifications.........................................................................................................A-4
Function Specifications ...............................................................................................................A-6

A-2 Calculating Guidelines for the Real Processing Times of Tasks ......................................A-13
A-2-1

12

Calculating the Average Real Processing Times of Tasks ........................................................A-13

NJ-series CPU Unit Software Users Manual (W501)

CONTENTS

A-2-2

Example of Calculating the Average Real Processing Time

of a Task and Setting the Task Period....................................................................................... A-22

A-3 System-defined Variables .....................................................................................................A-26

A-3-1
A-3-2
A-3-3
A-3-4
A-3-5
A-3-6
A-3-7

System-defined Variables for the Overall NJ-series Controller (No Category) ......................... A-26
PLC Function Module, Category Name: _PLC ......................................................................... A-33
PLC Function Module, Category Name: _CJB ......................................................................... A-34
Motion Control Function Module, Category Name: _MC .......................................................... A-36
EtherCAT Master Function Module, Category Name: _EC....................................................... A-37
EtherNet/IP Function Module, Category Name: _EIP .............................................................. A-41
Meanings of Error Status Bits ................................................................................................... A-47

A-4 Specifications for Individual System-defined Variables ....................................................A-49

A-4-1
A-4-2
A-4-3
A-4-4
A-4-5
A-4-6

System-defined Variables for the Overall NJ-series Controller (No Category) ......................... A-49
PLC Function Module, Category Name: _PLC ......................................................................... A-60
PLC Function Module, Category Name: _CJB ......................................................................... A-61
Motion Control Function Module, Category Name: _MC .......................................................... A-65
EtherCAT Master Function Module, Category Name: _EC....................................................... A-66
EtherNet/IP Function Module, Category Name: _EIP .............................................................. A-73

A-5 Attributes of CPU Unit Data ..................................................................................................A-81

A-6 Contents of Memory Used for CJ-series Units ...................................................................A-85
A-6-1
A-6-2
A-6-3
A-6-4
A-6-5

CIO Area................................................................................................................................... A-85

Internal I/O Area ....................................................................................................................... A-87
Holding Area ............................................................................................................................. A-88
DM Area.................................................................................................................................... A-88
EM Area.................................................................................................................................... A-89

A-7 Variable Memory Allocation Methods ..................................................................................A-90

A-7-1
A-7-2

Variable Memory Allocation Rules ............................................................................................ A-90

Important Case Examples ........................................................................................................ A-98

A-8 Registering a Symbol Table on the CX-Designer .............................................................A-102

A-9 Enable/Disable EtherCAT Slaves and Axes.......................................................................A-105
A-9-1
A-9-2
A-9-3
A-9-4
A-9-5
A-9-6
A-9-7

Project Settings When Using EtherCAT Slaves and Axes ...................................................... A-105
Using Instructions to Enable/Disable EtherCAT Slaves and Axes .......................................... A-105
System-defined Variables That Indicate EtherCAT Slave or Axis Status................................ A-106
Enabling/Disabling Execution of Program............................................................................... A-107
Checking Enabled/Disabled Program ..................................................................................... A-107
Settings with the Sysmac Studio ............................................................................................ A-107
Examples of Applications of Enabling/Disabling EtherCAT Slaves and Axes ......................... A-108

A-10 Size Restrictions for the User Program.............................................................................A-111

A-10-1
A-10-2

User Program Object Restrictions .......................................................................................... A-111

Counting User Program Objects............................................................................................. A-114

A-11 Replacing CPU Units with Unit Version 1.02 or Earlier ....................................................A-116
A-11-1
A-11-2
A-11-3

Uploading the Data from the CPU Unit................................................................................... A-116

Connecting the New CPU Unit ............................................................................................... A-119
Downloading the Data to the CPU Unit .................................................................................. A-120

A-12 Version Information .............................................................................................................A-124

A-12-1
A-12-2
A-12-3

Relationship between Unit Versions of CPU Units and Sysmac Studio Versions................... A-124
Functions That Were Added or Changed for Each Unit Version............................................. A-126
Performance Improvements for Unit Version Upgrades.......................................................... A-128

Index

NJ-series CPU Unit Software Users Manual (W501)

13

Terms and Conditions Agreement

Terms and Conditions Agreement

Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omrons exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.

Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.

Buyer Remedy
Omrons sole obligation hereunder shall be, at Omrons election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omrons analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.

14

NJ-series CPU Unit Software Users Manual (W501)

Terms and Conditions Agreement

Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyers application or use of the Product. At
Buyers request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyers application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Programmable Products
Omron Companies shall not be responsible for the users programming of a programmable Product, or
any consequence thereof.

Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omrons test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omrons Warranty and Limitations of Liability.

Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omrons representative at any time to
confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

NJ-series CPU Unit Software Users Manual (W501)

15

Safety Precautions

Safety Precautions
Definition of Precautionary Information
The following notation is used in this manual to provide precautions required to ensure safe usage of an
NJ-series Controller. The safety precautions that are provided are extremely important to safety. Always
read and heed the information provided in all safety precautions.
The following notation is used.

WARNING

Caution

Indicates a potentially hazardous situation which, if not avoided,

could result in death or serious injury. Additionally, there may be
severe property damage.

Indicates a potentially hazardous situation which, if not avoided,

may result in minor or moderate injury, or property damage.

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure proper operation and performance.

16

NJ-series CPU Unit Software Users Manual (W501)

Safety Precautions

Symbols

The circle and slash symbol indicates operations that you must not do.
The specific operation is shown in the circle and explained in text.
This example indicates prohibiting disassembly.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.

The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must do.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for high temperatures.

NJ-series CPU Unit Software Users Manual (W501)

17

Safety Precautions

Warnings

WARNING
During Power Supply
Do not touch any of the terminals or terminal blocks while the power is being
supplied. Doing so may result in electric shock.

Do not attempt to take any Unit apart. In particular, high-voltage parts are
present in the Power Supply Unit while power is supplied or immediately after
power is turned OFF. Touching any of these parts may result in electric
shock. There are sharp parts inside the Unit that may cause injury.

Fail-safe Measures
Provide safety measures in external circuits to ensure safety in the system if
an abnormality occurs due to malfunction of the CPU Unit, slaves, or Units or
due to other external factors affecting operation. Not doing so may result in
serious accidents due to incorrect operation.

Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.

The Controller outputs may remain ON or OFF due to deposition or burning

of the output relays or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to
ensure safe operation of the system.
The CPU Unit will turn OFF all outputs from Basic Output Units in the following cases. The slaves will operate according to the settings in the slaves.

If an error occurs in the power supply

If the power supply connection becomes faulty
If a CPU watchdog timer error or CPU reset occurs
If a major fault level Controller error occurs
While the CPU Unit is on standby until RUN mode is entered after the
power is turned ON

External safety measures must be provided to ensure safe operation of the

system in such cases.
If external power supplies for slaves or other devices are overloaded or shortcircuited, the voltage will drop, outputs will turn OFF, and the system may be
unable to read inputs. Provide external safety measures in controls with monitoring of external power supply voltage as required so that the system operates safely in such a case.

18

NJ-series CPU Unit Software Users Manual (W501)

Safety Precautions

Unintended outputs may occur when an error occurs in variable memory or

in memory used for CJ-series Units. As a countermeasure for such problems, external safety measures must be provided to ensure safe operation of
the system.

Provide measures in the communications system and user program to

ensure safety in the overall system even if errors or malfunctions occur in
data link communications or remote I/O communications.

If there is interference in remote I/O communications or if a major fault level

error occurs, output status will depend on the products that are used.
Confirm the operation that will occur when there is interference in communications or a major fault level error, and implement safety measures.
Correctly set all of the settings in the slaves and Units.
The NJ-series Controller continues normal operation for a certain period of
time when a momentary power interruption occurs. This means that the NJseries Controller may receive incorrect signals from external devices that are
also affected by the power interruption. Accordingly, take suitable actions,
such as external fail-safe measures and interlock conditions, to monitor the
power supply voltage of the external device as required.
You must take fail-safe measures to ensure safety in the event of incorrect,
missing, or abnormal signals caused by broken signal lines, momentary
power interruptions, or other causes. Not doing so may result in serious accidents due to incorrect operation.

Voltage and Current Inputs

Make sure that the voltages and currents that are input to the slaves and
Units are within the specified ranges.
Inputting voltages or currents that are outside of the specified ranges may
cause accidents or fire.

Downloading
Always confirm safety at the destination before you transfer a user program,
configuration data, setup data, device variables, or values in memory used
for CJ-series Units from the Sysmac Studio. The devices or machines may
perform unexpected operation regardless of the operating mode of the CPU
Unit.

Actual Operation
Check the user program, data, and parameter settings for proper execution
before you use them for actual operation.

NJ-series CPU Unit Software Users Manual (W501)

19

Safety Precautions

Cautions

Caution
Application
Do not touch any Unit when power is being supplied or immediately after the
power supply is turned OFF. Doing so may result in burn injury.

Wiring
Be sure that all terminal screws and cable connector screws are tightened to
the torque specified in the relevant manuals. The loose screws may result in
fire or malfunction.

Online Editing
Execute online editing only after confirming that no adverse effects will be
caused by deviations in the timing of I/O. If you perform online editing, the
task execution time may exceed the task period, I/O may not be refreshed
with external devices, input signals may not be read, and output timing may
change.

Precaution on Error Message That Says an Instruction May Cause

Unintended Operation
Instructions may results in unexpected operation and affect the system if you
clear the selection of the Detect an error when an in-out variable is passed to
specific instruction argument Check Box in the Program Check Area. Always
confirm that the conditions for use that are given in the NJ-series Instructions
Reference Manual (Cat. No. W502) are met before you clear the selection of
this check box.

Version Information
This error message is displayed by and the above option setting is available on Sysmac Studio
version 1.02.

20

NJ-series CPU Unit Software Users Manual (W501)

Precautions for Safe Use

Precautions for Safe Use

Disassembly and Dropping
Do not attempt to disassemble, repair, or modify any Units. Doing so may result in malfunction or fire.
Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit malfunction or burning.

Mounting
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, and other Units
must be completely locked (until they click into place) after connecting the adjacent Unit connectors.

Installation
Always connect to a ground of 100 or less when installing the Units. A ground of 100 or less must
be installed when shorting the GR and LG terminals on the Power Supply Unit.

Wiring
Follow the instructions in this manual to correctly perform wiring.
Double-check all wiring and switch settings before turning ON the power supply.
Use crimp terminals for wiring.
Do not connect bare stranded wires directly to terminals.
Do not pull on the cables or bend the cables beyond their natural limit.
Do not place heavy objects on top of the cables or other wiring lines. Doing so may break the cables.
Mount terminal blocks and connectors only after checking the mounting location carefully.
Be sure that the terminal blocks, expansion cables, and other items with locking devices are properly
locked into place.
Always remove any dustproof labels that are on the top of the Units when they are shipped before
you turn ON the power supply. If the labels are not removed, heat will accumulate and malfunctions
may occur.
Before you connect a computer to the CPU Unit, disconnect the power supply plug of the computer
from the AC outlet. Also, if the computer has an FG terminal, make the connections so that the FG
terminal has the same electrical potential as the GR terminal on the Power Supply Unit. A difference
in electrical potential between the computer and Controller may cause failure or malfunction.
If the external power supply to an Output Unit or slave has polarity, connect it with the correct polarity.
If the polarity is reversed, current may flow in the reverse direction and damage the connected
devices regardless of the operation of the Controller.

Power Supply Design

Do not exceed the rated supply capacity of the Power Supply Units in the NJ-series Controller. The
rated supply capacities are given in the NJ-series CPU Unit Hardware Users Manual (Cat. No.
W500).
If the capacity is exceeded, operation may stop, malfunctions may occur, or data may not be backed
up normally for power interruptions.
Use NJ-series Power Supply Units for both the NJ-series CPU Rack and Expansion Racks.
Operation is not possible if a CJ-series Power Supply Unit is used with an NJ-series CPU Unit or an
NJ-series Power Supply Unit is used with a CJ-series CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

21

Precautions for Safe Use

Do not apply voltages or connect loads to the Output Units or slaves in excess of the maximum ratings.
Surge current occurs when the power supply is turned ON. When selecting fuses or breakers for
external circuits, consider the above precaution and allow sufficient margin in shut-off performance.
Refer to the relevant manuals for surge current specifications. Refer to the NJ-series CPU Unit Hardware Users Manual (Cat. No. W500) for surge current specifications.
If the full dielectric strength voltage is applied or turned OFF using the switch on the tester, the generated impulse voltage may damage the Power Supply Unit. Use the adjustment on the tester to gradually increase and decrease the voltage.
Apply the voltage between the Power Supply Unit's L1 or L2 terminal and the GR terminal when testing insulation and dielectric strength.
Do not supply AC power from an inverter or other device with a square-wave output. Internal temperature rise may result in smoking or burning. Always input a sinusoidal wave with the frequency that is
given in the NJ-series CPU Unit Hardware Users Manual (Cat. No. W500).
Install external breakers and take other safety measures against short-circuiting in external wiring.

Turning ON the Power Supply

It takes up to approximately 10 to 20 s to enter RUN mode after the power is turned ON. The outputs
during this time behave according to the slave or Unit specifications. Use the RUN output on the
Power Supply Unit, for example, to implement fail-safe circuits so that external devices do not operate
incorrectly.
Configure the external circuits so that the power supply to the control system turns ON only after the
power supply to the Controller has turned ON. If the power supply to the Controller is turned ON after
the control power supply, temporary errors may result in incorrect control system signals because the
output terminals on Output Units may momentarily turn ON when power supply is turned ON to the
Controller.
If you transfer data from a backup file on an SD Memory Card to the Controller when the power supply is turned ON, properly select the data groups to transfer. If the data for an unintended data group
is transferred to the Controller, it may cause the equipment to operate unpredictably.
Never turn OFF the power supply to the Controller until RUN mode is entered after the power is
turned ON. If the power supply is turned OFF, a Battery-backup Memory Check Error may occur at
next time you start operation. If a Battery-backup Memory Check Error occurs, the variables retained
are set to their initial values and the Holding, DM and EM Areas in memory used for CJ-series Units
are cleared to all zeros. If you want to resume the operation, reload the correct data for the variables
retained and CJ-series Unit memory, as required.

Turning OFF the Power Supply

Never turn OFF the power supply to the Controller when the BUSY indicator is flashing. While the
BUSY indicator is lit, the user program and settings in the CPU Unit are being backed up in the builtin non-volatile memory. This data will not be backed up correctly if the power supply is turned OFF.
Also, a major fault level Controller error will occur the next time you start operation, and operation will
stop.
Do not turn OFF the power supply or remove the SD Memory Card while SD Memory Card access is
in progress (i.e., while the SD BUSY indicator flashes). Data may become corrupted, and the Controller will not operate correctly if it uses corrupted data. To remove the SD Memory Card from the CPU
Unit while the power supply is ON, press the SD Memory Card power supply switch and wait for the
SD BUSY indicator to turn OFF before you remove the SD Memory Card.
Do not disconnect the cable or turn OFF the power supply to the Controller when downloading data
or the user program from Support Software.
Always turn OFF the power supply to the Controller before you attempt any of the following.
Mounting or removing I/O Units or the CPU Unit
Assembling the Units

22

NJ-series CPU Unit Software Users Manual (W501)

Precautions for Safe Use

Setting DIP switches or rotary switches

Connecting cables or wiring the system
Connecting or disconnecting the connectors
The Power Supply Unit may continue to supply power to the rest of the Controller for a few seconds
after the power supply turns OFF. The PWR indicator is lit during this time. Confirm that the PWR
indicator is not lit before you perform any of the above.

Operation
Confirm that no adverse effect will occur in the system before you attempt any of the following.
Changing the operating mode of the CPU Unit (including changing the setting of the Startup
Mode)
Changing the user program or settings
Changing set values or present values
Forced refreshing
After you change any slave or Unit settings, carefully check the safety of the controlled system before
you restart the Unit.
If two different function modules are used together, such as when you use CJ-series Basic Units and
EtherCAT slaves, take suitable measures in the user program and external controls to ensure that
safety is maintained in the controlled system if one of the function modules stops. The relevant outputs will behave according to the slave or Unit specifications if a partial fault level error occurs in one
of the function modules.
Always confirm safety at the connected equipment before you reset Controller errors with an event
level of partial fault or higher for the EtherCAT Master Function Module.
When the error is reset, all slaves that were in any state other than Operational state due to a Controller error with an event level of partial fault or higher (in which outputs are disabled) will go to Operational state and the outputs will be enabled.
Before you reset all errors or restart a slave, confirm that no Controller errors with an event level of
partial fault have occurred for the EtherCAT Master Function Module.
Always confirm safety at the connected equipment before you reset Controller errors for a CJ-series
Special Unit. When a Controller error is reset, the Unit where the Controller error with an event level
of observation or higher will be restarted.
Before you reset all errors, confirm that no Controller errors with an event level of observation or
higher have occurred for the CJ-series Special Unit. Observation level events do not appear on the
Controller Error Tab Page, so it is possible that you may restart the CJ-series Special Unit without
intending to do so.
You can check the status of the _CJB_UnitErrSta[0,0] to _CJB_UnitErrSta[3,9] error status variables
on a Watch Tab Page to see if an observation level Controller error has occurred.

Battery Backup
The user program and initial values for the variables are stored in non-volatile memory in the CPU
Unit. The present values of variables with the Retain attribute and the values of the Holding, DM, and
EM Areas in the memory used for CJ-series Units are backed up by a Battery. If the Battery is not
connected or the Battery is exhausted, the CPU Unit detects a Battery-backup Memory Check Error.
If that error is detected, variables with a Retain attribute are set to their initial values and the Holding,
DM, and EM Areas in memory used for CJ-series Units are cleared to all zeros. Perform thorough
verifications and provide sufficient measures to ensure that the devices perform safe operation for the
initial values of the variables with Retain attributes and the resulting operation.
The absolute encoder home offsets are backed up by a Battery. If the CPU Unit detects a low battery
voltage or the absence of a mounted battery when the power supply to the Controller is turned ON,
the absolute encoder home offsets are cleared to zeros and an Encoder Home Offset Read Error
occurs. Reset the error and perform homing to define home. If you do not define home, unintended
operation of the controlled system may occur.

NJ-series CPU Unit Software Users Manual (W501)

23

Precautions for Safe Use

Debugging
Forced refreshing ignores the results of user program execution and refreshes I/O with the specified
values. If forced refreshing is used for inputs for which I/O refreshing is not supported, the inputs will
first take the specified values, but they will then be overwritten by the user program. This operation
differs from the force-set/reset functionality of the CJ-series PLCs.
You cannot upload or download information for forced refreshing with the Sysmac Studio.
After downloading data that contains forced refreshing, change to RUN mode and then use the Sysmac Studio to perform the operation for forced refreshing.
Depending on the difference in the forced status, the control system may operate unexpectedly.
Do not specify the same address for the AT specification for more than one variable.
Doing so would allow the same entity to be accessed with different variable names, which would
make the user program more difficult to understand and possibly cause programming mistakes.

General Communications
When you use data link communications, check the error information that is given in _ErrSta (Controller Error Status) to make sure that no error has occurred in the source device. Create a user program
that uses reception data only when there is no error in the source device. If there is an error in the
source device, the data for the data link may contain incorrect values.
Unexpected operation may result if inappropriate data link tables are set. Even if appropriate data link
tables have been set, confirm that the controlled system will not be adversely affected before you
transfer the data link tables. The data links start automatically after the data link tables are transferred.
All CPU Bus Units are restarted when routing tables are transferred from Support Software to the
CPU Unit. Confirm that the system will not be adversely affected by restarting before you transfer the
routing tables.
Tag data links will stop between related nodes while tag data link parameters are transferred during
Controller operation. Confirm that the system will not be adversely affected before you transfer the
tag data link parameters.

EtherNet/IP Communications
All related EtherNet/IP nodes are reset when you transfer settings for the built-in EtherNet/IP port
(including IP addresses and tag data links settings). Confirm that the system will not be adversely
affected by resetting nodes before you transfer the settings.
If EtherNet/IP tag data links (cyclic communications) are used with a repeating hub, the communications load on the network will increase. This will increase collisions and may prevent stable communications. Do not use repeating hubs on networks where tag data links are used. Use an Ethernet
switch instead.

EtherCAT Communications
Make sure that the communications distance, number of nodes connected, and method of connection
for EtherCAT are within specifications.
Do not connect EtherCAT communications to EtherNet/IP, a standard in-house LAN, or other networks. An overload may cause the network to fail or malfunction.
Malfunctions or unexpected operation may occur for some combinations of EtherCAT revisions of the
master and slaves. If you disable the revision check in the network settings, use the Sysmac Studio to
check the slave revision settings in the master and the actual slave revisions, and then make sure
that functionality is compatible in the slave manuals or other references. You can check the actual
slave revisions from the Sysmac Studio or on slave nameplates.

24

NJ-series CPU Unit Software Users Manual (W501)

Precautions for Safe Use

After you transfer the user program, the CPU Unit is restarted and communications with the EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave specifications. The time that communications are cut off depends on the EtherCAT network configuration.
Before you transfer the user program, confirm that the system will not be adversely affected.
If the Fail-soft Operation parameter is set to stop operation, process data communications will stop
for all slaves when an EtherCAT communications error is detected in a slave. At that time, the Servo
Drive will operate according to the Servo Drive specifications. For this reason, if Servo Drives are
connected, the Servos for all axes will be turned OFF. Make sure that the Fail-soft Operation parameter setting results in safe operation when a device error occurs.
EtherCAT communications are not always established immediately after the power supply is turned
ON. Use the system-defined variables in the user program to confirm that communications are established before attempting control operations.
If noise occurs or an EtherCAT slave is disconnected from the network, any current communications
frames may be lost. If frames are lost, slave I/O data is not communicated, and unintended operation
may occur. The slave outputs will behave according to the slave specifications. If a noise countermeasure or slave replacement is required, perform the following processing.
Program the _EC_InDataInvalid (Input Data Disable) system-defined variable as an interlock condition in the user program.
Set the PDO communications timeout detection count setting in the EtherCAT master to at least 2.
Refer to the NJ-series CPU Unit Built-in EtherCAT Port Users Manual (Cat. No. W505) for details.
When an EtherCAT slave is disconnected or disabled, communications will stop and control of the
outputs will be lost not only for the disconnected slave, but for all slaves connected after it. Confirm
that the system will not be adversely affected before you disconnect or disable a slave.
NX bus communications are not always established immediately after the power supply is turned ON.
Use the system-defined variables and the EtherCAT Coupler Unit device variables in the user program to confirm that communications are established before attempting control operations.
You cannot use standard Ethernet hubs or repeater hubs with EtherCAT communications. If you use
one of these, a major fault level error or other error may occur.

Motion Control
Confirm the axis number carefully before you perform an MC Test Run.
The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU
Unit during an MC Test Run. Connect the communications cable between the computer and CPU
Unit securely and confirm that the system will not be adversely affected before you perform an MC
Test Run.
Always execute the Save Cam Table instruction if you change any of the cam data from the user program in the CPU Unit or from the Sysmac Studio. If the cam data is not saved, the previous condition
will be restored when the power is turned ON again, possibly causing unexpected machine operation.
The positive drive prohibit input (POT), negative drive prohibit input (NOT), and home proximity input
(DEC) of the Servo Drive are used by the MC Function Module as the positive limit input, negative
limit input, and home proximity input. Make sure that the signal widths for all of these input signals are
longer than the control period of the MC Function Module. If the input signal widths are shorter than
the control period, the MC Function Module may not be able to detect the input signals, resulting in
incorrect operation.
If you make any changes in the Detailed Settings Area of the Axis Basic Settings Display of the Sysmac Studio, make sure that the devices or machines perform the expected operation before you start
actual operation.
If the relationship between the functions of the Motion Control Function Module and the EtherCAT
slave process data that is assigned to the axes is not correct, the devices or machines may perform
unexpected operation.

NJ-series CPU Unit Software Users Manual (W501)

25

Precautions for Safe Use

Restoring Data
You cannot back up, restore, or compare some or all of the settings for certain slaves and Units. Also,
you cannot back up, restore, or compare data for disabled slaves or Units. After you restore data, sufficiently confirm that operation is correct before you start actual operation.
The absolute encoder home offsets are backed up with a Battery in the CPU Unit as absolute
encoder information. If any of the following conditions is met, clear the absolute encoder home offsets
from the list of data items to restore, and then restore the data. Then, define the absolute encoder
home again. If you do not define home, unintended operation of the controlled system may occur.
The Servomotor or Servo Drive was changed since the data was backed up.
The absolute encoder was set up after the data was backed up.
The absolute data for the absolute encoder was lost.

Battery Replacement
The Battery may leak, rupture, heat, or ignite. Never short-circuit, charge, disassemble, heat, or incinerate the Battery or subject it to strong shock.
Dispose of any Battery that has been dropped on the floor or otherwise subjected to excessive shock.
Batteries that have been subjected to shock may leak if they are used.
UL standards require that only an experienced engineer replace the Battery. Make sure that an experienced engineer is in charge of Battery replacement.
Apply power for at least five minutes before changing the Battery. Install a new Battery within five
minutes (at 25C) of turning OFF the power supply. If power is not supplied for at least 5 minutes, the
saved data may be lost.
We recommend replacing the Battery with the power turned OFF to prevent the CPU Units sensitive
internal components from being damaged by static electricity and to prevent malfunctions. The Battery can be replaced without turning OFF the power supply. To do so, always touch a grounded piece
of metal to discharge static electricity from your body before you start the procedure.
After you replace the Battery, connect the Sysmac Studio and clear the Low Battery Voltage error.

Unit Replacement
Make sure that the required data, including the user program, configurations, settings, variables, and
memory used for CJ-series Units, is transferred to a CPU Unit that was replaced and to externally
connected devices before restarting operation.
Be sure to include the tag data link settings, routing tables, and other CPU Bus Unit data, which are
stored in the CPU Unit.
The absolute encoder home offsets are backed up with a Battery in the CPU Unit as absolute
encoder information. When you change the combination of the CPU Unit and Servomotor, e.g., when
you add or replace a Servomotor, define the absolute encoder home again.

Disposal
Dispose of the product and Batteries according to local ordinances as they apply.

The following information must be displayed for all products that contain primary lithium batteries with a
perchlorate content of 6 ppb or higher when shipped to or transported through the State of California, USA.
Perchlorate Material - special handling may apply.
See www.dtsc.ca.gov/hazardouswaste/perchlorate.
The CPU Unit contains a primary lithium battery with a perchlorate content of 6 ppb or higher. Place
the above information on the individual boxes and shipping boxes when shipping finished products
that contain a CPU Unit to the State of California, USA.
26

NJ-series CPU Unit Software Users Manual (W501)

Precautions for Correct Use

Precautions for Correct Use

Storage, Mounting, and Wiring
Do not operate or store the Controller in the following locations. Operation may stop or malfunctions
may occur.
Locations subject to direct sunlight
Locations subject to temperatures or humidity outside the range specified in the specifications
Locations subject to condensation as the result of severe changes in temperature
Locations subject to corrosive or flammable gases
Locations subject to dust (especially iron dust) or salts
Locations subject to exposure to water, oil, or chemicals
Locations subject to shock or vibration
Take appropriate and sufficient countermeasures when installing the Controller in the following locations.
Locations subject to strong, high-frequency noise
Locations subject to static electricity or other forms of noise
Locations subject to strong electromagnetic fields
Locations subject to possible exposure to radioactivity
Locations close to power lines
Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any
static build-up.
Install the Controller away from sources of heat and ensure proper ventilation. Not doing so may
result in malfunction, in operation stopping, or in burning.
An I/O bus check error will occur and the Controller will stop if an I/O Connecting Cables connector is
disconnected from the Rack. Be sure that the connectors are secure.
Do not allow foreign matter to enter the openings in the Unit. Doing so may result in Unit burning,
electric shock, or failure.
Do not allow wire clippings, shavings, or other foreign material to enter any Unit. Otherwise, Unit
burning, failure, or malfunction may occur. Cover the Units or take other suitable countermeasures,
especially during wiring work.
For EtherCAT and EtherNet/IP, use the connection methods and cables that are specified in the NJseries CPU Unit Built-in EtherCAT Port Users Manual (Cat. No. W505) and the NJ-series CPU Unit
Built-in EtherNet/IP Port Users Manual (Cat. No. W506). Otherwise, communications may be faulty.
Use the rated power supply voltage for the Power Supply Units. Take appropriate measures to ensure
that the specified power with the rated voltage and frequency is supplied in places where the power
supply is unstable.
Make sure that the current capacity of the wire is sufficient. Otherwise, excessive heat may be generated. When cross-wiring terminals, the total current for all the terminals will flow in the wire. When
wiring cross-overs, make sure that the current capacity of each of the wires is not exceeded.
Do not touch the terminals on the Power Supply Unit immediately after turning OFF the power supply.
Residual voltage may cause electrical shock.
If you use reed switches for the input contacts for AC Input Units, use switches with a current capacity
of 1 A or greater.
If the capacity of the reed switches is too low, surge current may fuse the contacts.

NJ-series CPU Unit Software Users Manual (W501)

27

Precautions for Correct Use

Error Processing
In applications that use the results of instructions that read the error status, consider the affect on the
system when errors are detected and program error processing accordingly. For example, even the
detection of a minor error, such as Battery replacement during operation, can affect the system
depending on how the user program is written.
If you change the event level of a Controller error, the output status when the error occurs may also
change. Confirm safety before you change an event level.

Restoring and Automatically Transferring Data

When you edit the restore command file or the automatic transfer command file, do not change anything in the file except for the yes and no specifications for the selectable data groups. If you
change anything else in the file, the Controller may perform unexpected operation when you restore
or automatically transfer the data.

Replacing Slaves and Units

If you replace a slave or Unit, refer to the operation manual for the slave or Unit for information on the
data required for individual slaves or Units and redo the necessary settings.

Task Settings
If a Task Period Exceeded error occurs, shorten the programs to fit in the task period or increase the
setting of the task period.

Motion Control
Use the system-defined variable in the user program to confirm that EtherCAT communications are
established before you attempt to execute motion control instructions. Motion control instructions are
not executed normally if EtherCAT communications are not established.
Use the system-defined variables to monitor for errors in communications with the slaves that are
controlled by the motion control function module. Motion control instructions are not executed normally if an error occur in slave communications.
Before you start an MC Test Run, make sure that the operation parameters are set correctly.
Do not download motion control settings during an MC Test Run.

EtherCAT Communications
If you need to disconnect the cable from an EtherCAT slave during operation, first disconnect the software connection to the EtherCAT slave or disable the EtherCAT slave and all of the EtherCAT slaves
that are connected after it.
Set the Servo Drives to stop operation if an error occurs in EtherCAT communications between the
Controller and a Servo Drive.
Make sure that all of the slaves to be restored are participating in the network before you reset a Network Configuration Verification Error, Process Data Communications Error, or Link OFF Error in the
EtherCAT Master Function Module. If any slave is not participating when any of these errors is reset,
the EtherCAT Master Function Module may access slave with a different node address than the specified node address or the error may not be reset correctly.
Always use the specified EtherCAT slave cables. If you use any other cable, the EtherCAT master or
the EtherCAT slaves may detect an error and one of the following may occur.
Continuous refreshing of process data communications will not be possible.
Continuous refreshing of process data communications will not end during the set cycle.
28

NJ-series CPU Unit Software Users Manual (W501)

Precautions for Correct Use

Battery Replacement
Be sure to install a replacement Battery within two years of the production date shown on the Battery
label.
Turn ON the power after replacing the Battery for a CPU Unit that has been unused for a long time.
Leaving the CPU Unit unused again without turning ON the power even once after the Battery is
replaced may result in a shorter Battery life.
When you replace the Battery, use the CJ1W-BAT01 Battery Set.

SD Memory Cards
Insert the SD Memory Card all the way.
Do not turn OFF the power supply to the Controller during SD Memory Card access. The files may be
corrupted.
If there is a corrupted file in the SD Memory Card, the file is automatically deleted by the restoration
function when the power supply is turned ON.

Online Editing
When performing online editing in combination of a CPU Unit with a unit version of 1.04 or later and
Sysmac Studio version 1.05 or higher, the CPU Unit saves a program updated by the online editing to
built-in non-volatile memory. Sysmac Studio shows a message that it is in a backup operation. Do not
turn OFF the power supply to the Controller while this message is displayed. If the power supply to the
Controller is turned OFF, a Controller error will occur when the power supply is turned ON next time.

NJ-series CPU Unit Software Users Manual (W501)

29

Regulations and Standards

Regulations and Standards

Conformance to EC Directives
Applicable Directives
EMC Directives
Low Voltage Directive

Concepts
EMC Directive
OMRON devices that comply with EC Directives also conform to the related EMC standards so that
they can be more easily built into other devices or the overall machine. The actual products have
been checked for conformity to EMC standards.*
Whether the products conform to the standards in the system used by the customer, however, must
be checked by the customer. EMC-related performance of the OMRON devices that comply with EC
Directives will vary depending on the configuration, wiring, and other conditions of the equipment or
control panel on which the OMRON devices are installed. The customer must, therefore, perform the
final check to confirm that devices and the overall machine conform to EMC standards.
* Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61131-2 and EN 61000-6-2
EMI (Electromagnetic Interference): EN 61131-2 and EN 61000-6-4 (Radiated emission: 10-m regulations)

Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards. The applicable directive is EN 61131-2.

Conformance to EC Directives
The NJ-series Controllers comply with EC Directives. To ensure that the machine or device in which
the NJ-series Controller is used complies with EC Directives, the Controller must be installed as follows:
The NJ-series Controller must be installed within a control panel.
You must use reinforced insulation or double insulation for the DC power supplies connected to
DC Power Supply Units and I/O Units.
NJ-series Controllers that comply with EC Directives also conform to the Common Emission Standard (EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending
on the configuration of the control panel used, other devices connected to the control panel, wiring, and other conditions.
You must therefore confirm that the overall machine or equipment complies with EC Directives.

30

NJ-series CPU Unit Software Users Manual (W501)

Regulations and Standards

Conformance to KC Standards
Observe the following precaution if you use NX-series Units in Korea.

Class A Device (Broadcasting Communications Device for Office Use)

This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes.
Sellers and/or users need to take note of this.

Conformance to Shipbuilding Standards

The NJ-series Controllers comply with the following shipbuilding standards. Applicability to the shipbuilding standards is based on certain usage conditions. It may not be possible to use the product in
some locations. Contact your OMRON representative before attempting to use a Controller on a
ship.

Usage Conditions for NK and LR Shipbuilding Standards

The NJ-series Controller must be installed within a control panel.
Gaps in the door to the control panel must be completely filled or covered with gaskets or other
material.
The following noise filter must be connected to the power supply line.
Noise Filter
Manufacturer
Cosel Co., Ltd.

Model
TAH-06-683

Software Licenses and Copyrights

This product incorporates certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.

NJ-series CPU Unit Software Users Manual (W501)

31

Unit Versions

Unit Versions
Unit Versions
A unit version has been introduced to manage CPU Units in the NJ Series according to differences in
functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

The unit version is given on the ID information label of the products for which unit versions are managed, as shown below.
Example for NJ-series NJ501- CPU Unit:

ID information label
Unit model

NJ501 - 1500

Unit version

Ver.1.

PORT1 MAC ADDRESS: 

PORT2 MAC ADDRESS: 
Lot No. DDMYY

xxxx

Lot number and serial number

MAC address

The following information is provided on the ID information label.

Item

Description

Unit model

Gives the model of the Unit.

Unit version

Gives the unit version of the Unit.

Lot number and

serial number

Gives the lot number and serial number of the Unit.

DDMYY: Lot number, : For use by OMRON, xxxx: Serial number
M gives the month (1 to 9: January to September, X: October, Y: November, Z: December)

MAC address

Gives the MAC address of the built-in port on the Unit.

Confirming Unit Versions with Sysmac Studio

You can use the Unit Production Information on the Sysmac Studio to check the unit version of the CPU
Unit, CJ-series Special I/O Units, CJ-series CPU Bus Units, and EtherCAT slaves. The unit versions of
CJ-series Basic I/O Units cannot be checked from the Sysmac Studio.

CPU Unit and CJ-series Units

Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview

Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select
Edit from the menu.
The Unit Editor is displayed for the Controller Configurations and Setup layer.

32

NJ-series CPU Unit Software Users Manual (W501)

Unit Versions

Right-click any open space in the Unit Editor and select Production Information.
The Production Information Dialog Box is displayed.

Simple Display

Detailed Display

In this example, Ver.1.00 is displayed next to the unit model.

The following items are displayed.
CPU Unit

CJ-series Units

Unit model

Unit model

Unit version

Unit version

Lot number

Lot number
Rack number, slot number, and unit number

EtherCAT Slaves

Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed for the Controller Configurations and Setup layer.

Right-click the master in the EtherCAT Tab Page and select Display Production Information.
The Production Information Dialog Box is displayed.

The following items are displayed.

Node address
Type information*
Serial number
* If the model number cannot be determined (such as when there is no ESI file), the vendor ID, product
code, and revision number are displayed.

NJ-series CPU Unit Software Users Manual (W501)

33

Unit Versions

Confirming Unit Versions with System-defined Variable

You can access the _UnitVersion (Unit Version) system-defined variable from the user program to check
the unit version of the CPU Unit.
_UnitVersion is an USINT array variable with two elements. _UnitVersion[0] and _UnitVersion[1] correspond to the integer part and the fractional part of the unit version, respectively.
Version Information
A CPU Unit with unit version 1.08 or later and the Sysmac Studio version 1.09 or higher are
required to confirm the unit version using the system-defined variable.

Additional Information
Refer to the manual for the specific Unit for the unit versions of the CPU Units, Communications
Coupler Units, NX Units, and Safety Control Units to which the database connection service and
other functions were added.

Unit Versions and Sysmac Studio Versions

The functions that are supported depend on the unit version of the NJ-series CPU Unit. The version of
Sysmac Studio that supports the functions that were added for an upgrade is also required to use those
functions. Refer to A-12 Version Information for the relationship between the unit versions of the CPU
Units and the Sysmac Studio versions, and for the functions that are supported by each unit version.

Unit Version Notation

In this manual, unit versions are specified as shown in the following table.
Product nameplate
Ver.1.0 or later to the right of
the lot number

34

Notation in this manual

Unit version 1.0 or later

Remarks
Unless unit versions are specified, the information in this manual
applies to all unit versions.

NJ-series CPU Unit Software Users Manual (W501)

Related Manuals

Related Manuals
The followings are the manuals related to this manual. Use these manuals for reference.
Manual name
NJ-series CPU Unit
Hardware Users Manual

Cat. No.

Model numbers

W500

NJ501-
NJ301-

Application
Learning the basic specifications of the NJ-series
CPU Units, including introductory information, designing, installation, and
maintenance. Mainly hardware information is provided.

Description
An introduction to the entire NJ-series system is
provided along with the following information on
the CPU Unit.
Features and system configuration
Introduction
Part names and functions
General specifications
Installation and wiring
Maintenance and inspection
Use this manual together with the NJ-series CPU
Unit Software Users Manual (Cat. No. W501).

NJ-series CPU Unit Software Users Manual

W501

NJ501-
NJ301-

Learning how to program

and set up an NJ-series
CPU Unit. Mainly software
information is provided.

The following information is provided on a Controller built with an NJ501 CPU Unit.
CPU Unit operation
CPU Unit features
Initial settings
Programming based on IEC 61131-3 language
specifications
Use this manual together with the NJ-series CPU
Unit Hardware Users Manual (Cat. No. W500).

NJ-series Instructions
Reference Manual

W502

NJ501-
NJ301-

Learning detailed specifications on the basic instructions of an NJ-series CPU

Unit.

The instructions in the instruction set (IEC 61131-3

specifications) are described. When programming, use this manual together with the NJ-series
CPU Unit Hardware Users Manual (Cat. No.
W500) and NJ-series CPU Unit Software Users
Manual (Cat. No. W501).

NJ-series CPU Unit

Motion Control Users
Manual

W507

NJ501-
NJ301-

Learning about motion control settings and programming concepts.

The settings and operation of the CPU Unit and

programming concepts for motion control are
described. Use this manual together with the NJseries CPU Unit Hardware Users Manual (Cat. No.
W500) and NJ-series CPU Unit Software Users
Manual (Cat. No. W501).

NJ-series Motion Control

Instructions Reference
Manual

W508

NJ501-
NJ301-

Learning about the specifications of the motion control

instructions that are provided by OMRON.

NJ-series CPU Unit Builtin EtherCAT Port Users

Manual

W505

NJ501-
NJ301-

Using the built-in EtherCAT

port on an NJ-series CPU
Unit.

The motion control instructions are described.

When programming, use this manual together with
the NJ-series CPU Unit Hardware Users Manual
(Cat. No. W500), NJ-series CPU Unit Software
Users Manual (Cat. No. W501) and NJ-series
CPU Unit Motion Control Users Manual (Cat. No.
W507).
Information on the built-in EtherCAT port is provided. This manual provides an introduction and
provides information on the configuration, features,
and setup.
Use this manual together with the NJ-series CPU
Unit Hardware Users Manual (Cat. No. W500) and
NJ-series CPU Unit Software Users Manual (Cat.
No. W501).

NJ-series CPU Unit Built-

W506

NJ501-
NJ301-

Using the built-in EtherNet/IP port on an NJ-series

CPU Unit.

Information on the built-in EtherNet/IP port is provided. Information is provided on the basic setup,
tag data links, and other features.
Use this manual together with the NJ-series CPU
Unit Hardware Users Manual (Cat. No. W500) and
NJ-series CPU Unit Software Users Manual (Cat.
No. W501).

W527

NJ501-120

Using the database connection service with NJ-series

Controllers

Describes the database connection service.

in EtherNet/IPTM Port
Users Manual

NJ-series Database Connection CPU Units Users

Manual

NJ-series CPU Unit Software Users Manual (W501)

35

Related Manuals

Cat. No.

Model numbers

NJ-series Troubleshooting Manual

Manual name

W503

NJ501-
NJ301-

Learning about the errors

that may be detected in an
NJ-series Controller.

Concepts on managing errors that may be

detected in an NJ-series Controller and information on individual errors are described.
Use this manual together with the NJ-series CPU
Unit Hardware Users Manual (Cat. No. W500) and
NJ-series CPU Unit Software Users Manual (Cat.
No. W501).

Sysmac Studio Version 1

Operation Manual

W504

SYSMACSE2

Learning about the operating procedures and functions of the Sysmac Studio.

Describes the operating procedures of the Sysmac

Studio.

NX-series Communications Coupler Unit Users

Manual

W519

NX-ECC

Leaning how to use an NXseries Communications

Coupler Unit and Slave Terminals

NX-series Safety Control

Unit Users Manual

Z930

NX-SL
NX-SI
NX-SO

Learning how to use NXseries Safety Control Units

Introduces the system, configuration methods, Unit

hardware, setting methods, and functions of Slave
Terminals that consist of a Communications Coupler Unit and NX Units.
Describes the hardware, setup methods, and functions of the NX-series Safety Control Units.

Vision Sensor FH/FZ5

Series Vision System
Users Manual

Z340

FH-1
FH-3
FZ5-L35
FZ5-6
FZ5-11

Leaning how to use the

FH/FZ5-series Vision
Systems.

Describes the software functions, setup and operating methods required for using the
FH/FZ5-series system.

Vision Sensor FQ-Mseries Specialized Vision

Sensor for Positioning
Users Manual

Z314

FQ-MS12

Leaning how to use the

Specialized Vision Sensors
for Positioning.

Describes the hardware, setup methods and functions of the Specialized Vision Sensors for Positioning.

Vision Sensor FZ3

Series Users Manual

Z290

FZ3-

Leaning how to use the

FZ3-series Vision Sensors.

Describes the software functions, setup and operating methods of the FZ3-series Vision Sensors.

Displacement Sensor
ZW series Confocal Fiber
Type Displacement
Sensor User's Manual

Z332

ZW-CE1T

Leaning how to use the

ZW-series Displacement
Sensors.

Describes the hardware, setup methods and functions of the ZW-series Displacement Sensors.

CJ-series Special Unit

Manuals for NJ-series
CPU Unit

W490

CJ1W-AD
CJ1W-DA
CJ1W-MAD42

Learning how to use CJseries Units with an NJseries CPU Unit.

The methods and precautions for using CJ-series

Units with an NJ501 CPU Unit are described,
including access methods and programming interfaces.
Manuals are available for the following Units.
Analog I/O Units, Insulated-type Analog I/O Units,
Temperature Control Units, ID Sensor Units, Highspeed Counter Units, Serial Communications
Units, DeviceNet Units, EtherNet/IP Units, and
CompoNet Master Units.

NS-series Programmable
Terminals Programming
Manual

CX-Designer Users
Manual

36

W491

CJ1W-TC

W492

CJ1W-CT021

W498

CJ1W-PDC15
CJ1W-PH41U
CJ1W-AD04U

W493

CJ1W-CRM21

W494

CJ1W-SCU

W495

CJ1W-EIP21

W497

CJ1W-DRM21
CJ1W-V680

Z317
V073

V099

Application

Description

Use these manuals together with the NJ-series

CPU Unit Hardware Users Manual (Cat. No.
W500) and NJ-series CPU Unit Software Users
Manual (Cat. No. W501).

NS15-
NS12-
NS10-
NS8-
NS5-

Learning how to use the

NS-series Programmable
Terminals.

Describes the setup methods, functions, etc. of the

NS-series Programmable Terminals.

Learning to create screen

data for NS-series Programmable Terminals.

Describes operating procedures for the CXDesigner.

NJ-series CPU Unit Software Users Manual (W501)

Terminology

Terminology
Term
absolute encoder home offset

array specification

AT

axes group
Axes Group Variable

axis

Axis Variable

basic data type

cam data variable

CJ-series CPU Unit

Communications Coupler Unit

Constant

Controller

Controller error

Controller event

Controller information
CPU Unit

derivative data type

device variable

Description
This data is used to restore in the CPU Unit the actual position of a Servo Drive with
an absolute encoder. The offset is the difference between the command position
after homing and the absolute data that is read from the absolute encoder.
One of the variable specifications. An array variable contains multiple elements of
the same data type. The elements in the array are specified by serial numbers
called subscripts that start from the beginning of the array.
One of the attributes of a variable.
This attribute allows the user to specify what is assigned to a variable. An I/O port
or an address in memory used for CJ-series Units can be specified.
A functional unit that groups together axes within the Motion Control Function Module.
A system-defined variable that is defined as a structure and provides status information and some of the axes parameters for an individual axes group.
An Axes Group Variable is used to specify an axes group for motion control instructions and to monitor the command interpolation velocity, error information, and
other information for the axes group.
A functional unit within the Motion Control Function Module. An axis is assigned to
the drive mechanism in an external Servo Drive or the sensing mechanism in an
external Encoder Input Slave Unit.
A system-defined variable that is defined as a structure and provides status information and some of the axis parameters for an individual axis.
An Axis Variable is used to specify an axis for motion control instructions and to
monitor the command position, error information, and other information for the axis.
Any of the data types that are defined by IEC 61131-3.
They include Boolean, bit string, integer, real, duration, date, time of day, date and
time, and text string data types.
"Basic data type" is used as opposed to derivative data types, which are defined by
the user.
A variable that represents the cam data as a structure array.
A cam data variable is an array structure that consists of phases and displacements.
Any of the CJ-series Units that can be used with an NJ-series Controller.
The generic name of an interface unit for remote I/O communications on a network
between NX Units and a host network master. For example, an EtherCAT Coupler
Unit is a Communications Coupler Unit for an EtherCAT network.
One of the attributes of a variable.
If you specify the Constant attribute for a variable, the value of the variable cannot
be written by any instructions, ST operators, or CIP message communications.
The range of devices that are directly controlled by the CPU Unit.
In the NJ-series System, the Controller includes the CPU Rack, Expansion Racks,
and EtherCAT slaves (including general-purpose slaves and Servo Drives).
Errors that are defined by the NJ-series System.
Controller error is a collective term for major fault level, partial fault level, minor
fault level, and observation Controller events.
One of the events in the NJ-series System. Controller events are errors and information that are defined by the system for user notification. A Controller event
occurs when the system detects a factor that is defined as a Controller event.
Information that is defined by the NJ-series System that is not an error. It represents an information Controller event.
The Unit that serves as the center of control for a Machine Automation Controller.
The CPU Unit executes tasks, refreshes I/O for other Units and slaves, etc. The NJseries CPU Units include the NJ501- and NJ301-.
A data type that is defined by the user. Structures, unions, and enumerations are
derivative data types.
A variable that is used to access a specific device through an I/O port.

NJ-series CPU Unit Software Users Manual (W501)

37

Terminology

Term
download
edge

enumeration
enumerator
EtherCAT Master Function Module
EtherNet/IP Function Module
event log
Event Setup
event task
FB
forced refreshing

FUN
function
function block
function module
general-purpose slave
global variable
I/O map settings
I/O port
I/O refreshing
information
Initial Value

inline ST
instruction

literal
local variable

main memory

38

Description
To transfer data from the Sysmac Studio to the Controller with the synchronization
operation of the Sysmac Studio.
One of the attributes of a variable.
This attribute makes a BOOL variable pass TRUE to a function block when the variable changes from FALSE to TRUE or when it changes from TRUE to FALSE.
One of the derivative data types. This data type takes one item from a prepared
name list of enumerators as its value.
One of the values that an enumeration can take expressed as a character string.
The value of an enumeration is one of the enumerators.
One of the function modules. This function module controls the EtherCAT slaves as
the EtherCAT master.
One of the function modules. This function module controls the built-in EtherNet/IP
port.
A function that recognizes and records errors and other events.
Settings that define user-defined errors and user-defined information.
A task that executes a user program only once when the task execution conditions
are met.
An acronym for "function block."
Forcing the refreshing of an input from an external device or an output to an external device, e.g., when the user debugs a program.
Addresses that are subject to forced refreshing can still be overwritten from the
user program.
An abbreviation for "function."
A POU that is used to create an object that determines a unique output for the
same input, such as for data processing.
A POU that is used to create an object that can have a different output for the same
input, such as for a timer or counter.
One of the functional units of the software configuration of the CPU Unit.
Any of the EtherCAT slaves that cannot be assigned to an axis.
A variable that can be read or written from all POUs (programs, functions, and function blocks).
Settings that assign variables to I/O ports. Assignment information between I/O
ports and variables.
A logical interface that is used by the CPU Unit to exchange data with an external
device (slave or Unit).
Cyclic data exchange with external devices that is performed with predetermined
memory addresses.
One of the event levels for Controller events or user-defined events. These are not
errors, but appear in the event log to notify the user of specific information.
One of the attributes of a variable. The variable is set to the initial value in the following situations.
When power is turned ON
When the CPU Unit changes to RUN mode
When you specify to initialize the values when the user program is transferred
When a major fault level Controller error occurs
ST programming that is included within a ladder diagram program.
The smallest unit of the processing elements that are provided by OMRON for use
in POU algorithms. There are ladder diagram instructions (program inputs and outputs), function instructions, function block instructions, and ST statements.
A constant expression that is used in a user program.
A variable that can be accessed only from inside the POU in which it is defined.
Local variable is used as opposed to global variable.
Local variables include internal variables, input variables, output variables, in-out
variables, and external variables.
The memory inside the CPU Unit that is used by the CPU Unit to execute the OS
and user program.

NJ-series CPU Unit Software Users Manual (W501)

Terminology

Term
major fault level Controller error

MC Test Run
memory used for CJ-series units

minor fault level Controller error

Motion Control Function Module

motion control instruction

namespace
Network Publish

NX Units

observation

partial fault level Controller error

PDO communications

periodic task
PLC Function Module

POU

primary periodic task

process data communications

program
Range Specification

Description
An error for which all NJ-series Controller control operations stop. The CPU Unit
immediately stops user program execution and turns OFF the loads for all slaves
and Units (including remote I/O).
A function to check motor operation and wiring from the Sysmac Studio.
One type of I/O memory in an NJ-series CPU Unit. It contains addresses that can
be directly specified by the user.
It can be accessed only with variables with an AT attribute. This memory is used to
access CJ-series Units and CJ-series networks.
An error for which part of the control operations for one of the function modules in
the NJ-series Controller stop.
An NJ-series CPU Unit continues operation even after a minor fault level Controller
error occurs.
One of the function modules. The MC Function Module performs motion control
based on commands from the motion control instructions that are executed in the
user program.
A function block instruction that executes motion control.
The Motion Control Function Module supports instructions that are based on function blocks for PLCopen motion control as well as instructions developed specifically for the Motion Control Function Module.
A system that is used to group and nest the names of functions, function block definitions, and data types.
One of the attributes of a variable.
This attribute allows you to use CIP message communications or tag data links to
read/write variables from another Controller or from a host computer.
Any of the NX-series Units that perform I/O processing with connected external
devices. The Communications Coupler Units are not included with the NX Units.
One of the event levels for Controller events or user-defined events.
These are minor errors that do not affect control operations, but appear in the event
log to notify the user of specific information.
An error for which all of the control operations for one of the function modules in the
NJ-series Controller stop.
An NJ-series CPU Unit continues operation even after a partial fault level Controller
error.
An abbreviation for process data communications. Data is exchanged between the
master and slaves on a process data communications cycle. (The process data
communications cycle is the same as the task period of the primary periodic task.)
A tasks for which user program execution and I/O refreshing are performed each
period.
One of the function modules. This function module executes the user program,
sends commands to the Motion Control Function Module, and provides an interface
to the USB and SD Memory Card.
An acronym for "program organization unit." A POU is a unit in a program execution
model that is defined in IEC 61131-3.
A POU contains an algorithm and a local variable table and forms the basic unit
used to build a user program.
There are three types of POUs: programs, functions, and function blocks.
The task with the highest priority.
One type of EtherCAT communications in which process data objects (PDOs) are
used to exchange information cyclically and in realtime. Process data communications are also called PDO communications.
Along with functions and function blocks, one of the three types of POUs.
Programs are assigned to tasks to execute them.
One of the variable specifications. You can specify a range for a variable in
advance. The variable can take only values that are in the specified range.

NJ-series CPU Unit Software Users Manual (W501)

39

Terminology

Term
Retain

SDO communications
Servo Drive/encoder input slave
slave
slave and Unit configurations
Slave Terminal
Special Unit Setup
structure
synchronization

Sysmac Studio

system common processing

system service

system-defined variable
task
task period
union
Unit
Unit configuration

upload
user program
user-defined event

user-defined variable
variable

variable memory

40

Description
One of the attributes of a variable. The values of variables with a Retain attribute
are held at the following times. (Variables without a Retain attribute are set to their
initial values.)
When power is turned ON after a power interruption
When the CPU Unit changes to RUN mode
When you specify to not initialize the values when the user program is transferred
One type of EtherCAT communications in which service data objects (SDOs) are
used to transmit information whenever required.
Any of the EtherCAT slaves that is assigned to an axis. In the NJ-series System, it
would be a Servo Drive or Encoder Input Slave Unit.
A device that performs remote I/O for a master.
A generic term for the EtherCAT configuration and Unit configuration.
A building-block remote I/O terminal to which a Communications Coupler Unit and
NX Units are mounted. A Slave Terminal is one type of slave.
A generic term for the settings for a Special Unit, including the settings in allocated
DM Area words.
One of the derivative data types. It consists of multiple data types placed together
into a layered structure.
A function that automatically compares the information in the NJ-series Controller
with the information in the Sysmac Studio, displays any differences and locations in
a hierarchical form, and can be used to synchronize the information.
A computer software application for setting, programming, debugging, and troubleshooting NJ-series Controllers. It also provides operations for motion control and a
Simulator.
System processing that is performed by the CPU Unit to perform I/O refreshing and
the user program execution within a task. Exclusive control of variables between
tasks, data trace processing, and other processing is performed.
Processing that is performed by the CPU Unit in unused time between task processing. The system service includes communications processing, SD Memory
Card access processing, self-diagnosis processing, and other processing.
A variable for which all attributes are defined by the system and cannot be changed
by the user.
An attribute that defines when a program is executed.
The interval at which the primary periodic task or a periodic task is executed.
One of the derivative data types. It allows you to handle the same data as different
data types.
A device that mounts to the CPU Rack or an Expansion Rack. In NJ-series manuals, it refers to CJ-series Units.
The configuration information for the Units that are set on the Sysmac Studio. This
information tells what Unit models are connected to the CPU Unit and where they
are connected.
To transfer data from the Controller to the Sysmac Studio with the synchronization
operation of the Sysmac Studio.
All of the programs in one project.
One of the events in the NJ-series System. These events are defined by the user.
User-defined events is a generic term for user-defined errors and user-defined
information.
A variable for which all of the attributes are defined by the user and can be changed
by the user.
A representation of data, such as a numeric value or character string, that is used in
a user program.
You can change the value of a variable by assigned the required value. Variable is
used as opposed to constant, for which the value does not change.
A memory area that contains the present values of variables that do not have AT
specifications. It can be accessed only with variables without an AT attribute.

NJ-series CPU Unit Software Users Manual (W501)

Revision History

Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.

Cat. No. W501-E1-09

Revision code
Revision code
01
02

03

04

05

06

07

08

09

Date
July 2011
March 2012

Revised content
Original production
Added information on the NJ301-.
Added information on the functions supported by unit version 1.01 of the CPU Units.
Corrected mistakes.
May 2012
Made changes accompanying release of unit version 1.02 of
the CPU Unit.
Corrected mistakes.
August 2012
Added information on the functions supported by unit version 1.03 of the CPU Units.
Corrected mistakes.
February 2013 Made changes accompanying release of unit version 1.04 of
the CPU Unit.
Corrected mistakes.
April 2013
Added information on the functions supported by unit version 1.05 of the CPU Units.
Added information on the NX Series.
Corrected mistakes.
June 2013
Added information on the functions supported by unit version 1.06 of the CPU Units.
Corrected mistakes.
September 2013 Added information on the functions supported by unit version 1.07 of the CPU Units.
Corrected mistakes.
December 2013 Added information on the functions supported by unit version 1.08 of the CPU Units.
Corrected mistakes.

NJ-series CPU Unit Software Users Manual (W501)

41

Revision History

42

NJ-series CPU Unit Software Users Manual (W501)

Introduction to NJ-series
Controllers
This section describes the features, basic system configuration, specifications, and
overall operating procedure of an NJ-series Controller.

1-1 The NJ-series Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1
1-1-2

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Introduction to the System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-2 Main Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1-3 Overall Operating Procedure for the NJ-series Controller . . . . . . . . . . . . . 1-9
1-3-1
1-3-2

Overall Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

Procedure Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

NJ-series CPU Unit Software Users Manual (W501)

1-1

1 Introduction to NJ-series Controllers

1-1

The NJ-series Controllers

The SYSMAC NJ-series Controllers are next-generation machine automation controllers that provide
the functionality and high-speed performance that are required for machine control.
They provide the safety, reliability, and maintainability that are required of industrial controllers.
The NJ-series Controllers provide the functionality of previous OMRON PLCs, and they also provide the
functionality that is required for motion control. Synchronized control of I/O devices on high-speed
EtherCAT can be applied to safety devices, vision systems, motion equipment, discrete I/O, and more.
OMRON offers the new Sysmac Series of control devices designed with unified communications specifications and user interface specifications. The NJ-series Machine Automation Controllers are part of
the Sysmac Series. You can use them together with EtherCAT slaves, other Sysmac products, and the
Sysmac Studio Automation Software to achieve optimum functionality and ease of operation. With a
system that is created from Sysmac products, you can connect components and operate the system
through unified concepts and usability.
Sysmac Studio
Automation Software

Multitasking, Synchronized Control

NJ-series Controller

Sequence control

Motion control

IEC programming

EtherCAT control network

Safety devices

1-1-1

I/O controls

Servo Drives and

Inverters

Machine vision

Features

Hardware Features
Standard-feature EtherCAT Control Network Support
All CPU Units provide an EtherCAT master port for EtherCAT communications. EtherCAT is an
advanced industrial network system that achieves faster, more-efficient communications. It is based
on Ethernet. Each node achieves a short fixed communications cycle time by transmitting Ethernet
frames at high speed. The standard-feature EtherCAT control network allows you to connect all of
the devices required for machine control (e.g., I/O systems, Servo Drives, Inverters, and machine
vision) to the same network.

Support for EtherCAT Slave Terminals

You can use EtherCAT Slave Terminals to save space. You can also flexibly build systems with the
wide variety of NX Units.

1-2

NJ-series CPU Unit Software Users Manual (W501)

1 Introduction to NJ-series Controllers

You can use NX-series Safety Control Units to integrate safety controls in a sequence and motion
control system as a subsystem on EtherCAT.

CJ-series Units
In addition to EtherCAT network slaves, you can also mount CJ-series Basic I/O Units and Special
Units on the I/O bus.

Standard-feature EtherNet/IP Communications Port

Standard-feature USB Port

You can connect a computer that runs the Support Software directly to the CPU Unit with a USB
connection.

Standard-feature SD Memory Card Slot

You can access an SD Memory Card that is mounted in the CPU Unit from the user program.

Highly Reliable Hardware

The NJ-series Controllers provide the hardware reliability and RAS functions that you expect of a
PLC.

Software Features
Integrated Sequence Control and Motion Control
An NJ-series CPU Unit can perform both sequence control and motion control. You can simultaneously achieve both sequence control and multi-axes synchronized control. Sequence control, motion
control, and I/O refreshing are all executed in the same control period. The same control period is
also used for the process data communications cycle for EtherCAT. This enables precise sequence
and motion control in a fixed period with very little deviation.

Multitasking
You assign I/O refreshing and programs to tasks and then specify execution conditions and execution order for them to flexibly combine controls that suit the application.

Programming Languages Based on the IEC 61131-3 International Standard

The NJ-series Controllers support language specifications that are based on IEC 61131-3. To these,
OMRON has added our own improvements. Motion control instructions that are based on PLCopen standards and an instruction set (POUs) that follows IEC rules are provided.

Programming with Variables to Eliminate Worrying about the Memory Map

You access all data through variables in the same way as for the advanced programming languages
that are used on computers. Memory in the CPU Unit is automatically assigned to the variables that
you create so that you do not have to remember the physical addresses.

A Wealth of Security Features

The many security features of the NJ-series Controllers include operation authority settings and
restriction of program execution with IDs.
1-3

1-1-1 Features

All CPU Units provide an EtherNet/IP port for EtherNet/IP communications. EtherNet/IP is a multivendor industrial network that uses Ethernet. You can use it for networks between Controllers or as
a field network. The use of standard Ethernet technology allows you to connect to many different
types of general-purpose Ethernet devices.

NJ-series CPU Unit Software Users Manual (W501)

1-1 The NJ-series Controllers

Achieving a Safety Subsystem on EtherCAT

1 Introduction to NJ-series Controllers

Complete Controller Monitoring

The CPU Unit monitors events in all parts of the Controller, including mounted Units and EtherCAT
slaves. Troubleshooting information for errors is displayed on the Sysmac Studio or on an NS-series
PT. Events are also recorded in logs.

Sysmac Studio Automation Software

The Sysmac Studio provides an integrated development environment that covers not only the Controller, but also covers peripheral devices and devices on EtherCAT. You can use consistent procedures for all devices regardless of the differences in the devices. The Sysmac Studio supports all
phases of Controller application, from designing through debugging, simulations, commissioning,
and changes during operation.

A Wealth of Simulation Features

The many simulation features include execution, debugging, and task execution time estimates on a
virtual controller.

1-1-2

Introduction to the System Configurations

The NJ Series supports the following system configurations.

Basic System Configurations

The NJ-series basic configurations include the EtherCAT network configuration, CJ-series Unit configuration, and the Support Software.

EtherCAT Network Configuration

You can use the built-in EtherCAT port to connect to EtherCAT Slave Terminals, to general-purpose
slaves for analog and digital I/O, and to Servo Drives and encoder input slaves. An EtherCAT network configuration enables precise sequence and motion control in a fixed cycle with very little deviation.

CJ-series Unit Configuration

In addition to the EtherCAT network, you can mount CJ-series Basic I/O Units and Special Units. CJseries Units can be mounted both to the CPU Rack where the CPU Unit is mounted and to Expansion Racks.

Support Software
The Support Software is connected to the peripheral USB port on the CPU Unit with a commercially
available USB cable. You can also connect it through an Ethernet cable that is connected to the
built-in EtherNet/IP port.
Refer to 10-2 Connection with Sysmac Studio for details on the connection configuration of the Support Software.

1-4

NJ-series CPU Unit Software Users Manual (W501)

1 Introduction to NJ-series Controllers

1-1 The NJ-series Controllers

CJ-series Unit
Configuration

Support Software
Peripheral USB port
Sysmac Studio
NJ-series Controller
Power
Supply Unit
LAN

CJ-series Units

CPU Unit

USB
Or

CPU Rack

EtherNet/IP

Built-in EtherNet/IP port

EtherCAT

Built-in EtherCAT port

Servo Drive/encoder
input slaves

Slave Terminal

General-purpose slaves

Additional Information
You can connect the Sysmac Studio directly to the Communications Coupler Unit to set up the
Slave Terminal. Refer to the NX-series EtherCAT Coupler Units Users Manual (Cat. No. W519)
for details.

Network Configurations
Host computers, HMIs, and other NJ-series Controllers are connected to the built-in EtherNet/IP
port or to a CJ1W-EIP21 EtherNet/IP Unit.
A DeviceNet network is connected to a DeviceNet Unit. A CompNet network is connected to a
CompNet Unit. A serial communications network is connected to a Serial Communications Unit.
Host computer

NJ-series Controller

HMI

EtherNet/IP
Serial Communications Unit
EtherNet/IP Unit
NJ-series Controller
Power Supply Unit

EtherNet/IP
NJ-series Controller

CPU Unit

EtherNet/IP slave

CompoNet Master Unit

CompoNet

Built-in EtherNet/IP port

MS NS

Built-in EtherCAT port

WORD NODE ADR

0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

MS NS

WORD NODE ADR

OUT

OD16
CRT1-OD16
CRT1
REMOTE TERMINAL

Serial
DeviceNet Unit

0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

OUT

OD16
CRT1-OD16
CRT1
REMOTE TERMINAL

General-purpose
device with serial
communications

DeviceNet

Refer to Section 10 Communications Setup for details on the network configuration.

NJ-series CPU Unit Software Users Manual (W501)

1-5

1-1-2 Introduction to the System Configurations

EtherCAT Network
Configuration

1 Introduction to NJ-series Controllers

Support Software
You can use the following Support Software to set up, monitor, and debug an NJ-series Controller.

Sysmac Studio
The Sysmac Studio is the main Support Software that you use for an NJ-series Controller. On it, you
can set up the Controller configurations, parameters, and programs, and you can debug and simulate operation.

Other Support Software

The following Support Software is also included in the Sysmac Studio Software Package Standard
Edition.
Configuration software

1-6

Application

Sysmac Studio

The Sysmac Studio is used for sequence control, motion control, and all other
operations except those described below.

Network Configurator

The Network Configurator is used for tag data links on EtherNet/IP ports.

CX-Integrator

The CX-Integrator is used for remote I/O communications with a DeviceNet

Unit or CompoNet Master Unit.

CX-Protocol

The CX-Protocol is used for protocol macros with Serial Communications

Units.

CX-Designer

The CX-Designer is used to create screens for NS-series PTs.

NJ-series CPU Unit Software Users Manual (W501)

1 Introduction to NJ-series Controllers

Main Specifications
This section gives the main specifications of the NJ-series Controllers. Refer to A-1 Specifications for
general specifications, performance specifications, and function specifications.
NJ501-

1-2 Main Specifications

1-2

NJ301-

Item
15
Size

3,000

750

Number of POU instances

9,000*

3,000*

Retain attri-

Size

2 MB

0.5 MB

butes*2

Number of variables

10,000

5,000*

No Retain attri-

Size

4 MB

2 MB

butes*3

Number of variables

90,000

22,500

Number of data types

2,000

1,000

CIO Area

6,144 words (CIO 0 to CIO 6143)

Memory for CJseries Units

(Can be specified with AT
specifications
for variables.)

Work Area

512 words (W0 to W511)

Holding Area

1,536 words (H0 to H1535)

DM Area

32,768 words (D0 to D32767)

EM Area

32,768 words 25 banks

(E0_00000 to E18_32767)

Maximum number of connectable Units

Maximum per CPU Rack or Expansion Rack

10

Entire controller

40

Memory capacity for variables

Data types

Maximum number of Expansion Racks

I/O capacity

Maximum number of I/O points on CJ-series Units

2,560

Power Supply
Unit for CPU
Rack and
Expansion
Racks

Model

Number of controlled axes

Motion
control

11

Quantity

Power OFF
detection time

32,768 words 4 banks

(E0_00000 to
E3_32767)

NJ-P3001
AC power supply
DC power supply

Maximum number of controlled axes*4

30 to 45 ms
22 to 25 ms
64 axes

32 axes

16 axes

15 axes (*)

Maximum number of used real axes*5

64 axes

32 axes

16 axes

8 axes

Maximum number of axes for single-axis control

64 axes for
single-axis
control

32 axes for
single-axis
control

16 axes for
single-axis
control

15 axes for single-axis

control (*)

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

4 axes

Maximum number of axes groups

32 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

Maximum points for all cam

tables

1,048,560 points

262,140 points

640 tables

160 tables

Maximum number of cam tables

Peripheral
USB port

12

Number of POU definitions

ity*1

Unit configuration

13

5 MB

Program capac-

Programming

14

20 MB

Supported services

Sysmac Studio connection

Physical layer

USB 2.0-compliant B-type connector

Transmission distance

5 m max.

NJ-series CPU Unit Software Users Manual (W501)

1-7

1 Introduction to NJ-series Controllers

Physical layer

10BASE-T/100BASE-TX

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.

Built-in
EtherNet/IP port

CIP service: Tag

data links (cyclic
communications)

Built-in
EtherCAT
port

*1
*2
*3
*4
*5
*6
*7
*8

Maximum number of connections

32

Packet interval*6

1 to 10,000 ms in 1-ms increments (*)

Can be set for each connection.

Permissible communications band

3,000 pps*7 (including heartbeat) (*)

Number of tag sets

32

Tag types

Network variables, CIO, Work, Holding, DM, and EM Areas

Number of tags per connection (i.e., per tag set)

8 (7 tags if Controller status is included in the tag set.)

Maximum link data size per node (total size for all
tags)

19,200 bytes

Maximum data size per connection

600 bytes

Maximum number of registrable tag sets

32 (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*8

Supported

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, and branching

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

192

Execution objects and variable tables (including variable names)

Does not include Holding, DM, and EM Area memory for CJ-series Units.
Does not include CIO and Work Area memory for CJ-series Units.
This is the total for all axis types.
This is the total number of axes that are set as servo axes or encoder axes and are also set as used axes.
Data will be refreshed at the set interval, regardless of the number of nodes.
pps means packets per second, i.e., the number of communications packets that can be sent or received in one second.
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.

Note Items that are marked with asterisks in the table are improvements that were made during version upgrades. Refer to A12 Version Information for information on version upgrades.

1-8

NJ-series CPU Unit Software Users Manual (W501)

1 Introduction to NJ-series Controllers

Overall Operating Procedure for the

NJ-series Controller
This section gives the overall operating procedure of the NJ-series Controllers and then describes it in
more detail.

1-3 Overall Operating Procedure

for the NJ-series Controller

1-3

1
1-3-1

Overall Procedure
1-3-1 Overall Procedure

The overall procedure to use an NJ-series Controller is given below.

Step 1. Software Design

Design the overall system configuration, task configuration, programs, and variables.
Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Create the system configurations that you designed in step 1 on the Support Software and assign the variables. Create the tasks and programs, and debug them,
e.g., with simulations.
Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Mount the Units and make the required hardware settings.

Step 4. Wiring
Connect the network cables and wire the I/O.

Step 5. Checking Operation and Starting Actual Operation

on the Actual System
Connect the Support Software to the physical system and download the project.
Check operation on the physical system and then start actual system operation.

NJ-series CPU Unit Software Users Manual (W501)

1-9

1 Introduction to NJ-series Controllers

1-3-2

Procedure Details

Step 1. Software Design

Step

Description

Reference

Step 1-1
Designing I/O and
Processing

External I/O devices and unit configuration

Refresh periods for external devices
Program contents

NJ-series CPU Unit Hardware Users Manual (Cat.

No. W500)

Step 1-2
Designing Tasks

4-2-3 Task Settings

Task configuration
Relationship between tasks and programs
Task periods
Slave and Unit refresh times
Exclusive control methods for variables between tasks

Step 1-3
Designing Programs
POU (Program
Organization Unit)
Design

Programs
Functions and function blocks
Determining the algorithm languages

Section 6 Programming

Variable Design

Defining variables that you can use in more than one POU and
variables that you use in only specific POUs
Defining the variables names for the device variables that you use
to access slaves and Units
Defining the attributes of variables, such as the Name and Retain
attributes
Designing the data types of variables

6-3 Variables

Step 2. Software Setups and Programming

Step

Description

Sysmac Studio Oper- Reference

ations

Project Creation

1. Create a project in the Sysmac Studio.

2. Insert a Controller.

New Project Button

1-10

Insert Controller

Sysmac Studio Version 1

Operation Manual (Cat. No.
W504)

NJ-series CPU Unit Software Users Manual (W501)

1 Introduction to NJ-series Controllers

Step 2-1
Slave and Unit
Configurations
1) Creating the Slave
and Unit Configurations

EtherCAT Slave Setting

Editor
Unit Editor

Registering device variables in variable

tables (Variable names are user defined or
automatically created.)

I/O Map

3-3 I/O Ports and Device

Variables

Configurations and
Setup Motion Control Setup

3-5 Creating the Axes and

Assigning Them to the
Servo Drives/Encoder Input
Slaves

3-2-1 Creating the EtherCAT

Slave Configuration
3-2-2 Creating the Unit Configuration
NX-series EtherCAT Coupler Unit Users Manual
(Cat. No. W519)

(The following step is for motion control.)

3) Creating the Axes
and Assigning Them
to the Servo
Drive/Encoder Input
Slaves

Creating the axes and setting them as real

axes or virtual axes. Creating axes groups
to perform interpolated axes control.

Step 2-2
Controller Setup

Setting the following parameters from the

Sysmac Studio

Section 4 Controller Setup

Setting the initial values for the PLC

Function Module

Configurations and
Setup Controller
Setup Operation
Settings

4-2 Initial Settings for the

PLC Function Module

Initial settings for Special Units

Configurations and
Setup CPU/Expansion Racks

4-3 Initial Settings for Special Units

(To use motion control)

Setting the initial settings for the
Motion Control Function Module

Configurations and
Setup Motion Control Setup

4-4 Initial Settings for the

Motion Control Function
Module

Setting the initial values for the Ether- Configurations and

CAT Function Module
Setup EtherCAT

4-5 Initial Settings for the

EtherCAT Master Function
Module

4-6 Initial Settings for the

Setting the initial values for the Ether- Configurations and
Net/IP Function Module
Setup Controller
EtherNet/IP Function ModSetup Built-in Ether- ule
Net/IP Port Settings

NJ-series CPU Unit Software Users Manual (W501)

1-11

1
1-3-2 Procedure Details

2) Assigning Device
Variables to I/O Ports

1. Creating the slave configuration and

Unit configuration either offline or
online. (For online configuration, make
the online connection that is described
in step 5.)
2. Setting up any Slave Terminals that are
used.

1-3 Overall Operating Procedure

for the NJ-series Controller

The following Controller Configurations and Setup and the Programming and Task Settings can be performed in either order.

1 Introduction to NJ-series Controllers

Step 2-3
Programming
Registering the variables used by more
than one POU in the global variable
table with Sysmac Studio
Registering the local variable table for
each program
Registering the local variable table for
each function block and function

Global Variable Table

Editor

2) Writing Algorithms
for POUs

Writing the algorithms for the POUs (programs, function blocks, and functions) in
the required languages

Programming Editor

3) Setting the Tasks

Making task settings

Configurations and
Setup Task Settings

Step 2-4
Offline Debugging

Checking the algorithms and task execution times on the Simulator (virtual controller)

1) Registering Variables

Local Variable Table

Editor

Sysmac Studio Version 1

Operation Manual (Cat. No.
W504)
6-3 Variables

Section 6 Programming
NJ-series Instructions Reference Manual (Cat. No.
W502) and NJ-series
Motion Control Instructions
Reference Manual (Cat. No.
W508)
4-2-3 Task Settings

Section 7 Checking Operation and Actual Operation

Step 3. Mounting and Setting Hardware

Step

Description

Reference

1. Mounting

Connecting adjacent Units

Mounting to DIN Track

4-3 Mounting Units in NJseries CPU Unit Hardware

Users Manual (Cat. No.
W500)

2. Setting Hardware Setting the node addresses of the EtherCAT slaves

Operation manuals for the

Setting unit numbers on the rotary switches on the front of the Spe- EtherCAT slaves and Special Units
cial Units

1-12

NJ-series CPU Unit Software Users Manual (W501)

1 Introduction to NJ-series Controllers

Description

Reference

1. Connecting
Ethernet Cable

Connecting the built-in EtherCAT port

Connecting the built-in EtherNet/IP port

4-4 Wiring in NJ-series CPU

Unit Hardware Users Manual (Cat. No. W500)

2. Wiring I/O

Wiring I/O to EtherCAT slaves

Wiring Basic I/O Units and Special Units

Operation manuals for the

EtherCAT slaves and 4-4
Wiring in NJ-series CPU
Unit Hardware Users Manual (Cat. No. W500)

Checking wiring

6-4-2 Performing Online

Debugging in Sysmac Studio Version 1 Operation
Manual (Cat. No. W504)

Connecting USB Cable

Connecting the built-in EtherNet/IP port

Sysmac Studio Version 1

Operation Manual (Cat. No.
W504)

3. Connecting the
Computer That
Runs the Sysmac
Studio

Step 5. Checking Operation and Starting Operation on the Actual System

Step

Description

Sysmac Studio
Operations

Reference

1. Online Connection to Sysmac Studio and Project

Download

Turn ON the power supply to the Controller

and place the Sysmac Studio online.
Then, download the project.*
(Perform this step before you create the
slave configuration or Unit configuration
from the mounted Units in step 2-1.)

Controller Communications Setup

Section 7 Checking Operation and Actual Operation

2. Operation Check
on Controller

1. Check the wiring by using forced

refreshing of real I/O from the I/O Map
or Watch Tab Page.
2. For motion control, use the MC Test
Run operations in PROGRAM mode to
check the wiring. Then check the motor
rotation directions for jogging, travel
distances for relative positioning (e.g.,
for electronic gear settings), and homing operation.
3. Change the Controller to RUN mode
and check the operation of the user
program.

Section 7 Checking Operation and Actual Operation

3. Actual Controller
Operation

Start actual operation.

Section 7 Checking Operation and Actual Operation

Controller Synchronization

* Use the Synchronize Menu of the Sysmac Studio to download the project.

NJ-series CPU Unit Software Users Manual (W501)

1-13

1
1-3-2 Procedure Details

Step

1-3 Overall Operating Procedure

for the NJ-series Controller

Step 4. Wiring

1 Introduction to NJ-series Controllers

1-14

NJ-series CPU Unit Software Users Manual (W501)

CPU Unit Operation

This section provides information that is necessary to use the CPU Unit, including how
the CPU Unit works and the operations that it performs depending on the status of the
CPU Unit.

2-1 Overview of CPU Unit Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-1
2-1-2

Introduction to CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Overview of Operation According to CPU Unit Status . . . . . . . . . . . . . . . . . . . 2-3

2-2 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-1
2-2-2

Software Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Operation of Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-3 Accessing I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-3-1
2-3-2

Types of Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

Accessing I/O with Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2-4 Sequence Control and Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

2-4-1
2-4-2
2-4-3
2-4-4

Overview of Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronizing Sequence Control and Motion Control . . . . . . . . . . . . . . . . . .

2-18
2-20
2-21
2-22

2-5 Overview of CPU Unit Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23

2-6 Operation for CPU Unit Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2-6-1
2-6-2
2-6-3

CPU Unit Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25

Operation for CPU Unit Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28

NJ-series CPU Unit Software Users Manual (W501)

2-1

2 CPU Unit Operation

2-1

Overview of CPU Unit Operation

This section describes the operation of the CPU Unit and gives an overview of how it operates depending on the status of the CPU Unit.

2-1-1

Introduction to CPU Unit

The NJ-series CPU Unit executes the user program for sequence control and motion control. It also
performs other processing, such as I/O refreshing and external communications. These processes are
performed by the software in the CPU Unit.
The CPU Unit also contains settings, the user program, variables, and other data. The CPU Unit uses
this data to perform processing. Of this data, variables are used to access the CPU Unit and I/O, and for
external communications.
The internal software and the use of variables for I/O access enable the CPU Unit to execute both
sequence control and motion control.
NJ-series CPU Unit
Data

Software

Settings

User program execution

Accessing I/O

Sequence control

User program

Motion control

EtherCAT slaves
Variables

I/O refreshing

CJ-series Units

External communications
Other Controllers,
host computers, etc.

External communications

This section describes the following items to provide you with a basic understanding of how the CPU
Unit performs sequence control and motion control.
Item

Reference

Software

P.2-4

Accessing I/O

P.2-10

Sequence control and motion control

P.2-18

Overview of CPU Unit data

P.2-23

Operation for CPU Unit status

P.2-25

Additional Information
Refer to the following manuals for details on the use of variables for external communications.
Communications

2-2

Manual

EtherNet/IP

For information on using variables with the built-in EtherNet/IP port, refer to the
NJ-series CPU Unit Built-in EtherNet/IP Port Users Manual (Cat. No. W506).
For information on using variables with an EtherNet/IP Unit, refer to the CJ-series
EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495).

Serial communications

CJ-series Serial Communications Units Operation Manual for NJ-series CPU Unit
(Cat. No. W494)

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Overview of Operation According to CPU Unit Status

The status of the CPU Unit changes when an error occurs or when you change the operating mode.
Changes in the status of the CPU Unit affect user program execution, I/O refreshing, and the processing of external communications.
2-6 Operation for CPU Unit Status describes CPU Unit operation according to the status of the CPU
Unit.

2-1 Overview of CPU Unit Operation

2-1-2

2
2-1-2 Overview of Operation According to CPU Unit Status

NJ-series CPU Unit Software Users Manual (W501)

2-3

2 CPU Unit Operation

2-2

Software
This section describes the software configuration of the CPU Unit, and how the software components
operate.

2-2-1

Software Configuration
The software in the CPU Unit is divided into four modules. These functional units are called function
modules.
The function modules and the processing that they perform are described in the following table.
Function module name

Processing

PLC Function Module

Performs the following services: task scheduling, commands for other function modules, event logging, execution of the user program, I/O refreshing*1
for the CJ-series Units, USB port services, SD Memory Card services, and
data trace processing.

Motion Control Function Module

Performs motion control processing.*2

EtherCAT Master Function Module

Performs communications with EtherCAT slaves as the EtherCAT master,

including I/O refreshing*3 for the EtherCAT slaves, EtherCAT message communications*4, etc.

EtherNet/IP Function Module

Performs processing for EtherNet/IP communications, including tag data link

processing, built-in EtherNet/IP port servicing, etc.

*1 Some CJ-series Units can also be connected to an NJ-series CPU Unit.

*2 This function module executes motion processing based on target values (such as the position or velocity target value) from the motion control instructions. It outputs command values, controls status, and obtains information through the EtherCAT Master Function Module.
*3 I/O refreshing for EtherCAT slaves is performed by using process data communications (also called PDO communications). In PDO communications, the master and slaves exchange data cyclically at regular intervals.
*4 This module communicates with the EtherCAT slaves as the EtherCAT master.

2-4

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

2-2-2

Operation of Software
The software in the CPU Unit performs the following four processes. Which process is performed
depends on the status of the CPU Unit and the execution conditions of the process itself.
Status of CPU Unit

Execution conditions

Processing example

Initialization

Startup state

Initialization is performed only when

the power supply is turned ON.

Self diagnosis at
startup

Processing executed
with tasks

Normal operation
and error states

The processing is executed within the

assigned task. These tasks are executed either periodically or only once
when the specified condition is met.

User program execution and I/O

refreshing

These services are performed only

upon requests from the hardware or
other external devices.

Tag data links

Tag data link service

USB port service

and SD Memory
Card service

Refer to 2-6-1 CPU Unit Status for information on the CPU Unit status.
This section describes the operation of the processes.

Initialization
Initialization is performed only when the power supply is turned ON.
The following processing is performed for initialization.
Processing

Description

Self diagnosis at startup

Operation is monitored for the following errors: Power Supply

Error, CPU Unit Reset, CPU Unit Watchdog Timer Error, and
Incorrect Power Supply Unit Connected.*1

Data check

The _RetainFail (Retention Failure Flag) system-defined variable

changes to TRUE at the following time: when the values of variables for which the Retain attribute was set to retain the values
and the values in DM, EM, and HR Areas in the memory used for
CJ-series Units were not retained after a power interruption.

Detecting CJ-series Units

The CJ-series Units mounted in the Controller are detected.

Recording Power Turned ON and Power

Interrupted events

The Power Turned ON and Power Interrupted events are

recorded.

*1 Refer to 12-1-2 Fatal Errors in the CPU Unit for information on the following errors: Power Supply Error, CPU
Unit Reset, CPU Unit Watchdog Timer Error, and Incorrect Power Supply Unit Connected.

NJ-series CPU Unit Software Users Manual (W501)

2
2-2-2 Operation of Software

System services

2-2 Software

Type of CPU Unit processing

2-5

2 CPU Unit Operation

Processing Executed with Tasks

Types of Processing That are Executed with Tasks
The following processing is performed with tasks.
Processing

Description

I/O refreshing

Data I/O for EtherCAT slaves, CJ-series Basic I/O Units, and CJ-series Special Units is performed.

User program execution

The user programming for sequence control is executed. It also sends commands to the motion control process.

Motion control

Motion control is executed based on commands from the user program.

System common processing

System common processing, such as data trace processing and tag data link
processing, is performed.

Refer to 5-2-3 Basic Operation of Tasks for details on the processing that is executed with tasks.

Task Operation
Processing is assigned to tasks. There are three kinds of tasks, as shown in the following table.
They are defined by their execution priorities and execution conditions.
Type of task
Primary periodic
task
Periodic tasks

Execution priority (smaller values

indicate higher priority)
4
This task has the highest execution
priority.
16, 17, or 18
Execution is interrupted for execution
of the primary periodic task and for
event tasks that have a higher execution priority.

Execution conditions

Main processing content

The primary periodic

I/O refreshing, user
task is periodically exe- program execution,
cuted.
and motion control
A periodic task is periodically executed.
The task period is an
integer multiple of the
task period of the primary periodic task.

The processing that

can be performed
depends on the execution priority.
Execution priority 16:
I/O refreshing and user
program execution
Execution priority 17 or
18: User program execution

Event tasks

8 or 48
Execution is interrupted for execution
of the primary periodic task and for
periodic tasks that have a higher execution priority.

An event task is executed only once when

the specified condition
is met.

User program execution

The CPU Unit executes the task with the highest execution priority first. The following operation
example is for the primary periodic task and a periodic task. If the primary periodic task is ready for
execution while a periodic task is in execution, execution of the periodic task is interrupted to allow
execution of the primary periodic task.

2-6

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Task period of primary

periodic task

Primary
periodic task

Task period of primary

periodic task

Task

Task

Task

Task

Task period of periodic task

Interrupted. Task

2-2 Software

Task period of periodic task

Periodic task

Task period of primary

periodic task

Task

Operation of Processing with Tasks

Task period

Task

Task period

Task

Processing
System
I/O
common
refreshing processing

User program execution

Motion control

System
common
processing

Command
Motion control instruction

Note Motion control processing is executed only in the primary periodic task. If a program that uses a motion control instruction is assigned to a periodic task, motion control processing is executed as follows: the execution
process for the program in the periodic task sends a command to the motion control process in the primary
periodic task. For details, refer to 5-3-4 System Input and Output Response Times.

NJ-series CPU Unit Software Users Manual (W501)

2-7

2
2-2-2 Operation of Software

Processing that is assigned to a task is executed within the task in the order shown in the following
diagram. If the program contains a motion control instruction, the execution process for the program
in the task will send a command to the motion control process. The motion control process is executed based on commands.

2 CPU Unit Operation

Tag Data Link Service

Processing Performed by the Tag Data Link Service
The tag data link service processes communications that use tags with other controllers or devices
on an EtherNet/IP network. You can use the built-in EtherNet/IP port in the CPU Unit or a CJ-series
CJ1W-EIP21 EtherNet/IP Unit to connect to an HMI.

Operation of the Tag Data Link Service

The tag data link service is executed periodically. The period and the time that is required for each
execution depend on the model of the CPU Unit and on the tag data link settings.
The execution priority of the tag data link service is between the execution priorities of the priority-16
periodic task and the priority-17 periodic task. Therefore, the tag data link service will be given priority over execution of the priority-17 periodic task, but it may sometimes be interrupted to execute the
primary periodic task or the priority-16 periodic task.
Task period of
primary periodic task

Primary
periodic task

Task

Task period of
primary periodic task

Task
Task period of periodic task

Priority-16 periodic
task

Task period of
primary periodic task

Task
Task period of periodic task

Task

Task

Tag data link

service
Task period of periodic task
Priority-17 periodic
task

Interrupted. Task

The tag data link service is executed with a priority that is between the execution
priorities of the priority-16 periodic task and the priority-17 periodic task.

For details on the tag data link service, refer to 5-2-7 Tag Data Link Service and System Services.

2-8

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

System Services
System Services
System services include the following processing.
USB port service

Processing of service requests from the Sysmac Studio or host computers

Built-in EtherNet/IP port service

Processing of message service requests, such as CIP commands, from

the Sysmac Studio, an HMI, host computers, or other Controllers
Execution of communications instructions for CIP and socket communications

Built-in EtherCAT port service

Execution of EtherCAT message communications

CJ-series Special Unit service *

Event servicing for CJ-series Special Units

Execution of communications instructions (CIP)

SD Memory Card service

Access from FTP client

SD Memory Card operations from the Sysmac Studio
Execution of SD Memory Card instructions

Self-diagnosis

Hardware error detection

The CPU Unit exchanges data between CJ-series Special Units and the memory words that are allocated to
them during I/O refreshing.

System Service Operations

If a request comes from the hardware or from outside of the CPU Unit, system services are executed during the unused time between the execution of all tasks.
Task period of primary
periodic task

Primary
periodic task

Task

Task period of primary

periodic task

Task

Task

Task period of periodic task

Periodic task

Task

Interrupted.

Task period of primary

periodic task

Task period of primary

periodic task

Task
Task period of periodic task

Task

Task

Interrupted. Task

System
services

The system service is executed during unused time between

the execution of all tasks.

Refer to Processing Performed in System Services on page 5-29 for details on the system services.

NJ-series CPU Unit Software Users Manual (W501)

2-9

2
2-2-2 Operation of Software

Contents

2-2 Software

Processing

2 CPU Unit Operation

2-3

Accessing I/O
The CPU Unit uses variables to access I/O. This section describes how variables are used to access
I/O.
In this manual, I/O on EtherCAT slaves and CJ-series Units are treated as I/O. Refer to the NJ-series
CPU Unit Built-in EtherNet/IP Port Users Manual (Cat. No. W506) for details on how to access data in
other Controllers with tag data links.

2-3-1

Types of Variables
In an NJ-series CPU Unit, you use variables in the user program to access I/O and memory in the CPU
Unit.
The type of a variable depends on whether it has attributes that are set by the user, and what it can
access.
Attribute settings

Variables

Accessed data

User-defined variables

All attributes can

be set.

CPU Unit

Semi-user-defined
variables

Some attributes
can be set.*1

EtherCAT slaves to which axes

are not assigned*2*3

Device variables Device variables

for EtherCAT
slaves
Device variables
for CJ-series
Units

CJ-series Basic I/O Units and

CJ-series Special Units

Cam data variables

System-defined
variables

System-defined variables for PLC

Function Module
System-defined
variables for
motion control

Servo Drives, encoder input

slaves, and CPU Unit
No attributes can
be set.

MC Common
Variable

CPU Unit
Servo Drives, encoder input
slaves, and CPU Unit

Axis Variables
Axes Group Variables

System-defined variables for EtherNet/IP

Built-in EtherNet/IP port

System-defined variables for EtherCAT master

Built-in EtherCAT master port

*1 Refer to Device Variable Attributes on page 3-11 for the attributes that can be set.
*2 EtherCAT slaves includes any NX Units on EtherCAT Slave Terminals.
*3 With the Sysmac Studio version 1.09 or higher, the EtherCAT slaves to which axes are assigned can also be
accessed via EtherCAT slave device variables.

User-defined Variables
The user defines all of the attributes of a user-defined variable. Refer to 6-3 Variables for details on
user-defined variables.

2-10

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Semi-user-defined Variables

Device Variables
Device variables are used to access data in devices. A device is a general term for any Unit or slave
that is refreshed by the I/O refreshing that is performed by the CPU Unit. Specifically, it refers to
EtherCAT slaves and CJ-series Units.
The device and the data to access in that device determine the type of device variable, as shown
below.
Device

Accessed data

Device variables for

EtherCAT slaves

EtherCAT slaves to which axes

are not assigned*1

Process data for EtherCAT slaves*1

Device variables for

CJ-series Units

CJ-series Basic I/O Units

Real I/O data in Basic I/O Units

CJ-series Special Units

Operating data*2 and setup data*3 for Special

Units

*1 With the Sysmac Studio version 1.09 or higher, the EtherCAT slaves to which axes are assigned can also
be accessed via EtherCAT slave device variables.
*2 This refers to I/O data that is exchanged during the process data communications cycle between the master and slaves.
*3 This data is used in the operation of CJ-series Units. The CIO Area portion of the memory used for CJseries Units is used.
*4 This data is used to set up the CJ-series Units. The DM Area portion of the memory used for CJ-series
Units is used.

Device variables are used to access data for EtherCAT slaves and CJ-series Units through the I/O
ports. The I/O ports are logical ports that are used to access devices.
NJ-series CPU Unit
User program

Device variable

Instruction
I/O port

EtherCAT slave or
CJ-series Unit

Refer to 3-3-1 I/O Ports for details on I/O ports and device variables.

Cam Data Variables

Cam data variables are used to access data in cam tables, which are used for motion control. For
details, refer to the NJ-series CPU Unit Motion Control Users Manual (Cat. No. W507).

NJ-series CPU Unit Software Users Manual (W501)

2-11

2
2-3-1 Types of Variables

Type of device variable

2-3 Accessing I/O

Semi-user-defined variables have some attributes that you can set. These variables are used to access
specific data. A semi-user-defined variable can either be a device variable or a cam data variable,
depending on what it can access.

2 CPU Unit Operation

System-defined Variables
System-defined variables are defined in advance in an NJ-series Controller. The names and all attributes are defined by the system. They have specific functions. You cannot change the variable names
or any other attributes.
The system-defined variables are specific to a function module. There are system-defined variables for
each function module. The types of system-defined variables are listed in the following table.
Function module
PLC Function Module

Type of system-defined variable

System-defined variables for PLC Function Module

Motion Control Function Module

System-defined variables for motion control

EtherNet/IP Function Module

System-defined variables for EtherNet/IP

EtherCAT Master Function Module

System-defined variables for EtherCAT master

The system-defined variables for motion control are classified according to what the Motion Control
Function Module does, as listed in the following table.
System-defined variables for
motion control

Description

MC Common Variable

Common processing for the entire Motion Control Function Module

Axis variables

Control of individual axes

Axes Group variables

Control of axes groups*1

*1 An axes group consists of multiple axes. An axes group is used for interpolation.

Refer to A-3 System-defined Variables for details on system-defined variables.

2-12

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

2-3-2

Accessing I/O with Variables

I/O
EtherCAT slaves

CJ-series Units

Data

Variables

EtherCAT slaves to which

axes are not assigned*1

---

Device variables for EtherCAT slaves

EtherCAT slaves to which

axes are assigned

---

Axis variables

Basic I/O Units

---

Device variables for CJseries Units

Special Units

Device variables for CJseries Units

Assigned memory area data*1 User-defined variables

*1 With the Sysmac Studio version 1.09 or higher, the EtherCAT slaves to which axes are assigned can also be
accessed via EtherCAT slave device variables.
*2 This data is for extended functions and slave I/O that you assign by specifying addresses in memory. You cannot access assigned memory area data with device variables.

CPU Unit
User program

Variables
Axis variables

Device variables for

EtherCAT slaves

Device variables for CJ-series Units

User-defined
variables

I/O
Servo Drive and
encoder input slaves
that are assigned to axes

Servo Drive, encoder input,

and general-purpose slaves
that are not assigned to axes

Basic
I/O Units

Special Units
Operating data
Setup data

Assigned
memory areas

Accessing EtherCAT Slaves

The method that is used to access an EtherCAT slave depends on the type of EtherCAT slave.
Type of EtherCAT slave

Access method

Servo Drive and encoder input slaves that are not

assigned to axes*1
General-purpose slaves

These slaves are accessed through I/O ports by using

device variables for EtherCAT slaves.

Servo Drive and encoder input slaves that are

assigned to axes

These slaves are accessed directly with Axis variables.*1

*1 With the Sysmac Studio version 1.09 or higher, the EtherCAT slaves to which axes are assigned can also be
accessed via EtherCAT slave device variables.
*2 For a Servo Drive, one Servomotor is assigned as one axis to one Axis variable. For an encoder input slave,
one counter is assigned as one axis to one Axis variable.
Note EtherCAT slaves that cannot be assigned to axes are called general-purpose slaves. EtherCAT slaves that
can be assigned to axes are called Servo Drive and encoder input slaves. Refer to the NJ-series CPU Unit
Motion Control Users Manual (Cat. No. W507) for details on Servo Drive and encoder input slaves.
NJ-series CPU Unit Software Users Manual (W501)

2-13

2
2-3-2 Accessing I/O with Variables

Operating data
Setup data

2-3 Accessing I/O

In the CPU Unit, variables are used in the user program. Variables access the data of the assigned I/O.
The following table shows how I/O and variables are assigned in the CPU Unit. The type of variable that
is used by a CJ-series Special Unit depends on the data to access.

2 CPU Unit Operation

Accessing Servo Drive, Encoder Input, and General-purpose Slaves That Are
Not Assigned to Axes
These slaves are accessed through I/O ports for device variables for EtherCAT slaves. PDO communications are used to access data from I/O ports.
CPU Unit
Example: General-purpose slave
Device variables
for EtherCAT slaves

I/O ports
PDO communications
00

Variable
InBit00

to
to

PDO communications
15

Variable
InBit15

Accessing Servo Drive and Encoder Input Slaves That Are Assigned to Axes
Servo Drive and encode input slaves that are assigned to axes are accessed directly through the
Axis variable. PDO communications are used to access data from Axis variables.
For example, if a Servomotor is controlled with a Servo Drive, the control commands for the Servomotor that is assigned to an Axis variable are sent to the Servo Drive. The feedback from the Servomotor is sent from the Servo Drive to the CPU Unit by using the Axis variable.
CPU Unit
System-defined variables

Servo Drive

PDO communications
Axis variable

Servomotor
Servo Drive
PDO communications
Axis variable

Servomotor

Refer to 3-5-2 Axis Variables and Axes Group Variables for details on Axis variables.

2-14

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Version Information

The value of the R/W attribute is R (Read only).

The value of the R/W attribute is W (Write only), and <Not assigned> is set for the process
data field under Detailed Settings on the Axis Basic Settings Display in the Sysmac Studio.

2-3 Accessing I/O

With the Sysmac Studio version 1.09 or higher, device variables can be assigned to the I/O ports
of Servo Drive and encoder input slaves to which axes are assigned.
The I/O port to which a device variable can be assigned must meet either of the following conditions.

2
Precautions for Correct Use

(1) With the Sysmac Studio version 1.09 or higher, assign device variables to the I/O ports of
Servo Drive and encoder input slaves to which axes are assigned.
(2) Save the project data.
(3) Open the saved project data with the Sysmac Studio version 1.08 or lower.

Additional Information
There are two types of EtherCAT communications, PDO communications and SDO communications. PDO communications are used for commands to refresh I/O data, such as data for Servomotor position control, on a fixed control period. SDO communications are used for commands
to read and write data at specified times, such as for parameter transfers.
Refer to the NJ-series CPU Unit Built-in EtherCAT Port Users Manual (Cat. No. W505) for
details.

Accessing Basic I/O Units

A Basic I/O Unit is accessed through the I/O ports for device variables for the CJ-series Unit.
Basic Output Unit

CPU Unit
Device variables
for CJ-series Units

Basic Input Unit

I/O ports
00

Variable

Ch1_In00

15

Variable
Ch1_In15
Variable

00

Ch2_In00

15

Variable
Ch2_In15

Refer to 3-3-1 I/O Ports for details.

NJ-series CPU Unit Software Users Manual (W501)

2-15

2-3-2 Accessing I/O with Variables

If you perform the following steps, the system will clear the assignment of the device variable to
the I/O port of a Servo Drive and encoder input slave to which an axis is assigned.

2 CPU Unit Operation

Accessing Special Units

There are two methods that you can use to access Special I/O Units. Which method is used depends
on the data to access.
Access method

Data

Accessing Special Units through I/O ports by using device variables for CJ-series
Units

Operating data
Setup data

Accessing Special Units by using user-defined variables with AT specifications

Assigned memory area

data

Accessing Special Units through I/O ports by Using Device Variables for CJseries Units
The operating data and setup data are accessed through the I/O ports for the device variables for
the CJ-series Unit. The data is exchanged during I/O refreshing.
CPU Unit
Device variables
for CJ-series Unit

Example: Analog Input Unit

I/O ports
Operating data

Variable
Ch1_RdAI

Variable
Ch1_SensErr

Setup data
Variable

Operating data
Input 1 converted
value
Input 1 disconnection
detection

Setup data
Input 1 enable setting

Ch1_InChUseCfg

Variable
Ch1_AveCfg

Input 1 mean value

processing setting

Refer to 3-3-1 I/O Ports for details.

2-16

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Accessing Special Units by Using User-defined Variables with AT

Specifications

Example: DeviceNet Unit

CPU Unit
User-defined variables

Memory used
for CJ-series Units

Fixed allocations
for remote I/O

CIO
Variable
Variable

%3200.00

%3201.00

Slave

3201.00

Slave

Assigned memory addresses within

the fixed allocations for remote I/O

The assigned memory addresses including the following addresses.

Addresses in fixed allocations for DeviceNet Units
Addresses in user-specified allocations for DeviceNet Units or CompoNet Master Units from
the CX-Integrator (A CompoNet Master Unit must be set to communications mode 8 to use
the CX-Integrator.)
Addresses in expansion memory for High-speed Counter Units
Addresses in expansion memory for Process I/O Units
Refer to A-6 Contents of Memory Used for CJ-series Units for information on the memory used for
CJ-series Units. Refer to 6-3-8 Variable Attributes for information on AT specifications.

NJ-series CPU Unit Software Users Manual (W501)

2-17

2-3-2 Accessing I/O with Variables

Variables that are assigned to memory

addresses with AT specifications

3200.00

2-3 Accessing I/O

The assigned memory area addresses are accessed by using AT specifications for user-defined
variables to the memory addresses that are used for the CJ-series Units. The data in the memory
used for CJ-series Units is exchanged with the data in the CJ-series Units during I/O refreshing.

2 CPU Unit Operation

2-4

Sequence Control and Motion

Control
This section describes the sequence control and motion control systems that are used by the CPU Unit.

2-4-1

Overview of Control
The NJ-series CPU Unit can perform both sequence control and motion control.
You execute sequence control with instructions other than motion control instructions in the user program. Sequence control is for EtherCAT slaves and CJ-series Units that are not assigned to axes. Control is performed by the PLC Function Module and the EtherCAT Master Function Module.
You perform motion control with motion control instructions in the user program for EtherCAT Servo
Drive and encoder input slaves that are assigned to axes. Control is performed by the PLC Function
Module, Motion Control Function Module, and the EtherCAT Master Function Module.
NJ-series CPU Unit
PLC Function Module
User program execution

Sequence control
CJ-series Units
Basic I/O Unit

Executed.

I/O ports

Device variables

Instruction
other than
a motion
control
instruction

Motion control
Executed.

Motion
control
processing

Axis variable

2-18

Command

Axis variable

Motion
control
instruction

Motion Control
Function
Module

EtherCAT
Master
Function
Module

Special Unit
PDO
communi- EtherCAT slaves
cations
Servo Drive, encoder
input, and generalpurpose slaves that are
not assigned to axes

EtherCAT
communications

Servo Drive and encoder

input slaves that are
assigned to axes

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Instruction Types in Terms of Control Systems

In terms of the controls, the instructions can be broadly separated into the following two types of
instructions.
Type of instruction

Definition

All instructions other than

motion control instructions
(sequence control)

These instructions are executed in the user program in the PLC Function
Module and processing for them is completed there.

Motion control instructions

These instructions are executed in the user program in the PLC Function
Module to send commands to the Motion Control Function Module.
MC_Home (Homing), MC_Move (Positioning), MC_CamIn (Start Cam Operation), and other instructions for motion control operations

Version Information
With the Sysmac Studio version 1.09 or higher, device variables can be assigned to the I/O ports
of Servo Drive and encoder input slaves to which axes are assigned.
The I/O port to which a device variable can be assigned must meet either of the following conditions.
The value of the R/W attribute is R (Read only).
The value of the R/W attribute is W (Write only), and <Not assigned> is set for the process
data field under Detailed Settings on the Axis Basic Settings Display in the Sysmac Studio.

Precautions for Correct Use

With you perform the following steps, the system will clear the assignment of the device variable
to the I/O port of a Servo Drive and encoder input slave to which an axis is assigned.
(1) With the Sysmac Studio version 1.09 or higher, assign device variables to the I/O ports of
Servo Drive and encoder input slaves to which axes are assigned.
(2) Save the project data.
(3) Open the saved project data with the Sysmac Studio version 1.08 or lower.

NJ-series CPU Unit Software Users Manual (W501)

2-19

2
2-4-1 Overview of Control

For details on motion control instructions, refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508). For details on other instructions, refer to the NJ-series Instructions Reference Manual (Cat. No. W502).

2-4 Sequence Control and Motion Control

Additional Information

2 CPU Unit Operation

2-4-2

Sequence Control System

The way that the sequence control works depends on the device to control. This section describes the
operation of the function modules and the control period as part of the sequence control system.
Sequence Control System

Device

Operation of the function module

Control period

Servo Drive, encoder

input*1, and general-purpose slaves

The PLC Function Module executes the user program and refreshes the device variables.
The EtherCAT Master Function Module exchanges
data with the slaves through the I/O ports for device
variables.

The task period of the task to

which the program is
assigned (i.e., the task period
of the primary periodic task
or a periodic task)*1

CJ-series Units

The PLC Function Module executes the user program, refreshes the device variables, and exchanges
data with the CJ-series Units.

The task period of the task to

which the program is
assigned (i.e., the task period
of the primary periodic task
or a periodic task)*2

*1 With the Sysmac Studio version 1.09 or higher, a Servo Drive and encoder input slave to which an axis is
assigned can also be a part of sequence controls if you assign the device variable to the I/O port of the slave.
*2 The data refresh period in the slave depends on settings in the slave.
*3 The data exchange period with a CJ-series Unit is the task period to which I/O refreshing for the CJ-series Unit
is assigned.

Servo Drive, encoder input, and general-purpose slaves that are not assigned to axes are refreshed in
the process data communications cycle. This means that I/O refreshing takes place in the task period of
the primary periodic task. However, execution of the programs and refreshing of the device variables
take place in the task period of the task to which the programs are assigned. This means the slave values are not reflected and not controlled by the device variables until the task period of the task to which
the programs are assigned.
If it is necessary to control a slave in the process data communications cycle, assign the program that
controls the slave to the primary periodic task.
For details, refer to 5-3-4 System Input and Output Response Times.
NJ-series CPU Unit

CJ-series Unit

PLC Function Module

User program
execution

Sequence control period (task

period of the primary periodic task
or the periodic task)

2-20

I/O ports

Device variables

Executed.
Instruction

EtherCAT
Master
Function
Module

Servo Drive, encoder

input, and generalpurpose slaves that are
not assigned to axes
PDO communications

I/O refreshing in the process data

communications cycle (i.e., task period
of the primary periodic task)

Data refresh
period in slave

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Motion Control System

This section describes the operation of the function modules and the control period as part of the
motion control system.

Operation of Function Modules

The PLC Function Module executes motion control instructions in the user program and sends
commands for motion control to the Motion Control Function Module. Axis variables are used for
these commands.
The Motion Control Function Module performs motion control processing based on commands
from the PLC Function Module. It then reflects the results of this processing in the Axis variables.

2-4 Sequence Control and Motion Control

2-4-3

The EtherCAT Master Function Module sends the command values of the Axis variable to the
Servo Drive or other slave by using EtherCAT communications.

The motion control period is the task period of the primary periodic task.
Motion control processing in the Motion Control Function Module is executed in the task period of
the primary periodic task. The Motion Control Function Module also exchanges data with Servo
Drive and encoder input slaves that are assigned to the axes to control in the process data communications cycle. The process data communications cycle is synchronized with the primary periodic
task.
This makes the motion control period the same as the task period of the primary periodic task, which
allows complete synchronization of multiple axes.
However, the following restrictions apply:
The motion control instruction is executed and the command for motion control is sent in the
sequence control period.
The data refresh period in the EtherCAT slave depends on settings in the slave.
NJ-series CPU Unit
PLC Function Module

EtherCAT
Master
Function
Module

Motion Control
Function
Module

User program execution

Sequence control period (task period

of the primary periodic task or the
priority-16 periodic task)

Motion
control
processing

EtherCAT
communications
Axis variable

Axis variable

Executed.
Motion
control
instruction Command

Servo Drive and encoder

input slaves that are
assigned to axes

Motion control period =

(i.e., task period of the
primary periodic task)

The process data communications cycle is the same as the

task period of the primary
periodic task.

Data refresh
period in slave

Additional Information
You must use the Sysmac Studio to assign an axis to an EtherCAT slave to control it from the
Motion Control Function Module. This allows the PLC Function Module to send commands to
the Motion Control Function Module for motion control instructions that are executed in the
user program. It also allows the PLC Function Module to obtain information from the Motion
Control Function Module through the Axis variables.
The task to which the program that contains the motion control instructions is assigned determines the I/O response time of the motion control system. For details, refer to 5-3-4 System
Input and Output Response Times.

NJ-series CPU Unit Software Users Manual (W501)

2-21

2-4-3 Motion Control System

Control Period

2 CPU Unit Operation

2-4-4

Synchronizing Sequence Control and Motion Control

The sequence control period is the task period of the task to which the program and I/O refreshing are
assigned. However, motion control is always executed in the task period of the primary periodic task.
The process data communications cycle for the EtherCAT slave to use for motion control is synchronized with the primary periodic task.
If you assign the sequence control program to the primary periodic task, you can synchronize the
sequence and motion control periods with the process data communications cycle for EtherCAT.
The following diagram shows a program assigned to the primary periodic task. In the following diagram,
the period of sequence control, motion control, and process data communications on EtherCAT are all
synchronized.
Sequence control
period (i.e., period of
primary periodic task)

Sequence control

User program
execution
Motion control period

Motion control

PDO communications on
EtherCAT

Motion
control

Sequence control period

User program
execution

User program
execution

Motion control period

Motion control period

Motion
control

Motion
control

Process data
communications cycle

Process data
communications cycle

I/O refreshing

I/O refreshing

I/O refreshing

Slave/Unit

Slave/Unit

Slave/Unit

2-22

Sequence control period

Process data
communications cycle

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Overview of CPU Unit Data

The CPU Unit also contains settings, the user program, present values, and other data. The main data
is described in the following table.
Refer to A-5 Attributes of CPU Unit Data for information on all of the data in the CPU Unit.
Type of data
EtherCAT Slave
Configuration
EtherCAT
ConfiguraEtherCAT Mastion
ter Settings
Unit Configuration and Unit
Setup
I/O Map

Controller
Setup

Settings

Operation Settings
Built-in EtherNet/IP Port Settings

Motion Control Setup

Cam Data Settings
Event Setup
Task Setup
Data Trace Settings
Tag Data Link Tables
Controller Name
Operation Authority Verification
Set Time
Built-in
Time Zone SetClock
ting

User
Program

Present
Values

Description
This is information on the EtherCAT slave configuration.
The EtherCAT Master Settings contain parameter settings for the
EtherCAT Master Function Module, such as the communications
cycle.
The Unit Configuration and Unit Setup contain information on the
Unit configuration that enables the CPU Unit to recognize the Units,
and the initial settings of the Special Units.
The I/O Map contains assignment information between the variables and the I/O ports that are automatically created based on the
Unit Configuration.
The Operation Settings include the Startup Mode setting, Security
Settings, and System Service Monitoring Settings.
The Built-in EtherNet/IP Port Settings contain the following settings:
TCP/IP settings, Ethernet settings, DHCP settings, DNS settings,
FTP settings, NTP settings, and SNMP settings
The Motion Control Setup consists of settings for Axis variables and
Axes Group variables for axis and axes groups, and motion control
parameter settings.
The cam data includes cam tables that consist of phase/displacement data for use in cam operation for motion control instructions.
These settings are for user-defined errors and user-defined information.
The Task Setup contain settings for the task types, number of tasks,
task execution conditions, task names, programs executed in the
task, and other task settings.
The Data Trace Settings include settings for trigger conditions.
The Tag Data Link Tables contain the tag data link settings for EtherNet/IP.
The Controller name is the name of the CPU Unit.
This data contains the operation authority passwords to perform
Sysmac Studio operations for the CPU Unit.
This is the time information that is used inside the CPU Unit.
This is the time zone that is set for the clock in the CPU Unit.

These are the definitions of the programs, functions, and function

blocks. The local variable tables and the initial values of the variables are also included.
Data Types
This data contains the definitions of the data types.
Data
This data gives the attribute information of the global variables. It
Global Variables
includes the Initial Value and Retain attributes.
Values of Variables
This data contains the values of the variables.
Contents of Memory Used for These are the values of the CIO, Working, Holding, DM, and EM
CJ-series Units
Areas in the memory for CJ-series Units.
POUs (program organization
units)

NJ-series CPU Unit Software Users Manual (W501)

2-23

2-5 Overview of CPU Unit Data

2-5

2 CPU Unit Operation

Type of data
Event Logs
Other
Data

2-24

Absolute Encoder Home Offsets

Description
The event logs include the error log for the Controller, and logs of
events other than errors, such as when the power supply was
turned ON and OFF and when operation started.
This data is used to restore the actual position of a Servo Drive with
an absolute encoder in motion control. The offset is the difference
between the command position after homing and the absolute data
that is read from the absolute encoder.

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Operation for CPU Unit Status

This section describes the processing that is performed for user program execution, I/O refreshing, and
external communications according to the status of the CPU Unit. It also describes the operating modes
that change the execution status of the user program when the CPU Unit is in the normal operation
state.

2-6-1

CPU Unit Status

The CPU Unit can be in any of three states: startup state, normal operation state, or error state. These
states are defined as follows:
Definition

Startup state

The software is initializing the system.

Normal operation

The software is executing processing for instructions that are executed in a task or it is executing a system service. A Controller error has not occurred.

Error state

A Controller error occurred when the software was executing processing for instructions
that are executed in a task or it was executing a system service.

The normal operation state has these three states for operation: PROGRAM mode, RUN mode, and
downloading. A CPU Unit in the normal operation state changes to the other states due to user interaction. This status is defined as follows:
State

Definition

PROGRAM mode

The operating mode is PROGRAM mode.

RUN mode

The operating mode is RUN mode.

Downloading

Data is being downloaded from the Sysmac Studio.

Note Refer to 2-6-3 Operating Modes for details on PROGRAM mode and RUN mode.

CPU Unit status

The CPU Unit enters the startup state after the power supply is turned ON. About 10 to 20 seconds
after the CPU Unit enters the startup state, software processing begins and the CPU Unit changes
to normal operation. If a Controller error occurs during normal operation, the CPU Unit changes to
the error state. When you reset the Controller error, the CPU Unit returns to normal operation.

NJ-series CPU Unit Software Users Manual (W501)

2-25

2
2-6-1 CPU Unit Status

State

2-6 Operation for CPU Unit Status

2-6

2 CPU Unit Operation

When the CPU Unit changes from startup state to normal operation, it will change to the operating
mode that you specify in the Controller Setup. You can set the operating mode at startup to PROGRAM mode or RUN mode. Thereafter, changing the operating mode causes the CPU Unit to
change between PROGRAM mode and RUN mode. If you download data from the Sysmac Studio
during PROGRAM mode, the CPU Unit will change to the downloading state. The CPU Unit will
return to PROGRAM mode when the download is completed.
Power ON

Execution and completion of data download

from the Sysmac Studio.

Startup state
Software processing started.

Normal operation
PROGRAM
mode

Controller error occurs

Error state
Controller error is reset.

Downloading
RUN mode

Operating mode is changed.

Additional Information
You can check the operating status of the CPU Unit with the status indicators on the front
panel of the CPU Unit. Refer to 11-1 Example Application for troubleshooting procedures
using the status indicators.
Refer to A-5 Attributes of CPU Unit Data for information on data operations when the CPU Unit
status changes.
Refer to 6-3-9 Changes to Variables for Status Changes for the values that variables take
when the status of the CPU Unit changes.

2-26

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

Operation for CPU Unit Status

Changes in the status of the CPU Unit affect user program execution, I/O refreshing, and the operation
of external communications. The following table shows how each process operates in startup state and
during normal operation.
Refer to 12-1-3 Non-fatal error in CPU Unit for information on the error state.
CPU Unit processing

Operation during execution

Operation during normal operation

PROGRAM
mode

Stopped.

Stopped.

I/O Refreshing for

EtherCAT slaves

Stopped.

Executed.

I/O Refreshing for CJseries Units

Stopped.

Executed.

External communications

Stopped.

Executed.

Executed.

Downloading
Stopped.

EtherCAT communications
changes to safe-operational
state. *1

Executed. *2

*1 Only the input values are refreshed.

*2 The tag data links remain in effect, but the values of those links are not refreshed. The output tags retain the
values from before the download was started. The values in the input tags are not reflected in the variables.

Values of Outputs in I/O Refreshing

The following table shows the values of the outputs in each state after I/O refresh processing.
Outputs

Operation during startup

Operation during normal operation

PROGRAM
mode

RUN mode

Downloading

Outputs from EtherCAT slaves

Controlled by the
slave settings. *1

The outputs have the values

of the device variables for
EtherCAT slaves. *2

Controlled by the slave settings.

Outputs from CJseries Basic Output

Units

Turned OFF.

The output have the values of the device variables for CJ-series
Units. *3

*1 Refer to the manual for each slave for information on the slave settings that apply until EtherCAT communications starts after the power supply is turned ON.
*2 When the download is completed, initialization of the EtherCAT slaves starts. When initialization is in progress, the outputs reflect the settings for the slave.
*3 When the download is completed and when the operating mode is changed: the values in the device variables for CJ-series Units are initialized to the values of the Initial Value attributes.

Refer to 6-3-8 Variable Attributes for information on the Initial Value attribute for variables.

NJ-series CPU Unit Software Users Manual (W501)

2-27

2-6-2 Operation for CPU Unit Status

User program

RUN mode

2-6 Operation for CPU Unit Status

2-6-2

2 CPU Unit Operation

Additional Information
Servo Drive Response to Changes in Operating Mode
If the operating mode changes from RUN to PROGRAM mode during a motion control operation,
the axes will decelerate to a stop at the maximum deceleration rate.
Changing the Operating Mode during Initialization of EtherCAT Slaves
You can change the operating mode of the CPU Unit to RUN mode while EtherCAT slaves initialization is in progress. If you do, provide programming to confirm that communications are established before you attempt to use slave data in control operations. Your program can use the
_EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable to see if
the process data inputs and outputs are valid for all of the slaves.

2-6-3

Operating Modes
You can change the operating mode according to the purpose of operation, such as functional testing or
actual operation. You can set the operating mode to RUN mode or PROGRAM mode, depending on the
purpose. The execution status of the user program is different in each operating mode. The following
table gives the purpose for each operating mode and the execution status of the user program.
Operating mode

Application

User program execution status

RUN mode*1

RUN mode is for trial operation or actual operation.

Executed.

PROGRAM mode

PROGRAM mode is for checking I/O wiring and

other functional testing without executing the user
program.

Not executed.

*1 For the default setting, the CPU Unit will enter RUN mode when the CPU Unit changes from startup state to
normal operation.

Additional Information
The CPU Unit performs various operations when the operating mode is changed, i.e., the axes
are stopped, and motion control instructions are aborted. For details on how the Motion Control
Function Module operates when the operating mode is changed, refer to the NJ-series Motion
Control Instructions Reference Manual (Cat. No. W508).

Operations Allowed from the Sysmac Studio or an HMI in Each

Operating Mode
The major operations that you can perform from the Sysmac Studio or an HMI in each operating mode
are listed in the following table.
Operation
Sysmac Studio

HMI

2-28

RUN mode

Synchronization

Not possible.

Online editing

Possible.

Forced refreshing

Possible.

Changing the values of variables or memory

used for CJ-series Units

Possible.

Changing the values of variables or memory

used for CJ-series Units

Possible.

PROGRAM mode
Possible.

NJ-series CPU Unit Software Users Manual (W501)

2 CPU Unit Operation

The following table shows how the Retain attribute affects the variable values when the operating mode
is changed between RUN mode and PROGRAM mode.
Retain attribute of
variable
Non-retain

Values of variables
If initial values are set, the variables change to the initial values.
If no initial values are set, the variables change to the system-defined initial values.*1

Retain

2-6 Operation for CPU Unit Status

Retention of Variable Values during Changes in Operating Mode

The values before the operating mode changed are retained.

*1 The system-defined initial values of variables depend on the data types of the variables. Refer to When the Initial Value Specification Is Left Blank on page 6-59.

Setting and Changing the Operating Mode

When operation starts after the power supply is turned ON, the CPU Unit operates in the operating
mode that you specify in the Controller Setup. During normal operation, you change the operating
mode for different purposes. You use the Sysmac Studio to set and change the operating mode.

Operating Mode Setting after the Power Supply Is Turned ON

When the CPU Unit starts operating after the power supply is turned ON, the CPU Unit operates in
the operating mode that you set as the Startup Mode. Specify RUN mode or PROGRAM mode in
the Startup Mode setting in the Operation Settings in the Controller Setup. Refer to 4-2-2 Controller Setup for details on the Startup Mode setting.

Changing the Operating Mode during Operation

You can change the operating mode from the Sysmac Studio. Select the RUN mode or PROGRAM
mode from Controller - Operating Mode on the menu bar.
Precautions for Safe Use
Always confirm the safety of the controlled system before you change the setting of the Startup
Mode or the current operating mode.

Checking the Operating Mode

You can check the operating mode with the RUN indicator on the CPU Unit or the Sysmac Studio.

Checking the RUN Indicator

The RUN indicator on the CPU Unit indicates the operating mode as given below.
RUN indicator
status

Operating mode

Not lit

PROGRAM mode

Lit

RUN mode

NJ-series CPU Unit Software Users Manual (W501)

2-29

2-6-3 Operating Modes

Refer to 6-3-9 Changes to Variables for Status Changes for the values that variables take when the status of the CPU Unit changes.

2 CPU Unit Operation

Checking the Operating Mode from the Sysmac Studio

You can check the operating mode from the Controller Status Pane of the Sysmac Studio. The following Controller Status Pane indicates that the CPU Unit is in RUN mode.

Additional Information
If you want to output a signal when the CPU Unit is in RUN mode, use the RUN output on the
Power Supply Unit. Refer to the NJ-series CPU Unit Hardware Users Manual (Cat. No. W500)
for details on the RUN output on the Power Supply Unit.

2-30

NJ-series CPU Unit Software Users Manual (W501)

I/O Ports, Slave Configuration,

and Unit Configuration
3
This section describes how to use I/O ports, how to create the Slave and Unit Configurations, and how to assign functions.

3-1 Procedure to Create the Slave and Unit Configurations . . . . . . . . . . . . . . 3-2

3-2 Creating and Comparing the Slave and Unit Configurations . . . . . . . . . . 3-5
3-2-1
3-2-2
3-2-3

Creating the EtherCAT Slave Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Creating the Unit Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Verifying the Unit Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3-3 I/O Ports and Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-3-1
3-3-2
3-3-3

I/O Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

I/O Port Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3-4 Allocating Variables to Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

3-4-1
3-4-2

Procedure to Assign Variables to Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

Using Variables Assigned to Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3-5 Creating the Axes and Assigning Them to the Servo Drives/Encoder
Input Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3-5-1
3-5-2
3-5-3

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Axis Variables and Axes Group Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Creating and Using Axes and Axis Variables . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

NJ-series CPU Unit Software Users Manual (W501)

3-1

3 I/O Ports, Slave Configuration, and Unit Configuration

3-1

Procedure to Create the Slave and

Unit Configurations
This section provides the procedures for the Slave and Unit Configurations.
The shaded steps in the overall procedure that is given below are for the Slave and Unit Configurations.

Step 1. Software Design

Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Step 4. Wiring

Step 5. Checking Operation and Starting Operation on the

Actual System
Refer to 1-3 Overall Operating Procedure for the NJ-series Controller for details.

3-2

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

Create the EtherCAT Slave Configuration (if EtherCAT is used) and the
Unit Configuration (if CJ-series Units are used).

Create the EtherCAT Slave Configuration.

Reference

3-2-1 Creating
the EtherCAT
Slave Configuration

EtherCAT slave configuration

Sysmac Studio

CPU
Unit

3-2-2 Creating
the Unit Configuration
EtherCAT

3-1 Procedure to Create the Slave and Unit

Configurations

Step 1

Slave configuration information

3
Created with the EtherCAT slave configuration settings.

Create the Unit Configuration.

Unit configuration
Sysmac Studio

Unit configuration information

CPU
Unit

Created in the Unit Configuration and Unit Setup

Step 2

Reference

Assign device variables to I/O ports.

Register the device variables.

Sysmac Studio

2-3-1 Types of
Variables

Registering the device variables

Slave/Unit

I/O port

Device variable

Assign a new device

variable or a variable
from a variable table for
each I/O port.

3-3 I/O Ports

and Device
Variables

Created in the I/O Map.

NJ-series CPU Unit Software Users Manual (W501)

3-3

3 I/O Ports, Slave Configuration, and Unit Configuration

Step 3

Create the axes and assigning them to the Servo Drive and encoder
input slaves (if motion control is used).

Reference

1. Create the axes.

3-5 Creating
2. Assign the axes to the Servo Drive and encoder input slaves in the EtherCAT configuration. the Axes and
Assigning
EtherCAT slave configuration
Axis Setup
Them to the
Servo Drives
Assigned.
Axes
Servo
CPU
A
Axis variable a
Unit
Drives/Encoder
Sysmac Studio
Input Slaves
EtherCAT
Axis variable b

B
A

Axis variable c

C
Servo Drives/encoder input slaves

Axis variable d

Encoder input slave

D

Assigned in the Axis Setup.

3-4

From the EtherCAT Configuration Setup

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

Creating and Comparing the Slave

and Unit Configurations
To enable accessing the slaves and Units in the Controller, you create a Slave Configuration and a Unit
Configuration on the Sysmac Studio. You can also compare the Unit Configuration that was created on
the Sysmac Studio with the physical Unit configuration.

3-2-1

Creating the EtherCAT Slave Configuration

Use the Sysmac Studio Unit Editor to create the EtherCAT slave configuration that is detected as correct by the CPU Unit.

3-2 Creating and Comparing the Slave and Unit

Configurations

3-2

EtherCAT

EtherCAT
slave

EtherCAT
slave

EtherCAT
slave

EtherCAT slave configuration

Created with the Sysmac Studio.

The I/O ports are automatically registered for the slaves in the configuration. Later, the user assigns
device variables to the I/O ports. You can specify device variables in the user program to access the
slaves.
Refer to EtherCAT Configuration and Settings in the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504) for specific procedures to create the EtherCAT slave configuration.
Additional Information
If you connect EtherCAT Slave Terminals, create the EtherCAT slave configuration, create the
Slave Terminal configuration, and set the operation settings. Refer to the NX-series EtherCAT
Coupler Unit Users Manual (Cat. No. W519) for information on the Slave Terminal configuration
and operation settings.

Version Information
A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required
to use EtherCAT Slave Terminals.

NJ-series CPU Unit Software Users Manual (W501)

3-5

3-2-1 Creating the EtherCAT Slave Configuration

EtherCAT master

CPU Unit

3 I/O Ports, Slave Configuration, and Unit Configuration

3-2-2

Creating the Unit Configuration

Use the Unit Editor in the Unit Configuration and Setup Tab Page of the Sysmac Studio to create the
Unit Configuration that is recognized as correct by the CPU Unit.
Create the Unit Configuration with the Unit Editor of the Sysmac Studio.

Special Unit

Special Unit

Basic I/O Unit

CPU Unit

Basic I/O Unit

Unit Configuration

When the power is turned ON, an automatic check is performed to determine whether the correct Unit
Configuration matches the physical Unit configuration. The I/O ports are automatically registered for
Units that are specified in the Unit Configuration. Later, the user assigns device variables to the I/O
ports. The device variables are used in the user program to access the Units in the Unit Configuration.
Refer to CPU/Expansion Rack Configuration and Setup in the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures to create the Unit Configuration.
Precautions for Correct Use
You can start the Controller without creating the Unit Configuration. However, if you do so, the I/O
ports and device variables will not be registered automatically, so you will not be able to access
the Units from the user program.

3-2-3

Verifying the Unit Configuration

You can use either of the following two methods to compare the Unit Configuration.

Comparison between the Unit Configuration on the Sysmac Studio

and the Physical Unit Configuration
You can verify if the Unit Configuration on the Sysmac Studio and the physical Unit configuration are the
same. You can compare the Unit Configuration on the Sysmac Studio with the physical Unit configuration to see if they are the same before the first time you download the Unit Configuration to the CPU
Unit from the Sysmac Studio.
Sysmac Studio

Unit Configuration

Compared.

CPU Unit

3-6

Configuration of physical Units

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

You can verify if the Unit Configuration on the Sysmac Studio and the Unit Configuration that is saved in
the CPU Unit are the same. You can compare the Unit Configuration on the Sysmac Studio with the
Unit Configuration Information that is stored in the CPU Unit to see if they match before you download
the Unit Configuration to the CPU Unit from the Sysmac Studio.
Sysmac Studio

Unit Configuration

Compared.

3-2 Creating and Comparing the Slave and Unit

Configurations

Comparison between the Unit Configuration on the Sysmac Studio

and the Unit Configuration in the CPU Unit

CPU Unit

3
3-2-3 Verifying the Unit Configuration

Unit Configuration Information

NJ-series CPU Unit Software Users Manual (W501)

3-7

3 I/O Ports, Slave Configuration, and Unit Configuration

3-3

I/O Ports and Device Variables

This section describes the I/O ports and device variables that you use to access the EtherCAT slaves
and CJ-series Units of an NJ-series Controller.

3-3-1

I/O Ports
An I/O port is a logical interface that is used by the CPU Unit to exchange data with external devices
(slaves and Units). I/O ports are automatically created when you create the Slave and Unit Configurations on the Sysmac Studio. You assign device variables to I/O ports to enable accessing the slaves
and Units from the user program.
CPU Unit
User program (or external communications)

Variables
Device variables

I/O ports are logical interfaces used by

the CPU Unit to exchange data with
external devices.
I/O ports

Outside of
the CPU Unit

EtherCAT
slaves

I/O ports

CJ-series
Units

I/O ports are automatically registered in the I/O Map when you create the EtherCAT Slave Configuration
or Unit Configuration in the Sysmac Studio, or when you read either of these configurations from the
physical Controller from the Sysmac Studio. You can check the I/O ports that were registered in the I/O
Map of the Sysmac Studio.
I/O Map

3-8

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

3-3-2

I/O Port Names

EtherCAT Slave Devices

The following I/O port names are used for Remote I/O Terminals that are EtherCAT slave devices.
Example for a 16-point Remote I/O Terminal: Bit00 to Bit15
For other slaves, all or part of the object names that are defined in the EtherCAT object dictionary are
used.

3-3 I/O Ports and Device Variables

The I/O port names are registered automatically. The I/O port names differ as given below depending
on whether the device (i.e., Unit or slave) is an EtherCAT slave, CJ-series Basic I/O Unit, or CJ-series
Special Unit.

Example for Analog Input Unit: CH0_input16-bit

Examples for the R88D-KN50H-ECT: Position actual value and Digital inputs

If the device is a CJ-series Basic I/O Unit, I/O port names are created according to the following rules.

Rules for I/O Port Names for Basic I/O Units

Inputs

Outputs

Ch_Out

Ch_In

Terminal number: 00 to 15

16-bit words: 1 to 4

NJ-series CPU Unit Software Users Manual (W501)

Terminal number: 00 to 15

16-bit words: 1 to 4

3-9

3-3-2 I/O Port Names

CJ-series Basic I/O Unit Devices

3 I/O Ports, Slave Configuration, and Unit Configuration

I/O Port Names for Specific Numbers of I/O Points

Number of
input points
Number of output points
8 points
16 points
32 points

64 points

I/O port names

Inputs

Data type

Outputs

Data type

Ch1_In

WORD

Ch1_Out

WORD

Ch1_In00 to Ch1_In07

BOOL

Ch1_Out00 to Ch1_Out07

BOOL

Ch1_In

WORD

Ch1_Out

WORD

Ch1_In00 to Ch1_In15

BOOL

Ch1_Out00 to Ch1_Out15

BOOL

Ch1_In

WORD

Ch1_Out

WORD

Ch1_In00 to Ch1_In15

BOOL

Ch1_Out00 to Ch1_Out15

BOOL

Ch2_In

WORD

Ch2_Out

WORD

Ch2_In00 to Ch2_In15

BOOL

Ch2_Out00 to Ch2_Out15

BOOL

Ch1_In

WORD

Ch1_Out

WORD

Ch1_In00 to Ch1_In15

BOOL

Ch1_Out00 to Ch1_Out15

BOOL

Ch2_In

WORD

Ch2_Out

WORD

Ch2_In00 to Ch2_In15

BOOL

Ch2_Out00 to Ch2_Out15

BOOL

Ch3_In

WORD

Ch3_Out

WORD

Ch3_In00 to Ch3_In15

BOOL

Ch3_Out00 to Ch3_Out15

BOOL

Ch4_In

WORD

Ch4_Out

WORD

Ch4_In00 to Ch4_In15

BOOL

Ch4_Out00 to Ch4_Out15

BOOL

CJ-series Special Unit Devices

If the device is a CJ-series Special Unit, I/O port names are determined by the model number of the
Unit and the functionality.
Examples for a CJ1W-AD041-V1 Analog Input Unit:
Ch1_PkHdCmd, Ch1_AveCfg, etc.

3-3-3

Device Variables
In an NJ-series Controller, external devices (slaves and Units) are not assigned to specific memory
addresses in the CPU Unit. Rather, variables are assigned to the I/O ports. These variables are called
device variables.
Slave and Unit Configuration
Information created.
Slave and Unit Configurations

I/O ports
created.

Variables assigned to I/O ports:

Device variables
Device variables

I/O ports
Assigned.
ch1_In00

J01_ch1_In00

ch1_In01

J01_ch1_In01

ch1_In02

J01_ch1_In02

You can specify device variables in the user program or in external communications to access the
devices (slaves or Units).

3-10

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

CPU Unit
User program (or external communications)

3-3 I/O Ports and Device Variables

Variables
Device variables
Variables are assigned to I/O ports.
These variables are called device
variables.

I/O ports

I/O ports

Outside of
the CPU Unit

General-purpose
EtherCAT slaves

CJ-series
Units

Refer to 2-3-1 Types of Variables for the relationship of device variables to other variables.

Device Variable Attributes

The attributes of the device variables are described in the following table. You can change the settings
of some of the attributes, but not all of them.
Attribute
Variable Name

Setting
Automatically generated variables: [device_name] +
[I/O_port_name]

Changes to settings
Allowed.

The default device names are as follows:

For EtherCAT slaves, an E followed by a sequential number
starting from 001.
For CJ-series Units, the device names start with a J followed
by a sequential number starting from 01.
Refer to 3-3-1 I/O Ports for more information on 3-3-2 I/O Port
Names.
If entered manually, the variable name is the string you enter.
Data Type

According to the data type of the I/O port.

Allowed.

AT Specification

NX Units connected through an EtherCAT Coupler Unit:

ECAT://node#[EtherCAT_Coupler_Unit_node_address.NX_
Unit_number]/[I/O_port_name]
EtherCAT slaves:
ECAT://node#[node_address]/[I/O_port_name]
CJ-series Units:
IOBus://rack#[rack_number]/slot#[slot_number]/[I/O_port_n
ame]

Not allowed.

Retain

Device variables for EtherCAT slaves: Not retained.

Not allowed.
Device variables for CJ-series Units assigned to the Operating Data (CIO Area): Not retained
Device variables for CJ-series Units assigned to the Setup
Data (DM Area): Retained

Initial Value

None

Allowed.

Constant

None

Allowed.

Network Publish

Do not publish.

Allowed.

Edge

None

Not allowed.

NJ-series CPU Unit Software Users Manual (W501)

3-11

3-3-3 Device Variables

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on registering
device variables with the Sysmac Studio.

3 I/O Ports, Slave Configuration, and Unit Configuration

Refer to 6-3-4 Attributes of Variables for the meanings of the attributes.

Additional Information
You can specify forced refreshing for I/O ports in the I/O Map. You can force real I/O to turn ON
or OFF to check the wiring.
You can choose the variable table (global variable table or local variable table for one POU) in
which to register a device variable in the I/O Map.

3-12

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

3-4

Allocating Variables to Units

Version Information
A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required
to assign variables to Units.

3-4 Allocating Variables to Units

For some instructions, the Units on EtherCAT Slave Terminals are specified by using variables. Therefore, you must assign variables to the Units in advance. After you assign variables to the Units, the connection locations of the Units are automatically updated in the variables even if you change the
locations. This means that you do not have to assign variables again every time you change the Unit
connection locations.

You can assign variables to EtherCAT slaves other than Slave Terminals. This applies to EtherCAT slaves from other manufacturers. The variables are assigned to the EtherCAT slaves in the
same way as they are assigned to EtherCAT Coupler Units and NX Units.

3-4-1

Procedure to Assign Variables to Units

The variables assigned to the Units are not created automatically when you make configuration settings
for an EtherCAT Slave Terminal on the Sysmac Studio. You must make the following settings to assign
the variables to the Units.

On the Sysmac Studio, select Configurations and Setup EtherCAT and make configuration
settings for EtherCAT Slave Terminals.

Select Configurations and Setup I/O Map to display the I/O Map.
The I/O Map is displayed for the Units of the set EtherCAT Slave Terminals.

Right-click the model of Unit to which you want to assign variables and select Display Node
Location Port from the menu.
The Node location information port will be added on the I/O Map.

Right-click the Node location information and select Create Device Variable.
The variable name will be written automatically to the Variable Field of the Node location
information port.

NJ-series CPU Unit Software Users Manual (W501)

3-13

3-4-1 Procedure to Assign Variables to Units

Additional Information

3 I/O Ports, Slave Configuration, and Unit Configuration

The data type of variables assigned to the Units is _sNXUNIT_ID structure. The details on the
_sNXUNIT_ID structure data type are given in the following table.
Variable
User specified

Name
Specified Unit

Meaning
Specified Unit

Data type
_sNXUNIT_ID

NodeAdr

Node address

Node address of the EtherCAT Coupler Unit

UINT

IPAdr

IP address*1

IP address of the EtherCAT Coupler Unit

BYTE[5]

UnitNo

Unit number

Unit number of the specified Unit

UDINT

Path

Path*1

Path information to the specified Unit

BYTE[64]

PathLength

Valid path length

Valid path length

USINT

*1 This information is used only inside the Controller. You cannot access or change it.

Precautions for Correct Use

The values of variables assigned to the Units will be set automatically when you register the variables. Do not change the values of the variables. If you change the value, the Controller may not
perform the intended operation.

Additional Information
The data type of variables assigned to EtherCAT slaves other than Slave Terminals is _sECAT_ID
structure. The details are given in the following table.
Variable
User specified
NodeAdr

3-4-2

Name

Meaning

Data type

Specified slave

Specified slave

_sECAT_ID

Node address

Node address of the EtherCAT Coupler Unit

UINT

Using Variables Assigned to Units

This section describes how to use the variables assigned to the Units in the user program. In any
cases, the variable with the same name as the variable assigned to the Unit on the I/O Map must be
registered in the variable table in advance. The data type of the variable is _sNXUNIT_ID structure.

Designating Units
The values of variables assigned to the Units will be set automatically when you register the variables.
Do not change the values of the variables. If you change the value, the Controller may not perform the
intended operation.
Example: Executing the NX_SaveParam Instruction
In the following example, the NX Unit to which the NX1 variable is assigned is specified when the
NX_SaveParam instruction is executed. NX1 is passed to the UnitProxy variable.
Variable assigned to NX Unit

A
NX1
UINT#0

3-14

NX_SaveParam_instance
NX_SaveParam
Execute
Done
UnitProxy
Busy
TimeOut
Error
ErrorID
ErrorIDEx

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

Designating Unit Attributes

You can specify members of the variables that you assign to Units to specify some of the Unit attributes.

The following programming example reads a data object from an NX Unit if the NX Unit number of the
NX Unit to which the NX1 variable is assigned is 2. The NX1.UnitNo member gives the NX Unit number.
IF (NX1.UnitNo = UINT#2) THEN
NX_ReadObj_instance(Execute:=TRUE, UnitProxy:=NX1, Obj:=S_Obj, ReadDat:=Rdat);
END_IF;

Designating More Than One Unit

Example: The following programming example changes multiple NX Units to the mode that enables
writing data.
NX0, NX1, and NX2 are the variables that were assigned to the NX Units. The variables are assigned to
the elements of the NXTable[0..2] and then the NX_ChangeWriteMode instruction is executed in order
for each.
FOR i:= 0 TO 2 DO
NX_ChangeWriteMode_instance[i](Execute:=FALSE);
END_FOR;
NXTable[0] := NX0;
NXTable[1] := NX1;
NXTable[2] := NX2;
FOR i:= 0 TO 2 DO
NX_ChangeWriteMode_instance[i](Execute:=TRUE, UnitProxy:=NXTable[i]);
END_FOR;

3-15

3-4-2 Using Variables Assigned to Units

To designate more than one Unit, you can specify the elements of an array of the variables that are
assigned to the Units. This allows you to use loop processing to perform the same process for more
than one Unit.

NJ-series CPU Unit Software Users Manual (W501)

3-4 Allocating Variables to Units

Example: Executing an Instruction with the Unit Number of an NX Unit

3 I/O Ports, Slave Configuration, and Unit Configuration

3-5

Creating the Axes and Assigning

Them to the Servo Drives/Encoder
Input Slaves
This section describes how to create axes in the NJ-series Controller and how to assign the axes to the
Servo Drive and encoder input slaves.

3-5-1

Introduction
When you use the Motion Control Function Module for operation with EtherCAT Servo Drive or encoder
input slaves, create axes in the Sysmac Studio and define them as EtherCAT servo axes or encoder
axes. At a result, Axis Variables are automatically created as system-defined variables.
Controlled by the Motion Control Function Module.

EtherCAT master

CPU Unit

Axis B

Axis A

Created.

Created.
Axis variable A
Assigned.

Functional units within the

Motion Control Function Module

Axis variable B
Assigned.

EtherCAT

EtherCAT
slave

Servo Drive/encoder Servo Drive/encoder

input slave
input slave

You can specify an Axis Variable in a motion control instruction in the user program to easily access and
perform operations with Servo Drive and encoder input slaves.

3-16

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

Axis Variables and Axes Group Variables

The following table lists the types of Axis Variables and Axes Group Variables.
Type of variable
Axis Variables

Application

System-defined axis
variables
Axis Variables automatically created
when axes are created with the Sysmac Studio

Axes Group Variables

Device to access

An Axis Variable is
The EtherCAT slave
used to control a sin- (Servo Drive or
gle axis.
encoder input slave)
that is assigned to
the axis

System-defined
An Axes Group Variaxes group variables able is used for
multi-axes coordiAxes Group Varinated control.
ables automatically

Provided by the system.

You must create an
axis with Sysmac
Studio and assign
the device to the
axis.
Provided by the system.
You must create an
axes group with the
Sysmac Studio.

Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on
Axis Variables and Axes Group Variables.

Specifying Axis and Axes Group Variables

The variables can be specified with variable names that are created with the Sysmac Studio or with
system-defined variable names.
Type

Names
Axis Variables

Axes Group Variables

Variable names created with the

Sysmac Studio

MC_Axis***

MC_Group***

(*** is assigned in ascending order

from 000 in the order the variables
are created.) You can change the
names as required.

(*** is assigned in ascending order

from 000 in the order the variables
are created.) You can change the
names as required.

System-defined variable names

_MC_AX[0..63]

_MC_GRP[0..31]

(The array element numbers are

assigned in ascending order from 0
in the order the variables are created.)

(The array element numbers are

assigned in ascending order from 0
in the order the variables are created.)

Application
There are two ways to use Axis Variables and Axes Group Variables.
1) Specifying Axes and Axes Groups in Motion Control Instructions:
If you specify an axis or axes group for an I/O variable for a motion control instruction, you can
perform operations for the OMRON Servo Drive or encoder input slave.
2) Monitoring Axis Variable Members:
You can use instructions to monitor the actual position, error information, or other information
on the Servo Drive and encoder input slaves.

NJ-series CPU Unit Software Users Manual (W501)

3-17

3
3-5-2 Axis Variables and Axes Group Variables

created when axes

groups are created
with the Sysmac
Studio

The EtherCAT
slaves (Servo Drive
or encoder input
slaves) that are
assigned to the axes
group

Creation method

3-5 Creating the Axes and Assigning Them to the Servo

Drives/Encoder Input Slaves

3-5-2

3 I/O Ports, Slave Configuration, and Unit Configuration

Additional Information
Details on Axis Variables
1. Assume that you create an axis with an axis name of A on the Sysmac Studio. An Axis Variable with a variable name of A is created automatically based on the system-defined axis variable. The Axis Variable consists of Axis Basic Settings, Unit Conversion Settings, I/O, operating
status, current values, error status, and warning status.
2. You specify the axis variable name A for the in-out variable of a motion control instruction. With
the axis variable name, you can access the OMRON Servo Drive or encoder input slave, or supported Servo Drive or encoder input slave from another company and perform operations for it.
3. You can specify the Axis Variable to use instructions as required to monitor the actual position,
error information, or other information on the Servo Drive or encoder input slave.
NJ-series CPU Unit
2. An axis or axes group is specified for a
motion control instruction.
Only the axis variable name
is specified.

1. The axis MC_Axis*** is created on the Sysmac Studio.

Global Variable Table

An Axis Variable is made

under a different name.

Axis Variable
Axis variable name: MC_Axis***

System-defined Variable
_MC_AX[]

Axis basic settings and unit conversions

Axis variable name: MC_Axis***

Motion
control
instruction

I/O
Operating status and current values

Axis basic settings and unit conversions

The data types

cannot be
changed.

Error/warning status

I/O
Operating status and current values
Error/warning status

3. You can monitor the members of the axis variable with instructions.
The values can be read and written with instructions.

A.
Value of a member of
the Axis Variable

Assigned
axis

Control operations

3-5-3

OMRON Servo Drives or

encoder input slaves, or
supported Servo Drives or
encoder input slaves from
other companies

EtherCAT

Creating and Using Axes and Axis Variables

You can create and use axes and Axis Variables as described below.

Right-click Axis Settings under Configurations and Setup Motion Control Setup in the
Multiview Explorer and select Add Axis Settings from the menu.
If necessary, you can change the axis variable names from the default names of MC_Axis***.
(*** is incremented from 000 in the order that the axis variables are created.)

3-18

Assign the axes that you created to Servo Drives or encoder input slaves in the EtherCAT Slave
Configuration of the Sysmac Studio.

NJ-series CPU Unit Software Users Manual (W501)

3 I/O Ports, Slave Configuration, and Unit Configuration

Classification
Axis Basic Settings

Parameter name

Setting

Axis Number

Axis numbers are automatically set in the order that the axes
are created.

Axis Use

Select Used Axis.

Axis Type

Select a servo axis or encoder axis.

Input Device/
Output Device

Specify the node address of the EtherCAT slave that is

assigned to the axis.

3-5 Creating the Axes and Assigning Them to the Servo

Drives/Encoder Input Slaves

Set the Axis Basic Settings from the Sysmac Studio.

Use the Sysmac Studio to specify the settings required for Test Mode operation (Unit Conversion, Count Mode, Limits, etc.) and the settings required for actual system operation. Then
transfer the settings to the CPU Unit with the project.
In the user program, an axis variable name is specified for the in-out variable Axis in motion control instructions.
For the axis variable name, specify the axis name (axis variable name) that was specified in the
Motion Control Setup or the system-defined variable _MC_AX[0..63].
You can execute motion control for the assigned Servo Drive or encoder input slave. An example
that specifies the axis variable name MyAxis1 is shown below.
Example:
In-out variable Axis
MyAxis1On

Specify an axis
variable name.

MC_Power
MyAxis1

Axis
Enable

ServoOn

Axis

MyAxis1

MyAxis1OnStatus

Status
Busy

MyAxis1OnBusy

Error

MyAxis1OnError

ErrorID

MyAxis1OnErrorID

Refer to 3-5-2 Axis Variables and Axes Group Variables for information on Axis Variables.

NJ-series CPU Unit Software Users Manual (W501)

3-19

3-5-3 Creating and Using Axes and Axis Variables

3 I/O Ports, Slave Configuration, and Unit Configuration

3-20

NJ-series CPU Unit Software Users Manual (W501)

Controller Setup
This section describes the initial settings of the function modules.

4
4-1 Overview of the Controller Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-2 Initial Settings for the PLC Function Module . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-1
4-2-2
4-2-3
4-2-4

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Controller Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Task Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Unit Configuration and Unit Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4-3 Initial Settings for Special Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

4-4 Initial Settings for the Motion Control Function Module . . . . . . . . . . . . . 4-15
4-4-1
4-4-2

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
Setting Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4-5 Initial Settings for the EtherCAT Master Function Module . . . . . . . . . . . . 4-17
4-6 Initial Settings for the EtherNet/IP Function Module . . . . . . . . . . . . . . . . 4-18

NJ-series CPU Unit Software Users Manual (W501)

4-1

4 Controller Setup

4-1

Overview of the Controller Setup

This section provides an overview of the Controller Setup.
The shaded steps in the overall procedure that is shown below are related to the Controller Setup.

Step 1. Software Design

Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Step 4. Wiring

Step 5. Checking Operation and Starting Operation on the

Actual System
Refer to 1-3 Overall Operating Procedure for the NJ-series Controller for details.

4-2

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

Controller Setup

Reference

Initial Settings Related to the PLC Function Module:

Controller Setup:

Initial Settings for Special Units:

Unit Configuration and Setup: Initial settings for the Special Units

4-3 Initial Settings for Special

Units

Initial Settings for the Motion Control Function Module:

4-4 Initial Settings for the

Axis Parameters: Motion control parameters for single-axis operation
Motion Control
Axes Group Parameters: Motion control parameters for multi-axes coor- Function Moddinated operation
ule

Cam data: Phase and displacement setting tables for cam motions

Initial Settings for the EtherCAT Master Function Module:

4-5 Initial Settings for the

EtherCAT Master Parameters in the EtherCAT Configuration:
EtherCAT MasParameter settings for the EtherCAT master process data communications ter Function
cycle, and other settings
Module

Initial Settings for the EtherNet/IP Function Module:

4-6 Initial Settings for the

Ethernet Port Setup: EtherNet/IP Port TCP/IP Settings, Ethernet Settings,
EtherNet/IP
and other settings
Function Module

NJ-series CPU Unit Software Users Manual (W501)

4-3

4-1 Overview of the Controller Setup

4-2 Initial Settings for the

Startup Mode, Write Protection, System Service MoniPLC Function
toring Settings, and other settings
Module

4 Controller Setup

4-2

Initial Settings for the PLC Function

Module
This section describes the initial settings that are required for the PLC Function Module.

4-2-1

Introduction
The initial settings for the PLC Function Module are listed below.
Controller Setup
Task Settings
Select Configurations and Setup Controller Setup and Configurations and Setup Task Settings on the Sysmac Studio to make these settings

4-2-2

Controller Setup

Operation Settings Tab Page

Basic Settings
The Operation Settings are for functions supported by the CPU Unit, such as the definitions of operations when the power is turned ON or when the operating mode changes.

Parameter

Setting
group

Description

Set value

Operation
Settings

Startup Mode

Sets the CPU Units

operating mode at
startup.

SD Memory
Card Setting

Memory Card
Diagnosis at
Startup

Sets whether to execute Do not check.

self-diagnosis (file sysCheck.
tem check and recovery)
on the inserted SD Memory Card when the power
is turned ON.

4-4

RUN or PROGRAM mode

Default

Update timing

Changes in
RUN mode

RUN mode

When downloaded to
CPU Unit

Not allowed.

Do not check.

When downloaded to
CPU Unit

Not allowed.

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

Setting
group

Parameter

Set value

Default

Update timing

Changes in
RUN mode

System Service Execution Interval

[ms]

Sets the interval of system service execution.

10 ms to 1 s

10 ms

When downloaded to
CPU Unit

Not allowed.

System Service Execution Time

Ratio [%]

Sets the ratio of execution for monitoring system services in relation

to overall processing of
the CPU Unit.

5% to 50%

10%

When downloaded to
CPU Unit

Not allowed.

Event Log
Settings*1

Instruction
Error Output

Sets whether to output

events to an event log
when instruction errors
occur.

Do not use.

Do not use.

When transferred to CPU

Unit

Not allowed.

Security Setting

Write Protec- Sets whether to automat- Do not use.

tion at Startup ically enable or disable
Use.
write protection when
you turn ON the power
supply to the Controller.

Do not use.

When power
is turned ON

Supported.

Prohibit data
backup to the
SD Memory
Card*2

Do not use.

When downloaded to
CPU Unit

Supported.

Sets whether to enable

or disable SD Memory
Card backups.

Use.

Do not use.
Use.

*2 A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to disable backups.
Parameter

Description
You can change the set values of parameters that can be changed during RUN mode.
Start:

Enables writing set values.

Transfer:

Transfers set values to the Controller. The set values are overwritten.

Cancel:

Prohibits writing set values.

Precautions for Correct Use

If Use is selected for Event Log Settings Instruction Error Output, an instruction error is output
each time an error occurs when an instruction with an error is executed repetitively. This may
cause the event log to exceed the maximum number of events. If this occurs, older events are
overwritten.

NJ-series CPU Unit Software Users Manual (W501)

4-5

4-2-2 Controller Setup

*1 A CPU Unit with unit version 1.02 or later and Sysmac Studio version 1.03 or higher are required to use the Event Log
Settings.

Setting Change
during RUN Mode

4-2 Initial Settings for the PLC Function Module

System Service Monitoring Settings

Description

4 Controller Setup

4-2-3

Task Settings
Task Settings
The Task Settings are used to add and set up tasks.

Parameter
Task Type

Setting
group

Description
Sets the task type.

Set value
Primary periodic task

Default

Update
timing

Changes in
RUN mode

Primary periodic task

When downloaded to
CPU Unit

Not allowed.

Automatically
set according
to the task
type.

Primary periodic task: 4

When downloaded to
CPU Unit

Not allowed.

Text string

Primary periodic task: PrimaryTask

When downloaded to
CPU Unit

Not allowed.

Priority-16
periodic task
Priority-17
periodic task
Priority-18
periodic task
Priority-8
event task
Priority-48
event task
Execution Pri- Sets the task execution
ority
priority.

Task Name

Sets the task name.

Periodic
tasks:
PeriodicTask0
Event tasks:
EventTask0

4-6

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

Parameter

Description
Sets the task period.

Set value

Default

Primary periodic task:

500 s*, 1 ms,
2 ms, or 4 ms

Primary periodic task:

1 ms

Periodic tasks:
1 ms,
2 ms, 3 ms,
4 ms, 5 ms,
8 ms, 10 ms,
15 ms, 20 ms,
25 ms, 30 ms,
40 ms, 50 ms,
60 ms, 75 ms,
or 100 ms

Update
timing
When downloaded to
CPU Unit

Changes in
RUN mode
Not allowed.

Periodic
tasks: 10 ms
Event tasks:
Executed with
an instruction.

Event tasks:
Executed with
an instruction
or when a
variable
expression is
satisfied.

Task Timeout
Detection
Time

Sets whether to detect

an error when the task
period is exceeded.

Sets the task execution

timeout time. A Task
Execution Timeout Error
occurs when the timeout time is exceeded.

Detect.
(Minor fault
level Controller error
generated.)
Do not
detect.
(Store an
observation
level log
record.)

Primary periodic task and

periodic
tasks: Detect

Primary periodic task and

periodic tasks:
Task period
1 to Task
period 5

Primary periodic task and

periodic
tasks: Task
period 5

Event tasks:
Execution priority of 8: 1 to
500 ms
Execution priority of 48: 1
ms to 10 s
Variable
Access Time
[%]

Sets the percentage of

the task period to assign
to variable access from
outside the Controller.

Primary periodic task and

periodic tasks:
1% to 50%

When downloaded to
CPU Unit

Not allowed.

When downloaded to
CPU Unit

Not allowed.

When downloaded to
CPU Unit

Not allowed.

Event tasks:
Do not detect
(cannot be
changed).

Event tasks:
Execution priority of 8: 200
ms
Execution priority of 48: 1 s

3%

Event tasks:
None
* With the NJ301-, you can use this setting with unit version 1.03 or later.

NJ-series CPU Unit Software Users Manual (W501)

4-7

4-2-3 Task Settings

Task Period
Exceeded
Detection

4-2 Initial Settings for the PLC Function Module

Period/Execution Conditions

Setting
group

4 Controller Setup

I/O Control Task Settings

The I/O Control Task Settings are used to set the timing of refresh execution of inputs and outputs.

Parameter
Task Name

Description
Sets the task to use to
refresh the specified Units
or slaves.

Set value
PrimaryTask or
PeriodicTask

Default
PrimaryTask

Update timing
When downloaded to CPU
Unit

Changes in
RUN mode
Not allowed.

Program Assignment Settings

The Program Assignments Settings are used to assign the programs to tasks, set the program execution order, and set the operation of the programs at the start of operation.

Description

Set value

Program Execution Order

Assigns the programs to the

specified tasks and sets the
order of program execution
within the tasks.

Assign the programs in the

order to execute
them from top to
bottom.

Program0

When downloaded to CPU

Unit

Not allowed.

Initial Status of
Program*1

Set whether to run the program at the start of operation.

Run

Run

When downloaded to CPU

Unit

Not allowed.

Stop

Default

Update timing

Changes in
RUN mode

Parameter

*1 A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required.

4-8

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

Settings for Exclusive Control of Variables in Tasks

Item

Parameter

Each Task

Description
Sets the variables to refresh in the
primary periodic task or periodic
task.

Data Type

Sets the data type of variable.

Variable Com- Sets a comment for the variable.

ment
Accessing
Task

Default
None

Update timing
When downloaded to
CPU Unit

Changes in
RUN mode
Not allowed.

None
None

Sets the tasks that access the variable.

Task Execution Status Monitor

The Task Execution Status Monitor displays the execution status of the programs.

NJ-series CPU Unit Software Users Manual (W501)

4
4-2-3 Task Settings

Variables to
be refreshed

Set
value

4-2 Initial Settings for the PLC Function Module

The Settings for Exclusive Control of Variables in Tasks are used to set the tasks that refresh specified global variables and the tasks that access specified global variables.

4-9

4 Controller Setup

Task Execution Time Monitor

The Task Execution Time Monitor displays the execution times of the tasks.

4-10

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

4-2-4

Unit Configuration and Unit Setup

4-2 Initial Settings for the PLC Function Module

Unit Information

4
4-2-4 Unit Configuration and Unit Setup

Settings for All Units

Set the device names.
Device names are automatically created when Units are added in the Unit Editor.
Default names: J followed by serial numbers that start from 01
We recommend that you change the name to one that is suitable to the device.
Additional Information
The device names that are set here are placed before the I/O port name when device variables
are automatically created.

Special Units
Set the unit numbers of the Special Units.
Precautions for Correct Use
Make sure you set the same unit numbers as the unit numbers that are set on the rotary
switches on the front of the Special Units. If they are not the same, operation will be according to
the unit numbers that are set on the front-panel rotary switches.

NJ-series CPU Unit Software Users Manual (W501)

4-11

4 Controller Setup

Basic I/O Units

The following settings are made in the Unit Information of the Basic I/O Units.
Access point
Unit Information

Setting
group

Basic Input
Unit Input
Response
Note Set the Time
information for
each
slot.

4-12

Description
Sets the input response time (ON
response time = OFF response
time) of the Basic Input Unit. You
can set no filter or you can set the
value in increments from 0 to 32 ms.
You can increase the value to
reduce chattering and the effects of
external noise. If you decrease the
value, shorter input pulses are
received (but the pulses must be
longer than the task period).

Set
values
No filter
0.5 ms,
1 ms,
2 ms,
4 ms,
8 ms,
16 ms,
or
32 ms

Default
8 ms

Update timing
When power
is turned ON
or the CPU
Unit is reset

Changes in
RUN mode
Not allowed.

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

4-3

Initial Settings for Special Units

This section describes the initial settings that are required for the Special Units.

Method 1: Setting from the Unit Setting Pane of the Sysmac Studio

1
2

Select the Unit in the Unit Configuration and Setup.

Specify the settings in the Unit Settings Tab Page shown below.

4-3 Initial Settings for Special Units

You can use any of the following methods to set the initial settings of the Special Units.

Connect the CPU Unit online and transfer the settings to the CPU Unit.

Method 2: Using the Sysmac Studio to Specify Initial Settings for the
I/O Ports in the I/O Map

1
2

Use the I/O Map in the Sysmac Studio to set values for the I/O ports.
Restart the Unit, reset the Controller, or cycle the power supply to the Controller.

NJ-series CPU Unit Software Users Manual (W501)

4-13

4 Controller Setup

Method 3: Using the Sysmac Studio to Specify Initial Settings for the
Device Variables of the CJ-series Units

1
2

Use the Sysmac Studio to specify the initial values for the device variables of the CJ-series
Units.
Download the variable table from the Sysmac Studio to the CPU Unit.
Select the Clear the present values of variables with Retain attribute Check Box.

Restart the Unit, reset the Controller, or cycle the power supply to the Controller.

Method 4: Using Instructions to Set the Device Variables for the CJseries Units

Set the values for the device variables for the CJ-series Unit at the start of operation from the
user program (e.g., use the MOVE instruction) and then restart the Unit.
Example:
MOVE

P_First_RunMode
EN

ENO

In

Out

First RUN
Period Flag

UINT#16#0101

Unit0_RangeCfg

Instance
ResetUnit

_SIO_No00

Execute

Done

UnitNo

Busy
Error
ErrorID

Instance.Done
Processing after restarting

Precautions for Safe Use

When you restart a Special Unit after you change the settings, confirm the safety of the devices
at the connection target before you restart the Unit.

4-14

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

Initial Settings for the Motion Control

Function Module
This section describes the initial settings that are required for the MC Function Module.

4-4-1

Introduction
The initial settings for the Motion Control Function Module are called motion control parameters. Motion
control parameters include the following parameters.
Axis Parameters: Settings for single-axis control
Axes Group Parameters: Settings for multi-axes coordinated control
Sysmac Studio
Set the parameters in the
Motion Control Setup.

NJ-series CPU Unit

4-4 Initial Settings for the Motion Control Function Module

4-4

Built-in nonvolatile memory

Download.

Upload.

Axis Parameter Settings

Axes group
parameter settings

When power is turned ON

When downloaded.
Read and check
data.
User program

MC_Write instruction

4-4-1 Introduction

Motion control
parameters
Main memory

Axis Parameter Settings

Axes Group
Parameter Settings

Temporarily changes
some parameters.

NJ-series CPU Unit Software Users Manual (W501)

4-15

4 Controller Setup

4-4-2

Setting Methods
You can use either of the following methods to set motion control parameters.

Method 1: Setting the Motion Control Setup in the Sysmac Studio

Right-click Axis Settings from under Configurations and Setup - Motion Control Setup in the Sysmac Studio and make the settings in the Axis Setting Table.

Download the motion control parameters to the CPU Unit to save them in the non-volatile memory in
the CPU Unit. The downloaded settings are enabled when the power is turned ON or a download is performed.

Method 2: Setting with the MC_Write Instruction

You can temporarily overwrite some motion control parameters with the MC_Write instruction.
Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for details.

4-16

NJ-series CPU Unit Software Users Manual (W501)

4 Controller Setup

Initial Settings for the EtherCAT

Master Function Module
This section describes the initial settings that are required for the EtherCAT Master Function Module.
The initial settings for the EtherCAT Master Function Module are listed below.
Device names
Total Cable Length
Fail-soft Operation Settings
Wait Time for Slave Startup
PDO Communications Timeout Detection Count
Revision Check Method

4-5 Initial Settings for the EtherCAT Master Function Module

4-5

Serial Number Check Method

Double-click EtherCAT under Configurations and Setup and then select the master on the Sysmac
Studio. The Initial Setting Tab Page for the EtherCAT Master Function Module is displayed.

Refer to the NJ-series CPU Unit Built-in EtherCAT Port Users Manual (Cat. No. W505) for details.

NJ-series CPU Unit Software Users Manual (W501)

4-17

4 Controller Setup

4-6

Initial Settings for the EtherNet/IP

Function Module
This section describes the initial settings that are required for the EtherNet/IP Function Module.
The initial settings for the EtherNet/IP Function Module are listed below.
TCP/IP Settings
Link Settings
FTP Settings
NTP Settings
SNMP Settings
SNMP Trap Settings
FINS Settings
Select Configurations and Setup Controller Setup Built-in EtherNet/IP Port Settings on the
Sysmac Studio to make these settings
Refer to the NJ-series CPU Unit Built-in EtherNet/IP Users Manual (Cat. No. W506) for details.

4-18

NJ-series CPU Unit Software Users Manual (W501)

Designing Tasks
This section describes the task system and types of tasks.

5-1 Overview of Task Designing Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-2 Task System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-2-1
5-2-2
5-2-3
5-2-4
5-2-5
5-2-6
5-2-7
5-2-8
5-2-9
5-2-10
5-2-11
5-2-12
5-2-13
5-2-14
5-2-15
5-2-16
5-2-17
5-2-18

Overview of Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Specifications of Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Basic Operation of Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Event Task Execution Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
Event Task Execution Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
Operation When Execution Condition Is Met Again before
Execution of the Event Task Is Completed . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
Tag Data Link Service and System Services . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
Processing Performed in and Execution Timing of the Tag
Data Link Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
Processing Performed in and Execution Timing of the System Services . . . 5-29
Assigning I/O Refreshing to Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
Assigning Tasks to Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
Parameters for Primary Periodic Task and Periodic Tasks . . . . . . . . . . . . . . 5-33
Ensuring Concurrency of Variable Values between Tasks . . . . . . . . . . . . . . . 5-35
Variable Access from Outside the Controller . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
Instructions Related to Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
System-defined Variables Related to Tasks . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Errors Related to Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
Monitoring Task Execution Status and Task Execution Times . . . . . . . . . . . . 5-47

5-3 Task Design Methods and I/O Response Times . . . . . . . . . . . . . . . . . . . . 5-51

5-3-1
5-3-2
5-3-3
5-3-4

Checking the Task Execution Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Checking the System Service Monitoring Settings . . . . . . . . . . . . . . . . . . . .
Examples of Task Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System Input and Output Response Times . . . . . . . . . . . . . . . . . . . . . . . . . .

NJ-series CPU Unit Software Users Manual (W501)

5-51
5-53
5-53
5-54

5-1

5 Designing Tasks

5-1

Overview of Task Designing

Procedure
This section provides an overview of the task designing procedure.
The shaded steps in the overall procedure that is shown below are related to the task designing procedure.

Step 1. Software Design

Step 1-1 I/O Processing Design
Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Step 4. Wiring

Step 5. Checking Operation and Starting Operation on the

Actual System
Refer to 1-3 Overall Operating Procedure for the NJ-series Controller for details.

5-2

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Designing the Tasks

Design the task configuration.

Reference
5-2-3 Basic Operation
of Tasks

Design the task configuration based on the I/O response perfor5-3 Task Design Methmance that is required by the controlled devices.
ods and I/O Response
Times
5-2-10 Assigning I/O
Refreshing to Tasks

Devices (slaves/Units)
Primary periodic task

Priority-16 Periodic Task

Assign the slaves and Units to
the task for I/O refreshing.

Determine which programs to assign to the primary

periodic task, to the priority-16, priority-17, and priority-18
periodic tasks, and to the priority-8 and priority-48 event
tasks.
Design the exclusive control methods for variables
between tasks.
Design the exclusive control methods for variables between tasks
when the same global variables are used in different tasks.

Design the tasks to access variables from outside of the

Controller.
Design the tasks to enable synchronization of accessing variables in
the CPU Unit from outside of the Controller with the execution of a
program in a specific task. EtherNet/IP tag data links are included in
accessing variables.

5-2-11 Assigning
Tasks to Programs

5
5-2-13 Ensuring Concurrency of Variable
Values between Tasks

5-2-14 Variable Access

from Outside the Controller

Task Settings on the Sysmac Studio

Setting the Tasks

Reference

Initial Settings for the PLC Function Module:

4-2 Initial Settings for

the PLC Function ModTask Settings: Task Periods, I/O Settings, Program Assignments,
ule

Task Interface Settings, and other settings

Offline Debugging with the Sysmac Studio

Desktop Operation Check

Perform desktop debugging of sequence control and

motion control with the Simulator (virtual controller).
Monitor the task execution times in the Task Execution
Time Monitor Display.
NJ-series CPU Unit Software Users Manual (W501)

5-1 Overview of Task Designing Procedure

Determine whether to use the primary periodic task or the

priority-16 periodic task for the I/O refreshing of each Unit
and slave.

Reference
Section 7 Checking
Operation and Actual
Operation
5-2-18 Monitoring Task
Execution Status and
Task Execution Times

5-3

5 Designing Tasks

5-2

Task System
This section describes the task system used by NJ-series Controllers.

5-2-1

Overview of Tasks

Tasks
Tasks are used to assign an execution condition and execution order to a series of processes, such as
I/O refreshing and user program execution.
There are three kinds of tasks, as shown in the following table. They are defined by their execution conditions and execution priorities.
Type of
task

Number
of tasks

Task execution priority

Definition

Main processing content

Primary
periodic
task

The primary periodic task is executed

once every task period. It has higher priority than any other task. Motion control
and EtherCAT communications are executed on the primary periodic task
period.

I/O refreshing, user program execution, and

motion control

Periodic
tasks

0 to 3

16, 17, or 18

The periodic tasks are executed once

every task period.

The processing that can

be performed depends on
the task execution priority.
Execution priority 16:
I/O refreshing, user program execution, and
motion control
Execution priority 17 or
18: User program execution

Event tasks

0 to 32

8 or 48

An event task is executed only once

when the specified execution condition is
met.

User program execution

Version Information
A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required
to use event tasks.

5-4

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Primary Periodic Task and Periodic Tasks

The CPU Unit periodically executes both the primary periodic task and periodic tasks.
(The interval in which the CPU Unit executes the primary periodic task or a periodic task is called the
task period.)

Primary periodic task

Fixed
period

Task period

Periodic task

Fixed period (an

integer multiple of
the task period of
the primary
periodic task)

Task period

From 1 to 128 programs can be assigned to one task. The programs that are assigned to a task are
executed in the order that they are assigned. Execution of the all of the programs assigned to each task
is called user program execution.
Exchanging data with CJ-series Units or EtherCAT slaves is called I/O refreshing.

Event Tasks
An event task is executed only once when the specified execution condition is met. There are the following two types of execution conditions for event tasks.
Execution condition

Specification
The event task is executed when the ActEventTask (Execute Event Task)
instruction is executed.

Execution when a condition for a variable is met

The event task is executed when the specified variable matches a predefined
condition.

From 1 to 128 programs can be assigned to one task. The programs that are assigned to a task are
executed in the order that they are assigned.
Precautions for Correct Use
I/O refreshing and motion control are not executed in event tasks. This means that you cannot
assign programs to event tasks if the program performs I/O control or executes motion control
instructions.
Event tasks are not executed repeatedly every task period. Therefore, you cannot assign a
program to an event task if that program contains an instruction whose execution is not
completed within one task period. Instructions that are executed over more than one task
period include some of the basic instructions, such as instructions for SD Memory Cards and
communications, all motion control instructions, and all simulation instructions. Refer to the
NJ-series Instructions Reference Manual (Cat. No. W502-E1-05 or later) for details on the
basic instructions that cannot be used in event tasks.

5-5

5-2-1 Overview of Tasks

Execution with an instruction

NJ-series CPU Unit Software Users Manual (W501)

5-2 Task System

You can assign I/O refreshing for each slave and Unit to the primary periodic task or priority-16 periodic
task. By default, I/O refreshing for all slaves and Units is assigned to the primary periodic task.

5 Designing Tasks

Guidelines for Separating Tasks

All programs must be assigned to one of the tasks. Use the guidelines in the following table to determine which tasks to assign your programs to based on the requirements of the programs.
Task

5-2-2

Programs that are suitable for this task

Primary periodic task

Programs that require I/O refreshing at an exact execution period.

Programs that require the highest execution priority.
Programs that include motion control processing.

Priority-16 periodic task

Programs that require I/O refreshing.

Programs with a relatively low execution priority that must be executed
periodically.
Programs that contain motion controls with a relatively low execution priority.

Priority-17 or priority-18 periodic

task

Programs with a relatively low execution priority that must be executed

periodically.

Event Task

Programs that are executed only when specified conditions are met.

Specifications of Tasks
The specifications of tasks are given in the following table.
Item

Specification

Type of task

Primary periodic task

Periodic task (priority 16, 17, or 18)
Event task (priority 8 or 48)

Numbers of tasks

Primary periodic task: 1

Periodic tasks: 0 to 3 tasks*1
Event tasks: 0 to 32 tasks*2

Number of programs per

task

128 max.

Task period of the primary

periodic task

500 s*3, 1 ms, 2 ms, or 4 ms

Task periods of periodic

tasks

Set the task period of each periodic task to an integer multiple of the task period of
the primary periodic task. Refer to the table of valid task periods for periodic tasks
that is given below.

*1 There can be no more than one task with each of the following execution priorities: 16, 17, and 18.
*2 There can be up to 32 tasks with each of the following priorities as long as there are no more than a total of 32
tasks with these priorities: 8 and 48.
*3 With the NJ301-, you can use this setting with unit version 1.03 or later.

Valid Task Periods for Periodic Tasks

Task period of the primary periodic task

Task periods that you can set for periodic tasks

500 s*

1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms,
30 ms, 40 ms, 50 ms, 60 ms, 75 ms, or 100 ms

1 ms

1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms,
30 ms, 40 ms, 50 ms, 60 ms, 75 ms, or 100 ms

2 ms

2 ms, 4 ms, 8 ms, 10 ms, 20 ms, 30 ms, 40 ms, 50 ms, 60 ms, or

100 ms

4 ms

4 ms, 8 ms, 20 ms, 40 ms, 60 ms, or 100 ms

* With the NJ301-, you can use this setting with unit version 1.03 or later.

5-6

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-2-3

Basic Operation of Tasks

The CPU Unit cannot execute more than one task at the same time. The order in which tasks are executed depends on the execution priority that is set for each task.

Task Execution Priority

The type of the task determines its execution priority. If the execution condition is met for another task,
Tb, that has a higher execution priority while task Ta execution is in progress, execution of Ta will be
interrupted to allow execution of Tb. Processing for Ta will resume when processing for Tb is completed.
The execution priority for each task type is given in the following table. The smaller the value of the execution priority, the higher the priority.
Execution priority

Task

Tasks with the same execution priority

---

Periodic task

16, 17, or 18

You cannot set the same execution priority for more than one task.

Event task

8 or 48

You can set the same execution priority for more than one event
task. Refer to 5-2-5 Event Task Execution Timing for the order of
execution.

Numbers of tasks

High

Event tasks

0 to 32

16

Periodic task

0 or 1

17

Periodic task

0 or 1

18

Periodic task

0 or 1

Event tasks

0 to 32

5-2-3 Basic Operation of Tasks

Primary
periodic task

Execution priority
(0 to 63)

48

A total of up to 32
tasks for both
priority levels.

Low

Task Periods for the Primary Periodic Task and Periodic Tasks
The CPU Unit repeatedly and cyclically executes the primary periodic task and periodic tasks. The task
periods for periodic tasks must be assigned as integer multiples of the task period of the primary periodic task (called the primary period). Therefore, execution of both tasks will be start at the same time
every few cycles.
For example, if the primary period is set to 1 ms and the task period of the priority-16 periodic task is set
to 4 ms, the execution timing of the primary periodic task and the priority-16 periodic task is
synchronized after each four executions of the primary periodic task.

NJ-series CPU Unit Software Users Manual (W501)

5-2 Task System

Primary periodic task

5-7

5 Designing Tasks

Additional Information
An event task is not executed periodically. Instead, it is executed only once when the specified
execution condition is met. Therefore, execution of an event task depends on when its execution
condition is met and on its execution priority.

Examples of Execution Order for Tasks

This section gives a few examples of the execution order for the primary periodic task and periodic
tasks. Refer to 5-2-5 Event Task Execution Timing for the order of execution of event tasks.

Projects with Only the Primary Periodic Task

The primary periodic task is executed every primary period. The system service shown in this figure
refers to non-task related processing, such as communications processing, that is performed by the
CPU Unit. System services are executed in the unused time between execution of the tasks. Refer
to Processing Performed in System Services on page 5-29 for details on the system services.
Primary period

Execution priority

Primary period

High
Primary
periodic
task

System
services

IO

UPG

MC

IO

SS

UPG

Pausing

MC

SS

A double line means

that all processing for
that task has been
completed.

Low
A dotted line represents a transition to another task.

IO: Indicates I/O refreshing (data outputs and then data inputs).
UPG: User program execution.
MC: Indicates motion control.
SS: Indicates system services.

Project with the Primary Periodic Task, Priority-16 Periodic Task, and Priority17 Periodic Task
The primary periodic task has the highest execution priority, so it is always executed in the primary
period.
The priority-16 periodic task has a lower execution priority than the primary periodic task, so it is
executed when the primary periodic task is not being executed.
The priority-17 periodic task has an even lower execution priority, so it is executed when the above
two tasks are not under execution.
In this example, the task period for the priority-16 periodic task is set to four times the primary
period. This means that once ever four primary periods, execution of the primary periodic task and
the priority-16 periodic task will start at the same time.
System services are executed in the unused time between execution of the tasks.

5-8

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Primary period

Execution priority
High

Primary
periodic task

IO UPG MC

Pausing

Primary period

IO UPG MC

Task execution
Task
condition is
execution is
met.
completed.

Priority-16
periodic task

Primary period

Primary period

IO UPG MC

Primary period

IO UPG MC

IO UPG MC

Task
Task execution
Task
Task Task execution
Task execution
Task Task execution
condition is execution is condition is execution is condition is execution is condition is execution is
met.
completed.
met.
met.
completed.
completed.
met.
completed.
Task period

IO UPG

Pausing

Pausing

UPG

Task execution
is completed.

Task execution
condition is met.

IO UPG

Pausing

Task execution
condition is met.
Task period

Priority-17
periodic task

UPG

Pausing

Pausing

UPG

Task execution
condition is met.

Task execution
is completed.

System
services

5-2 Task System

Low

Pausing

SS

Precautions for Correct Use

If you have multiple tasks that read and write to the same variables, make sure to use exclusive
control of variables between the tasks. Otherwise, a task other than the one currently in execution may change the variable values. Refer to 5-2-13 Ensuring Concurrency of Variable Values
between Tasks for details.

A task with a higher execution priority is never interrupted to start execution of a task with a lower execution priority. However, if unused time occurs during a task with higher priority, that time may be used
to start execution of a task with lower priority. An example of this is the time spent waiting for a data
transfer to be completed in an I/O refresh process. As soon as processing resumes for the task with
higher priority, the task with lower priority will be interrupted. This processing order is illustrated in the
following figure.
Execution
priority
High

Primary period
Primary
periodic task

IO

UPG

IO

MC

UPG

MC

Unused

Task period
Priority-17
periodic task

Interrupted.

UPG

Task execution
condition is met.
Low

UPG
Task execution
is completed.

The priority-17 periodic task is executed during

the unused time of the primary periodic task.

Precautions for Correct Use

Even if unused time occurs in the primary periodic task, the priority-16 periodic task is always
executed after the primary periodic task is completed. This restriction does not apply to the priority-17 or priority-18 periodic tasks. This restriction also does not apply to I/O refreshing in the priority-16 periodic task. I/O refreshing for the priority-16 periodic task may be executed during the
unused time of the primary periodic task.

NJ-series CPU Unit Software Users Manual (W501)

5-9

5-2-3 Basic Operation of Tasks

Executing Other Tasks during the Unused Time of a Task

5 Designing Tasks

Tasks and Operating Modes

The relationship between CPU Unit operating modes and tasks is given in the following table.
Task

Specification

Primary periodic task

Periodic tasks

These tasks are executed in both RUN mode and PROGRAM mode.
The user program is executed only in RUN mode.

Event tasks

Event tasks are executed only in RUN mode.

Precautions for Correct Use

Even if the execution condition for an event task is already met when you change the operating
mode to RUN mode, the event task will not be executed. An event task is executed only when
its execution condition changes from not met to met during RUN mode.
Even in RUN mode, an event task is not executed if there is a major fault level error.

The Processing Performed in Each Task

Primary Periodic Task
The primary periodic task has the highest execution priority. It executes processes with high speed
and high precision.
In every period, this task performs system common processing, I/O refreshing, user program execution, and motion control. Unlike periodic tasks, the primary periodic task performs motion control
processing (MC).
Task period*1 = Primary period (fixed)
Task execution time*2 (varies)

User program
execution

System
common
processing 2

System
common
processing 1

Input data
processing

Output data
processing

Refreshing

Motion
control

Control processing

I/O refreshing

*1: Task period

The CPU Unit executes tasks in this fixed period. This is a preset, fixed time.

*2: Task execution time

This is the actual time it takes from the point that the execution condition is
met until execution is completed.

Processing
I/O refreshing

Processing contents

Output data
processing

Output refresh data is created for Output Units that refresh I/O.
If forced refreshing is set, the forced refreshing values are reflected in the output
refresh data.

Refreshing

This process exchanges data with I/O.

Input data
processing

Input refresh data is loaded from Input Units that refresh I/O.
If forced refreshing is set, the forced refreshing values are reflected in the input
refresh data that was read.

System common processing 1

Processing for exclusive control of variables in tasks (when accessing tasks are
set)
Motion input processing is performed.*1
Data trace processing (sampling and trigger checking) is performed.
Event task condition expressions are judged.

5-10

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Processing

Processing contents

User program execution

Programs assigned to tasks are executed in the order that they are assigned.

Motion control*2

The motion control commands from the motion control instructions in the user
program execution are executed.
Processing the motion outputs for I/O refreshing in the next primary periodic task.

System common processing 2

Processing for exclusive control of variables in tasks (when refreshing tasks are
set)
Processing for variables accessed from outside of the Controller is performed to
maintain concurrency with task execution (executed for the variable access time
that is set in the Task Settings).
If there is processing for EtherNet/IP tag data links and refreshing tasks are set
for the tags (i.e., variables with a Network Publish attribute), variable access processing is performed.

*1 The Axis Current Values (Position, Velocity, and Torque) and Drive Status in the system-defined variables for
motion control are updated.

Note The processes in each cell in the above table are executed in the order of description.

5-2 Task System

*2 When there are motion control instructions in user program execution in the primary periodic task, the CPU
Unit executes the results from those instructions immediately afterward in motion control processing. The CPU
Unit outputs the results to the Servo Drives during I/O refreshing in the next primary periodic task.

Task period = Primary period (fixed)

When the CPU Unit executes a motion

control instruction, it executes the result of
that instruction in motion control processing
immediately afterward.

Input data
processing

Output data
processing

System common
processing 2

MC_

Refreshing

During output data processing in the next primary

period, the CPU Unit sends the results of motion
control processing to the Servo Drive via EtherCAT.
[

When there is a motion control instruction in user program execution in the periodic task, the CPU
Unit executes the result from that instruction in the motion control processing (MC) of the next primary periodic task.
Refer to 5-3-4 System Input and Output Response Times for details.

Periodic Tasks
A periodic task executes its programs every task period. The task period is specified as an integer
multiple of the primary period. You can use 0 to 3 periodic tasks.
The priority-16 periodic task can also refresh I/O.
Processing for periodic tasks that do not control I/O is different from processing for periodic tasks
that do control I/O.

Periodic Tasks That Do Not Control I/O

Task period (fixed)
Task execution time (varies)
* The Controller will pause the execution of a
periodic task in order to execute a task with
a higher execution priority.

User
program
execution

NJ-series CPU Unit Software Users Manual (W501)

System
common
processing 2

System
common
processing 1

Control processing

5-11

5-2-3 Basic Operation of Tasks

The system-defined variables for motion control

are updated for use in the following motion
control instructions.

User
program
execution

Motion
control

System
common
processing 1

Refreshing

I/O refreshing

Control processing
Input data
processing

Output data
processing

I/O refreshing

5 Designing Tasks

Processing

Processing contents

System common processing 1

Processing for exclusive control of variables in tasks (when accessing

tasks are set)
Data trace processing (sampling and trigger checking) is performed.

User program execution

Programs assigned to tasks are executed in the order that they are
assigned.

System common processing 2

Processing for exclusive control of variables in tasks (when refreshing

tasks are set)
Processing for variables accessed from outside of the Controller is performed to maintain concurrency with task execution (executed for the
variable access time that is set in the Task Settings).
If there is processing for EtherNet/IP tag data links and refreshing tasks
are set for the tags (i.e., variables with a Network Publish attribute), variable access processing is performed.

Note The processes in each cell in the above table are executed in the order of description.

Periodic Tasks That Control I/O

Task period (fixed)
Task execution time (varies)
* The Controller will pause the
execution of a periodic task in
order to execute a task with a
higher execution priority.

Processing
I/O refreshing

System
common
processing 1

Input data
processing

Output data
processing

Refreshing

User
program
execution

System
common
processing 2

Control processing

I/O refreshing

Processing contents

Output data
processing

Output refresh data is created for Output Units that refresh I/O.
If forced refreshing is set, the forced refreshing values are reflected in the
output refresh data.

Refreshing

This process exchanges data with I/O.

Input data
processing

Input refresh data is loaded from Input Units that refresh I/O.
If forced refreshing is set, the forced refreshing values are reflected in the
input refresh data that was read.

System common processing

1

Processing for exclusive control of variables in tasks (when accessing

tasks are set)
Data trace processing (sampling and trigger checking) is performed.

User program execution

Programs assigned to tasks are executed in the order that they are
assigned.

System common processing

2

Processing for exclusive control of variables in tasks (when refreshing

tasks are set)
Processing for variables accessed from outside of the Controller is performed to maintain concurrency with task execution (executed for the variable access time that is set in the Task Settings).
If there is processing for EtherNet/IP tag data links and refreshing tasks are
set for the tags (i.e., variables with a Network Publish attribute), variable
access processing is performed.

Note The processes in each cell in the above table are executed in the order of description.

5-12

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Event Tasks
An event task is executed only once when the specified execution condition is met. You can use 0 to
32 event tasks. The processing details for event tasks are shown in the following figure.
Task execution time (varies)
* The CPU Unit will temporarily interrupt the

execution of a task in order to execute a

task with a higher execution priority.

*
Control processing
System common
processing 2

System common
processing 1

User program
execution

Task execution
condition is met.

Processing

Processing contents
Processing for exclusive control of variables in tasks (when accessing tasks are
set)*1

User program execution

Programs assigned to tasks are executed in the order that they are assigned.

System common processing 2

Processing for exclusive control of variables in tasks (when refreshing tasks are
set)*1

5-2 Task System

System common processing 1

*1 Refer to 5-2-13 Ensuring Concurrency of Variable Values between Tasks for details on exclusive control.

5
5-2-4

Event Task Execution Conditions

Execution condition

Event task execution timing

Reason for use

Execution with the ActEventTask instruction

When ActEventTask instruction is

executed

When you need to explicitly specify which

event tasks to execute in the user program
When the execution condition for the
event task may change before meeting
the condition expression for the variable
is determined

Execution when a condition

expression for a variable is
met

When the specified variable value

matches the specified condition
expression*

When you want to simplify the user program by executing event tasks without user
programming

* Refer to Execution Timing When the Execution Condition Is a Condition Expression for a Variable on page 5-19
for the timing of when the value of the specified variable is checked to see if the specified condition expression is
met.

Executing Event Tasks for the ActEventTask Instruction

When the ActEventTask (Execute Event Task) instruction is executed in the user program, the specified
event task is executed once. Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E105 or later) for the detailed specifications of the ActEventTask instruction.
Using the ActEventTask instruction to execute event tasks makes it easy to see which event tasks are
executed. Also, this method is also effective when the execution condition for the event task may
change before meeting the condition expression for the variable is determined.

NJ-series CPU Unit Software Users Manual (W501)

5-13

5-2-4 Event Task Execution Conditions

An event task is executed only once when the specified execution condition is met. There are the following two types of execution conditions for event tasks.

5 Designing Tasks

Example of User Programming Using the ActEventTask Instruction

Example 1: Executing an Event Task Only Once When the Value of a Variable Changes
In the following example, the upward differentiation option is used for the ActEventTask instruction.
This causes the Task1 event task to be executed only once when the BoolVar BOOL variable
changes to TRUE.
BoolVar
'Task1'

@ActEventTask
EN
ENO
TaskName

Execution
priority
Primary period

High

Primary
periodic task
ActEventTask
instruction is executed.

The event task is executed only once.

Task1
event task

Interrupted.

Low
BoolVar

TRUE
FALSE

Example 2: Executing an Event Task Repeatedly While the Value of a Variable Matches a Specified
Value
In the following example, the upward differentiation option is not used for the ActEventTask instruction. This causes the Task1 event task to be executed as long as the BoolVar BOOL variable is
TRUE. After the execution of the event task has started, it is executed to the end even if the value of
BoolVar changes to FALSE during execution.
BoolVar
'Task1'

ActEventTask
EN
ENO
TaskName

Execution
priority
Primary period

High

Primary
periodic task
ActEventTask instruction
is executed.
Task1
event task

Interrupted.

Interrupted.

Task1 is already in execution so any ActEventTask

instructions that specify Task1 are ignored.
Low

The event task is executed repeatedly

while the BoolVar variable is TRUE.
BoolVar

5-14

After the execution of the event

task has started, it is executed
to the end even if the value of
the BoolVar variable changes
to FALSE.

TRUE
FALSE

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Executing Event Tasks When Condition Expressions for Variables

Are Met
This method executes the event task once when the specified condition expression is met for the value
of a variable that was specified on the Sysmac Studio. The event task is not executed repeatedly while
the value of the variable matches the condition expression. It is executed only once when the value of
the variable first changes so that it meets the condition expression. This method of execution does not
require user programming to execute the event task.

Variables for Which You Can Specify Condition Expressions

The following table lists the variables that you can specify for condition expressions.
Specification

Type of variables

Possible.*1

Semi-user-defined variables

Possible.

User-defined variables

Global variables

Possible.

Variables used in a program

Possible.

Variables used in a function block

Possible.*2

Variables used in a function

Not possible.

5-2 Task System

System-defined variables

*2 In-out variables cannot be used.

Data Types of Variables for Condition Expressions

The following table lists the data types of variables that you can specify for condition expressions.
Classification of data
type
Basic data types

Data type specifications

Data type
Boolean, bit string, integer, and real

Possible.

Duration, date, time of day, date and time, or

text string data

Not possible.

Array specification

Structures
Derivative data type

Specification

Unions

Arrays

Not possible.

Elements

Possible.*1

Structures

Not possible.

Members

Possible.*2

Unions

Not possible.

Members

Possible.*2

Enumerations

Possible.

*1 The elements of the array must be Boolean variables, bit strings, integer data, or real data.
*2 The members must be Boolean, bit strings, integer data, or real data.

NJ-series CPU Unit Software Users Manual (W501)

5-15

5-2-4 Event Task Execution Conditions

*1 The following variables cannot be used. EN, ENO, P_Off, P_CY, P_First_RunMode, P_First_Run and
P_PRGER

5 Designing Tasks

Condition Expressions That You Can Specify

The condition expressions that you can specify depend on the data type of the variable that you
specify for the condition expression. If the variable that you specify for a condition expression is bit
string data, integer data, or real data, you must set a comparison constant to compare to the value
of the variable.
Data type

Possible condition expressions

Boolean, Boolean array elements, Boolean structure members,

and Boolean union members

Change to TRUE

Bit string, real number, integer, as well as array element, structure member, or union member with one of those data types

Variable = {Comparison constant}

Change to FALSE
Variable {Comparison constant}
Variable > {Comparison constant}
Variable {Comparison constant}
Variable < {Comparison constant}
Variable {Comparison constant}

Valid Range of Comparison Constants

If the variable that you specify for a condition expression is bit string data, integer data, or real data,
you must set a comparison constant to compare to the value of the variable. The valid range of comparison constants is the same as the valid range of the data type of the variable that you specify for
the condition expression.
Refer to Basic Data Types and Derivative Data Types on page 6-31 for the valid range of values for
each data type. For example, if the variable that you specify for the condition expression is a BYTE
variable, the valid range of comparison constant values is from BYTE#16#00 to BYTE#16#FF.

Example of Executing Event Tasks When Condition Expressions for Variables

Are Met
Example 1: Execution Condition for Event Task Set to a Change to TRUE of the Program1.trigger1
Boolean Variable
When the value of Program1.trigger1 changes to TRUE, the event task is executed only once.
Execution
priority
High

Primary period

Primary
periodic task

IO UPG MC

IO UPG MC

Condition expression
is not met.

IO UPG MC

Condition expression
is met.

IO UPG MC

IO UPG MC

The event task is executed only once.

Event task
TRUE is assigned to
Program1.trigger1 variable.
Low

Program1.trigger1

5-16

TRUE
FALSE

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Example 2: Execution Condition for an Event Task Set to When Program1.curVal (INIT variable) 10
The event task is executed only once when the value of Program1.curVal changes from less
than 10 to 10 or higher.
Execution
priority
High

Primary period

Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

Condition expression
is not met.

IO UPG MC

Not met. Value of 10

is assigned.
Met

Event task

Value of 11
Value of 9
is assigned.
is assigned.
Not met.

Value of 9 is assigned to
Program1.curVal variable.

5-2 Task System

The event task is executed only once when

the value of the Program1.curVal variable
changes from less than 10 to 10 or higher.

Low

Program1.curVal

IO UPG MC

10

11

Precautions for Correct Use

NJ-series CPU Unit Software Users Manual (W501)

5-17

5
5-2-4 Event Task Execution Conditions

The CPU Unit evaluates whether the condition expression is met before the programs that are
assigned to the primary periodic task are executed. Even if the specified value of the variable
matches the condition expression during execution of the program in the primary periodic task,
the condition is not evaluated until just before the next execution of the primary periodic task.
This means that the event task will be executed after the end of the execution of the primary periodic task that follows the execution of the primary periodic task in which the value of the variable
meets the condition expression.

5 Designing Tasks

5-2-5

Event Task Execution Timing

The execution priority of event tasks is 8 or 48. If the execution conditions for an event task are met
while another task is in execution, the task with the higher execution priority is given priority. The task
with the lower execution priority is interrupted. This is the same as with the primary periodic task and
periodic tasks. The execution of an event task also depends on its execution conditions. You can also
set the same execution priority for more than one event task. You must be careful when the execution
conditions are met for more than one event task that has the same execution priority.

Differences in Execution Timing Based on the Execution Conditions

of Event Tasks
The execution of event tasks depends on whether the execution condition is triggered by an ActEventTask instruction or by when an condition expression for a variable is met.

Execution Timing When the Execution Condition Is an ActEventTask

Instruction
If the execution condition for an event task is triggered by an ActEventTask instruction, the event
task will be executed immediately after the ActEventTask instruction is executed.
Example 1: ActEventTask Instruction Executed in Priority-16 Periodic Task and an Event Task with
an Execution Priority of 8
The execution priority of the event task (execution priority of 8) is higher than the execution
priority of the priority-16 periodic task. Execution of the priority-16 periodic task is therefore
interrupted and the event task is executed.
The event task is executed immediately after execution of ActEventTask.

Execution
priority
High
Event task
(execution priority of 8)

Task period

Priority-16
periodic task

Interrupted.
ActEventTask instruction
is executed.

Low

Example 2: Executing an ActEventTask Instruction within the Primary Periodic Task

The event task has a lower execution priority than the primary periodic task, so the event task
is executed after execution of the primary periodic task is completed.
Execution
priority

Primary period

High
Primary
periodic task
ActEventTask instruction
is executed.

Event task
(execution priority of 8)

Low

Event task is executed when the primary periodic task is completed.

5-18

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Execution Timing When the Execution Condition Is a Condition Expression

for a Variable
The condition expression is evaluated for a match inside the primary periodic task. This means that
the event task will be executed immediately after the first execution of the primary periodic task after
the specified value of the variable meets the condition expression. However, if there are tasks with a
higher execution priority than the event task, those tasks will be executed first.
Example 1: Project with a Priority-16 Periodic Task and an Event Task Execution with a Priority of 8
The event task is executed immediately after the first execution of the primary periodic task
after the condition expression is met. The execution priority of the event task (execution priority
of 8) is higher than the execution priority of the priority-16 periodic task. The priority-16 periodic
task is therefore executed after the event task is executed.
Execution
priority
Primary period

High

IO UPG MC

IO UPG MC

IO UPG MC
Value is assigned
to variable in user
program.

IO UPG MC
Condition
expression
is met.

5-2 Task System

Primary periodic
task

IO UPG MC
Event task is executed
immediately after the
condition expression is met.

Event task (execution

priority of 8)
Task period

Priority-16
periodic task

Interrupted.

Interrupted.

Example 2: Project with a Priority-16 Periodic Task and an Event Task Execution with a Priority of 48
The execution priority of the event task is lower than the execution priority of the priority-16
periodic task. The event task is therefore executed after the priority-16 periodic task is
executed.
Execution
priority
Primary period

High

Primary periodic
task

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

Event task (execution

priority of 48)

Interrupted.

IO UPG MC
Value is assigned
to variable in user
program.

IO UPG MC

IO UPG MC

Condition expression
is met.

Interrupted.

Event task is executed

immediately after completion
of the periodic task.

Low

NJ-series CPU Unit Software Users Manual (W501)

5-19

5-2-5 Event Task Execution Timing

Low

5 Designing Tasks

Precautions for Correct Use

The execution timing of an event task depends on how the condition expression is met. The
match can be triggered by I/O refreshing in the primary periodic task, or by execution of a program that is assigned to the primary periodic task. This difference is described in the following
table. This difference occurs because the condition expression is evaluated for a match by system common processing 1 inside the primary periodic task. Processing in the primary periodic
task takes place in this order: I/O refreshing, system common processing 1, and user program
execution.
Trigger for condition expression to match

Event task execution timing

I/O refreshing in the primary periodic task

After completion of the primary periodic

task

Execution of the programs in the primary periodic

task

After completion of the next execution of

the primary periodic task

In order for an event task to be executed, the condition expression must be met in the evaluation after the previous evaluation where the condition expression was not met. This means that
even if the status of the condition expression changes from not met to met, if the condition
returns to not met before the next evaluation, the event task will not be executed.

Execution Timing for Event Tasks with the Same Execution Priority
You can also set the same execution priority for more than one event task. If the execution conditions
are met for more than one event task that has the same execution priority, the event tasks will be executed in the order that their execution conditions are met.
Example 1: When Two ActEventTask instructions Are Executed
In the example given below, two ActEventTask instructions are used to execute two event tasks. The T1
event task is executed before the T2 event task because the ActEventTask instruction that triggered T1
was executed first.
Execution
priority
Primary period

High

Primary
periodic task

T1 event task
(execution priority of 8)

User program
ActEventTask(T1);
ActEventTask(T2);

T1 event task is executed first because the ActEventTask

instruction that triggered it was executed first.

Execution priority
is the same.
T2 event task
(execution priority of 8)
Low

5-20

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Example 2: When Both Condition Expressions for Variables and the ActEventTask Instruction Are Used
In this example, the execution conditions of the T1, T2, and T3 event tasks are set as given below.
T1: Condition expression for the VarA variable
T2: Condition expression for the VarB variable
T3: ActEventTask instruction
The operation would proceed as described below if the condition expression for VarA was met during
I/O refreshing, the ActEventTask instruction was executed in the user program, and the condition
expression for VarB was met during execution of the user program all in the same primary period.
(1) The condition expression for VarA is met during I/O refreshing.
(2) In system common processing 1, the match is detected for the condition expression
for VarA and T1 is executed. The condition expression for VarB is not yet met, so T2
is not executed.
(3) The condition expression for VarB is met during execution of the user program.
(4) The ActEventTask instruction is executed in the user program, so T3 is executed.

Execution
priority
Primary period

High

Primary periodic
task

IO

UPG

IO

ActEventTask
instruction is executed.

UPG

MC

The match for the condition

expression for VarB is
detected.

5-2-5 Event Task Execution Timing

Condition expression
for VarA is met.
The match for the condition
Condition
expression for VarA is detected. expression for
VarB is met.
T1 event task
(execution priority of 8)

MC

T2 event task
(execution priority of 8)

T3 event task
(execution priority of 8)
Low

NJ-series CPU Unit Software Users Manual (W501)

5-2 Task System

(5) In system common processing 1 in the next primary period, the match is detected for
the condition expression for VarB and T2 is executed.

5-21

5 Designing Tasks

5-2-6

Operation When Execution Condition Is Met Again before

Execution of the Event Task Is Completed
If the execution condition for an event task is met again before the execution of that event task is completed, the second match of the execution condition is ignored. Before an event task is completed
includes the duration of execution of the event task and the time waiting for execution. After the execution of the event task has started, it is executed to the end even if the condition expression is no longer
met.
Execution
priority
Primary period

High

Primary
periodic task
ActEventTask
instruction is
executed.

ActEventTask
instruction is
executed.

Event task
(execution priority of 8)

Execution of the event task has not completed yet,

so the second ActEventTask instruction is ignored.

Interrupted.

Low

Execution
priority
Primary period

High

Primary periodic
task
ActEventTask instruction
is executed for T2.

Priority-16
periodic task: T1

T2 event task
(execution priority of 48)

ActEventTask instruction
is executed for T2.
Task period
Interrupted.

Interrupted.

This event task (T2) was triggered by the first

ActEventTask instruction and is still waiting for
execution. The second ActEventTask
instruction is ignored.

Low

5-22

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-2-7

Tag Data Link Service and System Services

The CPU Unit performs processing other than the primary periodic task, periodic tasks, and event
tasks. This processing includes the tag data link service and the system services. The processing that
is performed, the execution priority, and the execution timing for these services are given in the following table.
Item
Processing

*2 Refer to 5-2-8 Processing Performed in and Execution Timing of the Tag Data Link Service for details on
the execution interval and the time that is required for execution of tag data links.

NJ-series CPU Unit Software Users Manual (W501)

5-23

5
5-2-7 Tag Data Link Service and System Services

*3 If sufficient time cannot be obtained to execute the system services, the processing of tasks with an execution priority of 17 or higher will be interrupted to allocate sufficient time. You can set the time for execution of
the system services in the System Service Monitoring Settings on the Sysmac Studio.

5-2 Task System

Tag data link service

System services
Data is exchanged by using tags with other System services include services with low
controllers and devices on an EtherNet/IP
execution priority, such as the USB port
network. You can use the built-in Etherservice. The system services are executed
Net/IP port in the CPU Unit or a CJ-series
in the unused time between execution of
CJ1W-EIP21 EtherNet/IP Unit to connect to the tasks and the tag data link service.
an HMI. *1
Execution priorThe execution priority is between the exeThe execution priority is lower than that of
ity
cution priorities of the priority-16 periodic
any of the tasks.
task and the priority-17 periodic task.
The system services are executed in the
Execution timing The execution interval and the time that is
required for each execution depend on the unused time between execution of the
model of the CPU Unit and on the tag data tasks and tag data link service.*3
link settings.*2
*1 For details on the processing that is performed for tag data links, refer to the NJ-series CPU Unit Built-in
EtherNet/IP Port Users Manual (Cat. No. W506) or the CJ-series EtherNet/IP Unit Operation Manual for
NJ-series CPU Unit (Cat. No. W495).

5 Designing Tasks

Execution Priorities of the Tag Data Link Service and System

Services
The execution priorities of the tag data link service and system services are shown below. The execution priority of the tag data link service is between the execution priorities of the priority-16 periodic task
and the priority-17 periodic task. The execution priority of the system services is lower than the execution priority of any of the tasks.
Numbers of tasks

High
4

Primary periodic
task

Event tasks

0 to 32

16

Periodic task

0 or 1

Tag data link

service

Execution
priority
(0 to 63)

A total of up to 32 tasks
for both priority levels.

17

Periodic task

0 or 1

18

Periodic task

0 or 1

Event tasks

0 to 32

48

System services
Low

5-24

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Examples of the Order of Execution for the Tag Data Link Service
and System Services
As an example, the order of execution for the primary periodic task, priority-16 periodic task, priority-17
periodic task, tag data link service, and system services is shown below.
Execution of the tag data link service is given priority over execution of the priority-17 periodic
task. However, execution of the primary periodic task and priority-16 periodic task is given even
higher priority.
The system services are executed in the unused time between execution of all of the tasks and
tag data link service.
The execution interval and the execution time for one execution depend on the model of the CPU
Unit and on the tag data link settings. Refer to 5-2-8 Processing Performed in and Execution Timing of the Tag Data Link Service for details.

High

5-2 Task System

Execution
priority

Primary period
Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

IO UPG

Execution period of the

tag data link service

IO UPG

Tag data link

service

5-2-7 Tag Data Link Service and System Services

Task period
Priority-17
periodic task

System
services

UPG

Interrupted.

Execution of the tag data link service

is given priority over execution of the
priority-17 periodic task.

Low

The system services are executed in the

unused time between execution of the
tasks and tag data link service.

NJ-series CPU Unit Software Users Manual (W501)

5-25

5 Designing Tasks

5-2-8

Processing Performed in and Execution Timing of the Tag Data

Link Service

Processing Performed in Tag Data Link Service

The processing for tag data links is separated in multiple processes. This processing is performed in
the tag data link service, the system services, and the tasks. The following example shows the processing that is performed for the tag data links when the built-in EtherNet/IP port on the CPU Unit is used.

Flow of Tag Data Reception Processing

The tag data link service reads the tag data from the received tag sets.
If a refreshing task is set, the task writes the values of the tag data to the variables that are
assigned to the tags.
If a refreshing task is not set, a system service writes the values of the tag data to the variables
that are assigned to the tags.
Task set as
refreshing task

Tag data
link service
Received
tag set

Tag data

Writes values
to variables.

Refreshing task
is specified.

Reads the
tag data.
System service
Tag data

Writes values
to variables.

Refreshing task
is not specified.

Flow of Tag Data Transmission Processing

If a refreshing task is set, the task reads the values of the tag data from the variables that are
assigned to the tags.
If a refreshing task is not set, a system service reads the values of the tag data from the variables
that are assigned to the tags.
Then, in the tag data link service, the tag set is created from the tag data and the tag set is sent.
Task set as
refreshing task
Refreshing task
is specified.

Reads values
from variables.

Tag data
Tag data
link service
Creates the
tag set.

System service
Refreshing task
is not specified.

5-26

Reads values
from variables.

Tag set
is sent.

Tag data

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Additional Information
Differences in the Timing of Processing Tag Data Links Depending on Whether a Refreshing Task Is Set
The process to write values to and read values from variables is different depending on whether
a refreshing task is set. If a refreshing task is set, the values are read and written in that task. If a
refreshing task is not set, the values are read and written in a system service. This means there
is a difference in the execution timing of processing tag data links.
The difference in the execution timing when data is received for tag data links is shown below.
When a Refreshing Task Is Specified
In this example, the primary periodic task is set as the refreshing task. Values are written to
the variables in the next primary periodic task after the tag data links service.
Values are written to the variables in the next primary
periodic task after the tag data links service.

High

5-2 Task System

Execution
priority

Primary period
Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

IO UPG

IO UPG

5
Tag data link
service

5-2-8 Processing Performed in and Execution Timing of the Tag Data Link Service

Task period
Priority-17
periodic task

UPG

Interrupted.

Tag data is read

from the tag set.
System
service
Low

When a Refreshing Task Is Not Specified

The values are written to the variables in a system service.
Execution
priority
High

Primary period
Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

IO UPG

IO UPG

Tag data link

service

Task period
Priority-17
periodic task

UPG

Interrupted.

Tag data is read

from the tag set.
System
services
Low

NJ-series CPU Unit Software Users Manual (W501)

The values are written to the variables

in a system service.

5-27

5 Designing Tasks

Execution Timing of the Tag Data Link Service

The execution interval and the execution time depend on the model of the CPU Unit and on the tag
data link settings. Guidelines are provided below. However, if a task with a higher execution priority
than the tag data link service is executed, the execution interval and the execution time will be longer
than the following values.
Execution
priority
High

Primary period
Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

Execution interval of the tag data

link service

IO UPG

IO UPG

Tag data link

service

Task period
Priority-17
periodic task

System
service

UPG

Interrupted.

Execution interval of the

tag data link service

Low

Using the Built-in EtherNet/IP Port on the CPU Unit

CPU Unit
NJ501-

NJ301-

Tag data link settings

Number
Number of
RPI
of tags
connections
[ms]
8
1
1
4
2
32
50
8
1
1
4
2
32
50

Execution
interval (ms)
1
1
1
1
1
1

Execution
time (ms)
0.02 to 0.04
0.02 to 0.10
0.02 to 0.10
0.03 to 0.06
0.03 to 0.15
0.03 to 0.15

Using the CJ1W-EIP21 EtherNet/IP Unit

CPU Unit
NJ501-

NJ301-

5-28

Number of
tags
8

Tag data link settings

Number of
RPI
connections
[ms]
1
1
4

32

50

32

50

Send/re
ceive
Send
Receive
Send
Receive
Send
Receive
Send
Receive
Send
Receive
Send
Receive

Execution
interval (ms)
3
3
4
4
12
6 to 35
3
3
3
4
15
8 to 35

Execution
time (ms)
0.10
0.10
0.22
0.13
0.68
0.23 to 0.66
0.16
0.16
0.21
0.33
1.05
0.29 to 1.85

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Version Information
Execution of processing for tag data links depends on the unit version of the CPU Unit and the
Sysmac Studio version as given below.
Sysmac Studio version
1.03 or lower
1.04 or higher
1.03 or later
Built-in EtherNet/IP port serTag data link service*
vice in system services
1.02 or earlier
Built-in EtherNet/IP port service in system services
* If a unit version of 1.02 or earlier is set on the Sysmac Studio, the tag data links are processed in the builtin EtherNet/IP port service in the system services.
Unit version of CPU Unit

5-2-9

Processing Performed in System Services

The CPU Unit uses system services to perform any processing other than the processing of tasks.
System services include the following processing.
System service

Description
Processing of service requests from the Sysmac Studio or host computers.

Built-in EtherNet/IP port service

Processing of message service requests, such as CIP commands, from

the Sysmac Studio, an HMI, host computers, or other Controllers
Execution of communications instructions for CIP and socket communications

Built-in EtherCAT port service

Execution of EtherCAT message communications

Service for CJ-series Special

Units*1

Event servicing for CJ-series Special Units

Execution of communications instructions (CIP)

SD Memory Card service

Access from FTP client

SD Memory Card operations from the Sysmac Studio
Execution of SD Memory Card instructions

Self-diagnosis

Hardware error detection

*1 The CPU Unit exchanges data between CJ-series Special Units and the memory words that are allocated to
them during I/O refreshing.

Execution Timing of the System Services

The system services are executed in the unused time between execution of the tasks and tag data
link service. If sufficient time cannot be obtained to execute the system services, the processing of
tasks with an execution priority of 17 or higher will be interrupted to allocate sufficient time. You can
set the time for execution of the system services in the System Service Monitoring Settings on the
Sysmac Studio.
There is no priority in the processing of system services. All of the processing is executed in parallel
with time slicing.

5-29

5-2-9 Processing Performed in and Execution Timing of the System Services

USB port service

NJ-series CPU Unit Software Users Manual (W501)

5-2 Task System

Processing Performed in and Execution Timing of the System

Services

5 Designing Tasks

Execution Timing When Sufficient Execution Time for the System Services
Cannot Be Obtained
If there is not enough unused time between execution of the tasks and tag data link service to execute the system services, the execution of tasks with an execution priority of 17 or higher will be
interrupted to allocate sufficient time.
If the system service execution time cannot be obtained even if execution of tasks with an execution
priority of 17 or higher is temporarily interrupted, an Insufficient System Service Time Error occurs
and user program execution stops.
You can set the time for execution of the system services in the System Service Monitoring Settings
on the Sysmac Studio.
Execution
priority
High

Task period
Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

IO UPG
Task period

Low

Priority-17
periodic task

Interrupted.

System
services
Execution of the primary periodic task and
priority-16 periodic task is not interrupted.

If the time that is specified in the System Service Monitoring

Settings cannot be allocated, execution of the priority-17 periodic
task is interrupted.

System Service Monitoring Settings

The System Service Monitoring Settings are used to monitor whether sufficient system service execution time can be obtained. If the execution of all tasks cannot be completed within the system service execution interval, execution is monitored to see if at least the ratio of execution that is set for
the System Service Execution Time Ratio is completed. You can set the System Service Monitoring
Settings in the Basic Settings View of the Operation Settings Tab Page on the Sysmac Studio.

5-30

Setting
group

Setting
[unit]

Operation
Settings,
Operation
Settings
Tab, Basic
Settings

System
Service
Monitoring
Settings

System Service Execution Interval

[ms]

Sets the interval of system service execution.

10 ms to
1s

10 ms

When
transferred
to CPU Unit

Not
allowed.

System Service Execution Time

Ratio [%]

Sets the ratio for monitoring system service

execution.

5% to
50%

10%

When
transferred
to CPU Unit

Not
allowed.

Description

Set values

Default

Update
timing

Changes
in RUN
mode

Access
point

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Precautions for Correct Use

Set the System Service Monitoring Settings to the minimum values that are required to meet
the response performance of the system services so that sufficient time can be allocated to
the system services and task execution. The System Service Monitoring Settings are used to
monitor whether the specified system service execution time can be obtained. System services will not necessarily be executed for the specified time.
Design the tasks so that sufficient time can be allocated to execution of the system services.
Refer to 5-3 Task Design Methods and I/O Response Times for the setting procedures for
tasks.
To increase the system service execution time, increase the task period or take other steps to
increase the unused time between task execution.

If sufficient system service execution time cannot be allocated and execution of tasks with an
execution priority of 17 or higher is interrupted, a Task Period Exceeded error will occur for the
tasks that are interrupted. Design the tasks so that the execution of tasks with an execution
priority of 17 or higher is completed within the task periods even if the execution time of the
system services satisfies the System Service Monitoring Settings.

5-2 Task System

If the time that is specified in the System Service Monitoring Settings cannot be allocated to
the system service execution time even if execution of tasks with an execution priority of 17 or
higher is interrupted, an Insufficient System Service Time Error occurs and user program execution stops.

I/O refreshing of the EtherCAT slaves and the CJ-series Units is assigned to the tasks. You can assign
them to the following tasks.
Classification

I/O refresh target

EtherCAT slaves Communications Coupler Unit for which there is a

NX Unit assigned to an axis on the Slave Terminal

Tasks to which assignment is possible

Primary periodic task

Assigned
unit
By Slave
Terminal

Communications Coupler Unit for which there is not Primary periodic task or
a NX Unit assigned to an axis on the Slave Terminal priority-16 periodic task

CJ-series Units

Slaves assigned to axes

Primary periodic task

Other slaves

Primary periodic task and

priority-16 periodic task

Basic I/O Units

Primary periodic task and

priority-16 periodic task

Special I/O Units

By slave

By Unit

CPU Bus Units

Note The I/O refreshing for a slave or Unit can be assigned to only one task.

Precautions for Safe Use

If two different function modules are used together, such as when you use CJ-series Basic Units
and EtherCAT slaves, take suitable measures in the user program and external controls to
ensure that safety is maintained in the controlled system if one of the function modules stops.
The relevant outputs will behave according to the slave or Unit specifications if a partial fault level
error occurs in one of the function modules.
Refer to 12-1-3 Non-fatal error in CPU Unit for details on partial fault level Controller errors.

NJ-series CPU Unit Software Users Manual (W501)

5-31

5-2-10 Assigning I/O Refreshing to Tasks

5-2-10 Assigning I/O Refreshing to Tasks

5 Designing Tasks

Additional Information
When using both EtherCAT slaves and CJ-series Units, you can shorten the task execution time
of the primary periodic task by assigning the I/O refreshing for EtherCAT slaves to a different task
than the I/O refreshing for CJ-series Units. Assign I/O refreshing for EtherCAT slaves to the primary periodic task and assign I/O refreshing for CJ-series Units to the priority-16 periodic task.
To control outputs from tasks to which I/O refreshing is not assigned, create the user program
to request processing from the task to which I/O refreshing is assigned. If you control outputs
directly from a task to which I/O refreshing is not assigned, an error will occur when you check
the program on the Sysmac Studio.
To use inputs in control processing in tasks to which I/O refreshing is not assigned, create the
user program to receive the input data from the task to which I/O refreshing is assigned. If you
use inputs in control processing in a task to which I/O refreshing is not assigned, a warning will
occur when you check the program on the Sysmac Studio.

Sysmac Studio Setting Procedure

Set the tasks in which to perform I/O refreshing for the slaves and Units in the I/O Control Task Settings
under Configurations and Setup Task Settings of the Sysmac Studio.
Refer to I/O Control Task Settings on page 4-8 for details.

Accessing I/O from the User Program

You use device variables to access I/O ports from the user program. Access the device variables
from a program in the task that is set as the I/O control task.

5-2-11 Assigning Tasks to Programs

You assign the programs to execute to tasks. (You can assign up to 128 programs to one task.) Also,
you set the operation of the programs at the start of operation.

Order of Program Execution

The order of execution of the programs in a task is set with the Sysmac Studio.

Initial Status for Programs at the Start of Operation

Set the operation of the programs at the start of operation. The Initial Status at the start of operation
is used to set whether to execute the program when the task to which the program is assigned is
executed for the first time after the operating mode of the CPU Unit is changed from PROGRAM
mode to RUN mode. You have a setting option between Run or Stop.
If the Initial Status is Stop, when enabling the execution of the specified program with the PrgStart
instruction, it is executed from the next time the timing for executing the program occurs. If the Initial
Status is Run, when disabling the execution of the specified program with the PrgStop instruction, it
is disabled from the next time the timing for executing the program occurs.

Sysmac Studio Setting Procedure

Assign programs to tasks, set the order of program execution within the task, and set the Initial Status for each program in the Program Assignment Settings under Configurations and Setup Task
Settings of the Sysmac Studio.
Refer to Program Assignment Settings on page 4-8 for details.

5-32

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Version Information
The CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are
required to use the Initial Status setting for programs at the start of operation, the PrgStart
instruction and the PrgStop instruction.

POUs That You Can Assign to Tasks

From 0 to 128 programs can be assigned to one task.
You can assign only program POUs. You cannot assign function block instances or functions directly
to tasks. You cannot assign the same program to more than one task.

5-2-12 Parameters for Primary Periodic Task and Periodic Tasks

Parameters for Primary Periodic Tasks

Parameter
Task Type
Execution priority

Period/
Execution Conditions

Task period*1

Task Period Exceeded Detection

Default

Specify the primary periodic task.

---

Always 4.

---

Text string

PrimaryTask

500 s*2, 1 ms, 2 ms, or 4 ms

1 ms

Specify whether to detect an error if

the task execution time exceeds the
specified task period.

Detect.

Update
timing
When
transferred to
CPU Unit

Changes
in RUN
mode
Not
allowed.

Detect (a minor fault level Controller

error is generated).
Do not detect (an observation is
recorded in event log).
Refer to Task Period Exceeded Error
on page 5-45 for details.
Task Timeout Detection Time

Set the time to detect timeouts if task

execution does not end, e.g., if there is
an infinite loop. Set a multiple of the
task period.
1 to 5
Refer to Task Execution Timeout Error
on page 5-46 for details.

Variable Access Time [%]

Set the percentage of the task period

to assign to variable access.
1% to 50%
Refer to Settings for Variable Access
Time on page 5-40 for details.

3%

*1 The process data communications cycle in the EtherCAT settings will be the same as this period.
*2 With the NJ301-, you can use this setting with unit version 1.03 or later.

NJ-series CPU Unit Software Users Manual (W501)

5
5-2-12 Parameters for Primary Periodic Task and Periodic Tasks

Task Name

Setting range

5-2 Task System

The parameters for primary periodic task and periodic tasks are given below.

5-33

5 Designing Tasks

Parameters for Periodic Tasks

Parameter

Setting range

Task Type

Default

You can set any of the following.

---

Priority-16 periodic task

Priority-17 periodic task

Update
timing
When
transferred to
CPU Unit

Changes
in RUN
mode
Not
allowed.

Priority-18 periodic task

Execution priority
Task Name
Period/
Execution
Conditions

Task period

Task Period Exceeded Detection

Automatically set to 16, 17, or 18.

---

Text string

PeriodicT
ask0

Refer to 5-2-2 Specifications of Tasks

10 ms

The same as for the primary periodic

task.

The same
as for the
primary
periodic
task.

Task Timeout Detection Time

Variable Access Time [%]

Event Task Parameters

Parameter
Task Type

Setting range

Default

You can set any of the following.

---

Priority-8 event task

Priority-48 event task
Task Name

Text string

EventTask0

Execution Condition

Select either Execution by instructions or

When a variable expression is satisfied.

Execution
with an
instruction

Task Execution Timeout

Time

Set the time to detect a timeout if task execution does not end, e.g., if there is an infinite loop. The setting unit is milliseconds.

Execution priority of 8:
200 ms
Execution priority of 48:
1s

Execution priority of 8: 1 to 500 ms

Execution priority of 48: 1 ms to 10 s

Update
timing

Changes
in RUN
mode

When trans- Not

ferred to
allowed.
CPU Unit

Sysmac Studio Setting Procedure

Add and set the tasks in the Task Settings under Configurations and Setup on the Sysmac Studio.
Refer to Task Settings on page 4-6 for details.

5-34

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-2-13 Ensuring Concurrency of Variable Values between Tasks

If more than one task reads or writes the same global variable, you can use either of the following
two methods to ensure the concurrency of the value of the global variable between the tasks.
Method 1: Write the global variable from only one task and read the variable from the other tasks.
Use the settings for exclusive control of variables in tasks.
Method 2: With this method, you can write the global variable from more than one task. Use the task
exclusive control instructions.

Method 1: Settings for Exclusive Control of Variables in Tasks

Introduction

A single task is set to read and write the value of a specified global variable. That task is called the
refreshing task. Tasks that only read the value of the global variable are also specified. These tasks
are called accessing tasks. This ensures the concurrency of the value of the global variable.

Read only

5-2 Task System

You can specify the task that refreshes a global variable and the tasks that access the global variable. This ensures the concurrency of the value of the global variable from the point of view of the
tasks that access the variable.

Accessing
task: Task B

Read/write

task: Task A

Global variable
Refreshing task is specified.
Refreshing task: Task A
Read only

Accessing
task: Task C

Application Example
The refreshing task specification is used to ensure the concurrency of the value of a global variable
within a periodic task when the variable is written in the primary periodic task.
Refreshing task

Accessing task

Program

Program
Read/write

External variable GVar1

Read only
Global variable GVar1

External variable GVar1

The most recent value of the

variable at the end of refreshing
task execution is read at the start
of accessing task execution.

NJ-series CPU Unit Software Users Manual (W501)

5-35

5-2-13 Ensuring Concurrency of Variable Values between Tasks

Refreshing

5 Designing Tasks

System
If a refreshing task is set for a global variable, the accessing task, at the start of accessing task execution, always reads the most recent value of the variable that was written at the completion of
refreshing task execution.
Task period of task A

Task period of task A

Task period of task A

Refreshing
task: Task A

Refreshing
task: Task A

Write
Global variable

Refreshing
task: Task A

Write

Write

Value of
Global variable
variable is read.

Value of variable Global variable

is not read.

Accessing task:
Task B

Accessing task:
Task B

Value of variable
is not read.
Accessing task:
Task B

Task period of task B

This will allow you to maintain the concurrency of the values of global variables within the tasks without performing any special programming.
If an instruction that writes the value to a global variable is used in the accessing task, an error will
occur when you check the program on the Sysmac Studio.
Precautions for Correct Use
If you are using the ActEventTask instruction between two tasks, you must keep in mind when
the global variables are accessed, and when they are refreshed. For example, in the following
diagram, the value of the GVarA global variable that is accessed from the event task is the value
that was current at the end of task period 1. Therefore, even if the periodic task in task period 2
writes the value of GVarA, that value will not be reflected in the event task. The value that the
event task writes to the GVarB global variable is not passed to the periodic task until the start of
task period 3. Even if the periodic task in task period 2 accesses the value of GVarB, the value
that the event task writes will not be accessed.
Execution
priority

Event task
(refreshing task)

High

A value of 654
is written.

A value of 123
is read.
The value of GVarA is passed
to the event task at this point.
Task period 1

GVarA GVarB
123
654

The value of GVarB is passed to

the periodic task at this point.

Task period 2

Task period 3

Execution of
ActEventTask

A value of
123 is
written.

Periodic task
(accessing task)

Periodic task
(accessing task)
A value of 987
is written.

Low
GVarA
123

GVarB
987

A value of 567
is written.
GVarA
567

The value that is written

here is not reflected in
the event task.

5-36

Periodic task
(accessing task)

A value of
987 is read.
GVarB
987

A value of 654 is read.

GVarB
654

The value that the event task

writes cannot be accessed.

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Because of this, do not use exclusive control of variables in tasks to pass the values of global
variable if you are using the ActEventTask instruction to execute event tasks. To ensure the
concurrency of global variables when using the ActEventTask instruction, you should use the
Task_IsActive (Determine Task Status) instruction. The Task_IsActive instruction determines
whether the specified task is in execution or waiting to be executed. Use this instruction to prevent other tasks from accessing variables that the event task writes to while it is in execution.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502) for details on the
Task_IsActive instruction.

Restrictions
Only one refreshing task can be set for each global variable. If it is necessary to write a global
variable from more than one task, use the task exclusive control instructions described below to
ensure concurrency.

If you specify a refreshing task for an array variable, you must specify only one refreshing task for
the entire array variable. You cannot specify a different refreshing task for different array elements.
Precautions for Correct Use

Additional Information
You can use a data trace to sample an external variable for a global variable for which settings for
exclusive control of variables in tasks are used. This allows you to sample the values of the
global variable in the refreshing and accessing tasks in a data trace. Refer to 8-5-4 Data Tracing
for information on data tracing.

Sysmac Studio Setting Procedure

Set the global variables for which to specify refreshing tasks, and set the accessing tasks in the Settings for Exclusive Control of Variables in Tasks on the Task Settings Tab Page on the Sysmac Studio.
For details, refer to Settings for Exclusive Control of Variables in Tasks on page 4-9.

NJ-series CPU Unit Software Users Manual (W501)

5-37

5
5-2-13 Ensuring Concurrency of Variable Values between Tasks

Do not write the value of a variable for which concurrency is required from any task that is not the
refreshing task, e.g., do not write the value from the accessing task. If you read or write the value
of a variable for which a refreshing task is set from any task that is not a refreshing or accessing
task, the concurrency of the global variable may be lost. If you write such a program, a warning is
given when the program is checked.

5-2 Task System

If you specify a refreshing task for a structure or union variable, you must specify only one refreshing task for the entire structure or union variable. You cannot specify a different refreshing task for
different structure or union members.

5 Designing Tasks

Method 2: Task Exclusive Control Instructions

Use the task exclusive control instructions (i.e., the Lock and Unlock instructions) when it is necessary to write the value of a global variable from more than one task while maintaining concurrency in
the value of the variable. The task exclusive control instructions create a lock region from one Lock
instruction to the next Unlock instruction. If a lock region in one task is being executed, the lock
regions with the same lock number in other tasks are not executed. If you place the instructions that
write to the global variable in lock regions, the concurrency of the value is maintained even if you
write the value of the variable from more than one task.
Refer to information on the Lock and Unlock instructions in the NJ-series Instructions Reference
Manual (Cat. No. W502) for details.
Example:
In this example, task A and task B both have lock region 1. The priority of task B is higher than the
priority of task A. If the execution condition for task B is met during execution of lock region 1 in task
A, execution of task A is paused during lock region 1 and task B is executed. However, in this case,
lock region 1 in task A is not completed, so task B is paused before it processes lock region 1. When
task B is paused, execution of lock region 1 in task A is started again.
Task A
Program
Executed.
Lock instruction

Global variable
Higher priority

Refreshed.

Task B

Lock region 1

Executed.

Executed.
Unlock instruction

Program
Lock instruction

Execution is not
started until
execution of region
1 in task A is
completed.

Lock region 1

Unlock instruction

When execution of lock region 1 in task A is completed, task A is paused again and the remainder of
lock region 1 in task B is executed. The concurrency of the value of the global variable is maintained
by implementing exclusive control of the write processing of the global variable between the tasks.
Task A
Program
Lock instruction

Task B

Lock region 1

Program
Lock instruction

Unlock instruction

Executed.

Lock region 1
Refreshed.

Global variable
Unlock instruction

Precautions for Correct Use

Do not make the locked regions any longer than necessary. If the lock regions are too long, the
task execution period may be exceeded.
Always use the Lock and Unlock instructions in a pair in the same section of the same POU.

5-38

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-2-14 Variable Access from Outside the Controller

A variable access from outside the Controller is executed during the system service. The system
service is executed in an unused time between tasks. This means, if multiple variables are accessed
from outside the Controller, refreshing all variable values may not be completed in a task period. If
refreshed variables and not-refreshed variables are mixed in the user program, the Controller may
perform unintended operation.
To avoid this, make the variable access from outside the Controller be executed during the system
common processing 2 of the task. By making this, multiple variable values can be securely
refreshed in the same task period.
 Accessing variables from outside the Controller during the system service
Primary period

Primary period

System
services

IO

UPG

MC

System common
processing 1
System common
processing 2

IO

UPG

MC

Pausing

SS

Variable access 1 from

outside the Controller

5-2 Task System

Primary
periodic task

SS

Variable access 2 from

outside the Controller

The access to multiple variables may not be

completed in the same task period.

Primary period
Primary
periodic task

System
services

IO

UPG

Primary period

MC

System common
processing 1
System common
processing 2

IO

SS

Variable access 1 from

outside the Controller

UPG

MC

Pausing

SS

Variable access 2 from

outside the Controller

The access to multiple variables is securely executed in the

same task period.

This section particularly describes how to execute the variable access from outside the Controller during the system common processing 2 of the task.

Methods to Access Variables From Outside the Controller

There are the following four methods to access variables from outside the Controller.
Sysmac Studio
NS-series PT
EtherNet/IP tag data links
CIP communications instruction from the host computer
If the Sysmac Studio is used to access variables, it can only refresh the variable values during the system common processing 2 of the task. Values are accessed during the system services.

NJ-series CPU Unit Software Users Manual (W501)

5-39

5-2-14 Variable Access from Outside the Controller

 Accessing variables from outside the Controller during the system common processing 2

5 Designing Tasks

Tasks that Execute Variable Access during the System Common

Processing 2
The tasks that execute variable access from outside the Controller during the system common processing 2 are predetermined as follows according to the variable types.
Variable

Tasks that refresh values

Global variables specified in the settings for

exclusive control of variables in tasks

The refreshing task specified in Settings for Exclusive

Control of Variable in Tasks under Configurations and
Setup Task Settings on the Sysmac Studio.

Device variables for EtherCAT slaves

Device variables for CJ-series Basic I/O Units

Tasks specified in I/O Control Task Settings in Task Settings

under Configurations and Setup on the Sysmac Studio.

Device variables for CJ-series Special Units

Primary periodic task

Variables with AT specifications in memory used

for CJ-series Units

Settings for Executing Variable Access during the System Common

Processing 2
To access variables from outside the Controller during the system common processing 2, it is necessary to make the following two settings on the Sysmac Studio.
Settings for exclusive control of variables in tasks (when the target variables are the global variables)
Settings for Variable Access Time

Settings for Exclusive Control of Variables in Tasks

If global variables are accessed from outside the Controller during the system common processing 2 of
the task, it is necessary to make setting for exclusive control of variables in tasks. The Exclusive Control
of Variables in Tasks refers to the function that specifies the task that can refresh the target global variable. This function prevents the target variable from being updated by other tasks or by other methods
to access variables from outside the Controller.
For the details on the exclusive control of variables in tasks, refer to Settings for Exclusive Control of
Variables in Tasks on page 4-9.
Precautions for Correct Use
When you use EtherNet/IP tag data links, always specify the same task as the refreshing task for
all tags (variables that have Network Publish attribute) in the same tag set. Otherwise, multiple
tags in a tag set may be refreshed in separate task periods.

Settings for Variable Access Time

When variable access from outside the Controller is executed during the system common processing 2
of the task, the task execution time may be longer. The user must set the upper limit of the processing
time for accessing variables on the Sysmac Studio. The Variable Access Time refers to the upper limit
of the processing time for accessing variables.

Calculating Variable Access Time

Use the following equation for calculating the variable access time.
Variable access time [s] = total size of variables [bytes] * a + number of variables * b + number of
accesses * c + d

5-40

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

The values of the constants a to d in above equation vary depending on the type of the CPU Unit.
Constant value [s]

CPU Unit model

NJ501-

0.001

0.58

1.41

6.68

NJ301-

0.0009

1.03

2.15

7.52

Setting Variable Access Time

Set the variable access time in the Task Settings Tab Page displayed by selecting Configurations
and Setup Task Settings on the Sysmac Studio. The setting must be made for each task by
entering the ratio to the task period. The default value is 3%. For the details on the settings, refer to
the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

Example of Variable Access Time Setting

In this example, it is assumed that there are the following three variable accesses from outside the
Controller to the task that operates in the NJ501- CPU Units.

Access No.

Source of variable access

Total size of variables to access

[bytes]

Number of variables to access

Number of
accesses

EtherNet/IP tag data link

600

EtherNet/IP tag data link

200

CIP communications instruction

1,000

Using the equation, the variable access time for Access No.1 is calculated as follows.
Variable access time for Access No.1 = 600 * 0.001 + 8 * 0.58 + 1 * 1.41 + 6.68
= 13.33 [s]
In the same way, you can calculate the access time for the other accesses and get the following values.
Access No.

Variable Access Time [s]

13.33

10.61

9.67

If only one of these accesses occurs in one task period, you set the Variable Access Time to the one
for Access No.1, which requires the longest access time.
The variable access time for Access No.1 is 13.33 s. Therefore, when the task period is 500 s, the
Variable Access Time is set to 13.33/500 3%.
If every access occurs once in one task period, the Variable Access Time is calculated with the
equation as follows.
Variable access time

= (600 + 200 + 1000) * 0.001 + (8 + 4 + 1) * 0.58 + (1 + 1 + 1) * 1.41 + 6.68

= 20.25 [s]

When the task period is 500 s, the Variable Access Time is set to 20.25/500 5%.

NJ-series CPU Unit Software Users Manual (W501)

5-41

5
5-2-14 Variable Access from Outside the Controller

5-2 Task System

The following is an example of variable access time setting.

5 Designing Tasks

Processing in the case that actual variable access time became longer than
set value
If actual variable access time became longer than the set value, the following processing is performed depending on the number of variable accesses in one task period.
Set a sufficiently long access time so that multiple variable accesses can be completed within a task
period.
Number of variable accesses in
one task period
Multiple times

Processing
Variable accesses are executed for the number of times that can be completed within
the set variable access time. The rest of accesses that could not be done will be executed in the next task period.
This means, the multiple variable accesses cannot be completed within the same task
period.

Once

Variable accesses continue even after the set variable access time is exceeded. This
means, the task execution time gets longer.

5-2-15 Instructions Related to Tasks

The following instructions are supported to read the status of the current task, to determine if execution
is in progress for other tasks, and to perform exclusive control for regional concurrency between tasks.
Instruction
GetMyTaskStatus

5-42

Instruction name

Introduction

Read Current Task

Status

Reads the following status of the current task.

Task_IsActive

Determine Task
Status

Determines if the specified task is currently in execution.

Lock

Lock Tasks

Starts a lock between tasks.

Unlock

Unlock Tasks

Stops a lock between tasks.

ActEventTask

Activate Event
Task

Activates the specified event task.

Last Task Execution Time, Maximum Task Execution Time, Minimum

Task Execution Time, Task Execution Count, Task Period Exceeded
Flag, and Task Period Exceeded Count

Execution of any other task with a

lock region with the same lock
number is disabled.

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-2-16 System-defined Variables Related to Tasks

The following system-defined variables are provided for each task to show task status.
Do not use these variables in the user program. There may be a delay in updating them and concurrency problems in relation to the error status of the Function Module. It is used only to sample the task
status for data tracing from the Sysmac Studio.
You can also use the GetMyTaskStatus and Task_IsActive instructions to read task status from the user
program. You cannot access the following variables directly through system-defined variables.
Variable name
_TaskName_Active

Meaning
Task Active Flag

Description
TRUE during task execution.

Data
type

R/W

BOOL

FALSE from the completion of task execution until the end of the task period.
Last Task Execution Time

Gives the last execution time of the task.

TIME

_TaskName_MaxExecTime

Maximum Task
Execution Time

Gives the maximum value of the task execution time.

TIME

_TaskName_MinExecTime

Minimum Task
Execution Time

Gives the minimum value of the task execution time.

TIME

_TaskName_ExecCount

Task Execution
Count

Contains the number of executions of the

task.

UDINT

BOOL

UDINT

5-2 Task System

_TaskName_LastExecTime

_TaskName_Exceeded

Task Period
Exceeded Flag

TRUE when task execution is completed if

the task period is exceeded.

5-2-16 System-defined Variables Related to Tasks

If the present value exceeds the maximum

value of the data type, the present value
returns to 0 and the count is continued.

FALSE if task execution was completed

within the task period.
_TaskName_ExceedCount

Task Period
Exceeded Count

Contains the number of times that the task

period was exceeded.
If the present value exceeds the maximum
value of the data type, the present value
returns to 0 and the count is continued.

Note Example: The Task Period Exceeded Flag for the task named MainTask is _MainTask_Exceeded.

NJ-series CPU Unit Software Users Manual (W501)

5-43

5 Designing Tasks

Flag Operation
Task Active Flag (_TaskName_Active)
Task period
Primary
periodic task:
Task A

IO UPG MC

IO UPG MC

IO UPG MC

_TaskA_Active

Event task
(execution priority
of 8): Task B

UPG

_TaskB_Active
Task execution
condition is met.*

Task period
Priority-16
periodic task:
Task C

IO

IO

UPG

UPG

_TaskC_Active

* When the ActEventTask instruction is used

to execute an event task, the Task Active
Flag changes to TRUE.

Task Period Exceeded Flag (_TaskName_Exceeded)

Task period
Primary
periodic task:
Task A

IO

IO
UPG

IO
M
C

UPG

M
C

IO

UPG

M
C

Period exceeded.
_TaskA Exceeded

5-44

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-2-17 Errors Related to Tasks

This section describes the following errors.
Task Period Exceeded Error
Motion Control Period Exceeded Error
Task Execution Timeout Error
I/O Refreshing Timeout Error
Insufficient System Service Time Error

Task Period Exceeded Error

A Task Period Exceeded Error occurs if the task execution time exceeds the specified task period.
This is a minor fault level Controller error. Operation continues even when this error occurs.
You can also disable the Task Period Exceeded Errors with a setting. Use the Task Period Exceeded
Detection setting in the Task Settings of the Sysmac Studio. The default setting is to detect the error.
Task period

Primary
periodic task

IO

UPG

Task period

Task period

MC

IO

Task period

IO

IO

UPG

MC

MC

UPG

Error level
Minor fault

Correction
Review the task settings and programs and download the
project again.
Reset the error from the Sysmac Studio.

Even if detection of Task Period Exceeded Errors is disabled, information will be output to the following
system-defined variables if task processing is not completed within the period: Task Period Exceeded
Flag (_TaskName_Exceeded), Task Period Exceeded Count (_TaskName_ExceedCount), Controller
Error Status (_ErrSta), and the event log.
I/O is refreshed as follows according to what the I/O is for if task processing is not completed within the
task period.
I/O is for
EtherCAT slave*1

I/O refresh operation if task processing is not completed within the task
period
Outputs: The values from the previous period are output.

Inputs: Inputs are refreshed, but the input data is not updated in the executed user
program.
CJ-series Unit
I/O is not refreshed until execution of the task is completed.
*1 This includes NX Units on EtherCAT Slave Terminals.

Precautions for Correct Use

If the Task Period Exceeded Error occurs, shorten the programs to fit in the task period or
increase the setting of the task period.

NJ-series CPU Unit Software Users Manual (W501)

5-45

5-2-17 Errors Related to Tasks

Task Period Exceeded

Error occurred.

Error name
Task Period Exceeded
Error

5-2 Task System

It can occur for the primary periodic task and periodic tasks.

5 Designing Tasks

Motion Control Period Exceeded Error

A Motion Control Period Exceeded Error occurs if the motion control processing (MC) is not completed
within the primary period (i.e., the motion control period) twice or more in a row. A partial fault level Controller error will occur in the Motion Control Function Module. A Task Period Exceeded Error will occur at
the same time.
Error name

Error level

Motion Control
Period Exceeded
Error

Correction

Partial fault

Reduce the amount of processing in the programs or increase the

control period within the range that does not adversely affect operation.

Task Execution Timeout Error

A Task Execution Timeout Error occurs if task processing is not completed within the specified Task
Execution Timeout Time.
This is a major fault level Controller error. Execution of the user program stops when the error occurs.
This error also occurs when normal task operation is not possible due to errors in program logic, such
as infinite loops.
Timeout Detection Time
Primary period

Primary
periodic task

Primary period

IO

Primary period

Primary period

IO
UPG

Task Execution Timeout Error occurred.

Infinite loop

Error name

Error level

Task Execution
Timeout Error

Major fault

Correction
Review the task settings and download the user program again.
The power supply must be cycled or the CPU Unit reset.

I/O Refreshing Timeout Error

An I/O Refreshing Timeout Error occurs when I/O refreshing for the primary periodic task or a priority-16 periodic task is not completed within the period twice or more in a row.
This is a major fault level Controller error. Execution of the user program stops when the error
occurs.
Primary period

Primary
periodic task

IO

Primary period

UPG

M
C

Primary period

IO

Primary period

UPG

M
C

I/O Refreshing Timeout Error occurred.

Error name
I/O Refreshing
Timeout Error

5-46

Error level
Major fault

Correction
Review the task settings and download the project again.
The power supply must be cycled or the CPU Unit reset.

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Insufficient System Service Time Error

An Insufficient System Service Time Error occurs if the system service execution time that is specified in the System Service Monitoring Settings cannot be obtained.
This is a major fault level Controller error. Execution of the user program stops when the error
occurs.
Error name
Insufficient System Service Time
Error

Error level
Major fault

Correction
Review the task settings and the system service monitoring settings and download the project again.
The power supply must be cycled or the CPU Unit reset.

5-2-18 Monitoring Task Execution Status and Task Execution Times

Monitoring Task Execution Status

You can monitor the execution status of the programs in all of the tasks (started/stopped) from the
Sysmac Studio.

5-2 Task System

You can use online operations from the Sysmac Studio to monitor the task execution status and task
execution times.

Sysmac Studio Operation

NJ-series CPU Unit Software Users Manual (W501)

5-47

5-2-18 Monitoring Task Execution Status and Task Execution Times

Place the Sysmac Studio online with the CPU Unit and select Configurations and Setup Task
Settings. Click the Task Execution Status Monitor Button to display the following window.

5 Designing Tasks

Task Execution Time Monitor

You can monitor the execution time of each task from the Sysmac Studio.

Values You Can Monitor from the Sysmac Studio

The display depends on whether you connect to the physical Controller or to the Simulator.

Connected to the Controller

Connected to the Simulator

Built-in EtherNet/IP Dialog Box for Simulator Connection

5-48

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

The parameters are listed in the following table.

Port or Unit that is
used
CPU Unit Built-in EtherNet/IP Port

Parameter

Description

Set values

Number of connections
Minimum RPI

This is the number of tag data

link connections.
This is the lowest packet interval
(RPI) that is set for all of the tag
data link connections.
This is the number of tags in the
tag data links.

Default

0 to 32

1 ms to 10 s in
1-ms increments
0 to 256

---

Number of tags
CJ-series EtherNet/IP
*1
Unit (CJ1W-EIP21)
*1 Entries are made on the Expanded number of I/O points for CJ-series Unit Dialog Box.

You can monitor the following items.

Monitor item

The minimum value of the task execution time.

The maximum value of the task execution time.
The maximum value of the task execution time.
The specified task period.

Connected Connected
to the Con- to the Simtroller
ulator
Displayed.
Not displayed.
Displayed.

Period exceeded

*2This interval is the time required to execute only the task itself. It is the same as the task execution time for
the primary periodic task. For periodic tasks, this is the task execution time minus the time to execute
other tasks and the time for system services that were executed between the point that the execution condition is met until execution is completed.
Task period (fixed)
Task execution time (varies)
Real processing time of task (varies)

NJ-series CPU Unit Software Users Manual (W501)

User program
execution

System common
processing 2

System common
processing 1

Refreshing

Control processing

Input data
processing

Output data
processing

I/O refreshing

Real processing time of task (varies)

5-49

5
5-2-18 Monitoring Task Execution Status and Task Execution Times

If the task execution time exceeds the task

period (i.e., if the Task Period Exceeded Flag
system-defined variable is TRUE), the amount
by which the time was exceeded is displayed in
the bar.
Task execution count
Displays the number of executions of the task.
The value of the Task Execution Count systemdefined variable is displayed.
The time ratios are displayed with bars for the
None
Displayed.
Real processing time of
system common processing, I/O refreshing,
tasks*2
user program execution, and motion control processing. (Specific time values are not displayed.)
Average estiThe estimated average value of the real promation
cessing time of task is displayed.
Max estimation The estimated maximum value of the real processing time of task is displayed.
*1This is the actual time required from the point that task execution was started until it was completed. This
interval includes both the time to execute other tasks and the time for system services that were executed
from when task execution was started until it was completed.

5-2 Task System

Task execu- Min.

tion time*1
Average
Max.
Set period

Description

5 Designing Tasks

Precautions for Correct Use

The above values when connected to the Simulator of the Sysmac Studio may contain more
error in comparison to the times when connected to the physical Controller. Use them as guidelines. Always confirm operation while connected to the physical Controller to study the designs
and before starting actual system operation.

Meaning of the Task Execution Time and the Real Processing Time
of the Task
The Task Execution Time and Real Processing Time of Tasks that are displayed in the Monitor View for
the execution time of tasks are described in the following table. The Real Processing Time of Tasks
shows only the time the Simulator was connected.
Displayed time

Meaning

Task execution
time

This is the time from when the task period starts until task processing ends. However,
this includes the time when the periodic task is interrupted for execution of tasks with
higher execution priorities.

Real processing
time of task

This is the time from when the task period starts until task processing ends. However,
this does not include the time when the periodic task is interrupted for execution of
tasks with higher execution priorities.

Execution
priority
High

Task period of primary periodic task

Primary
periodic task
a
Task period of periodic task
Periodic task

c
Low

Interrupted.

Interrupted.

Interrupted.

Interrupted.

d
b

a: Task execution time of primary periodic task

b: Task execution time of periodic task
c+d: Real processing time of periodic tasks (only when the Simulator is connected).

5-50

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-3

Task Design Methods and I/O

Response Times
The primary periodic task and periodic tasks of an NJ-series Controller operate according to the specified task periods. If the actual execution time exceeds the task period, an error occurs.
This section uses an example that consists of one primary periodic task to describe estimation and
appraisal methods.
Precautions for Safe Use
The task execution times in the physical Controller depends on the logic operations that are performed in the user program, the presence of communications commands and data links, on
whether data tracing is performed, and on other factors. Before starting actual operation, you
must test performance under all foreseeable conditions on the actual system and make sure that
the task periods are not exceeded and that suitable communications performance is achieved.

5-3-1

Checking the Task Execution Time

Desktop Calculations
First, refer to A-2 Calculating Guidelines for the Real Processing Times of Tasks to make a rough
estimate of the average task execution time on paper. You cannot estimate the maximum value on
paper.

Estimating with the Simulator on the Sysmac Studio

Use the Task Execution Time Monitor of the Simulator on the Sysmac Studio to estimate the average and maximum task execution times. Use the following procedure to check operation on the Simulator.

2
3
4
5

Create the Unit and slave configurations, create the global variables and device variables, and
create the axes (to create the Axis Variables).
Create the programs to check.
Set up the tasks and build the project.
Start the Simulator in Execution Time Estimation Mode.
Set the Expanded number of I/O points in the CJ-series Unit parameters in the Task Execution
Time Monitor to create user-defined variables for specified CJ-series Special Units. Also set the
sizes of the expansion areas (e.g., fixed I/O allocation areas for the DeviceNet Unit) for AT specifications (i.e., the number of output words and the number of input words). These sizes are
used to calculate the I/O refresh time for the specific Special Units.
Estimate the task execution times in the Task Execution Time Monitor.

NJ-series CPU Unit Software Users Manual (W501)

5-51

5-3-1 Checking the Task Execution Time

Always design your system so that the average and maximum task execution times that are estimated with the methods that are described in this section sufficiently fit within the specified task periods.

5-3 Task Design Methods and I/O Response Times

This section provides information on estimating task execution times, information on confirming system
service monitoring settings, an example of task designing, and information on I/O response times.

5 Designing Tasks

You can check the following values in the Task Execution Time Monitor when you start the Simulator
in Execution Time Estimation Mode.
The average and maximum values of the task execution time
The average and maximum values of the real processing times of the tasks
Bar graph that shows the system common processing time, I/O refreshing time, user program execution time, and motion control time
CPU usage
Additional Information
You can check the following values when connected to the Simulator of the Sysmac Studio. You
cannot check these values when connected to the physical Controller.
CPU usage: Displays how much of the task period is used by the total of the maximum estimated task processing time, the tag data link service execution time ratio, and the system service processing time (as specified in the system service monitoring settings). If CPU usage
exceeds 100%, it means that there is not sufficient time for task processing and the system
service monitoring settings.
Real processing time of tasks: This is the time that was required for the task from when task
execution is started until it is completed. The time to execute other tasks that were executed
from when task execution was started until it was completed is not included.

Calculating Times on the Physical Controller

You can check the following values in the Task Execution Time Monitor when you are connected to
the physical Controller.
The minimum, average, and maximum values of the task execution time
Set period
Number of times a task is executed (Task Execution Count)
Number of times the task period was exceeded (Task Period Exceeded Count)
The maximum values that are displayed on the Sysmac Studio are the results of operation on the
physical Controller. As described previously, the maximum value of the task execution time varies
depending on the internal status of the physical Controller. As a result, the maximum values
obtained here may be exceeded in actual operation. Use the following maximum values as guidelines.
Task period of 500 s: Average value of task execution time + (Average value of task execution
time Minimum value of task execution time) + 100 s
Task period of 1, 2, or 4 ms: Average value of task execution time + (Average value of task execution time Minimum value of task execution time) + 120 s
Additional Information
The average values of the task execution times that are displayed for task execution time monitoring are the averages for 10 task execution times.

5-52

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

5-3-2

Checking the System Service Monitoring Settings

If the system service execution time exceeds the conditions that are set in the System Service Monitoring Settings, an Insufficient System Service Time Error occurs and user program execution stops. It is
therefore necessary to design the tasks so that sufficient time can be allocated to execution of the system services.
For example, in a configuration that consists of only the primary periodic task, the system service execution time is the task period minus the task execution time. Therefore, if the default System Service
Monitoring Settings were used, you would design the task so that the average task execution time was
less than 90% of the task period.
However, some system servicing is executed in parallel with task execution. Also, the task execution
time varies greatly with the external environment. Therefore, you cannot judge system performance
based on this one condition. Use it as a guideline.

5-3-3

Examples of Task Design

This section provides the design procedure for a project that consists of only the primary periodic
task. In any actual application or for specific conditions, you need to consider any elements for which
the design procedure must be changed. This example is therefore for reference only.
Find the I/O response times that are required for the system from the equipment specifications.
From the system I/O response times, determine the task period for the primary periodic task.
See if the task execution time fits into the task period that you determined.
Then, work on paper or use the Task Execution Time Monitor of the Sysmac Studio to estimate
the average and maximum values of the task execution time.

See if the system service times are within the monitor settings.
If you use the Sysmac Studio, check the CPU usage.

Use the physical Controller to see if the task execution time fits into the task period.
Place the Sysmac Studio online with the physical Controller and use Task Execution Time Monitor to check the task execution times.

If it is necessary to alter the user program, consider the following corrections

for the task configuration.
Separating a task
Changing program assignments
Changing the task period

If a task is separated, the periodic task will vary greatly with the unused time
for primary periodic task execution.
For a periodic task, use twice the average and maximum values calculated for the task execution
time to set the task period and then fine-tune the setting from there.

NJ-series CPU Unit Software Users Manual (W501)

5-53

5
5-3-2 Checking the System Service Monitoring Settings

1
2
3

5-3 Task Design Methods and I/O Response Times

Design the tasks so that sufficient time can be allocated to execution of the system services. To monitor
whether the required system service execution time is available, you use System Service Monitoring
Settings. Refer to System Service Monitoring Settings on page 5-14 for details on the System Service
Monitoring Settings.

5 Designing Tasks

5-3-4

System Input and Output Response Times

The times that are required for the system to produce an output after it receives an input are described
in this section.
The I/O response times depend on various conditions.
The input response times and output response times between external devices and the slaves and
Units must be added to the system I/O response times.

Sequence Control with Basic I/O Units

I/O refreshing between Basic I/O Units and external devices is performed in the task to which I/O
refreshing is assigned. The I/O response times that include EtherCAT communications times are given
below.
The I/O response times that include EtherCAT communications times are given below.

Performing Control with the Programs in the Primary Periodic Task

The Controller makes a response in the following I/O response time.
Minimum I/O response time = Primary period

Example: Controlling Unit A and Unit B with the Primary Periodic Task
Unit A

Unit B

Primary period (t)

Primary
periodic task

IO UPG

M
C

IO UPG

M
C

IO UPG

M
C

Task period 1 (e.g., t 3)

Priority-16
periodic task

UPG

Note: The above diagram shows only one input and one output.

However, the I/O response time may be as follows depending on the timing of the input from the
Unit.
Maximum I/O response time = Primary task period 2

5-54

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Performing Control with the Programs in the Priority-16 Periodic Task

The Controller makes a response in the following I/O response time.
Minimum I/O response time = Priority-16 periodic task period

Unit B

Unit A
IN

OUT

Primary period
Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

IO UPG

IO UPG

Note: The above diagram shows only one input and one output.

However, the I/O response time may be as follows depending on the timing of the input from the
Unit.
Maximum I/O response time = Priority-16 periodic task period 2

Sequence Control with EtherCAT Slaves

The I/O response times that include EtherCAT communications times are given below.

Performing Control with the Programs in the Primary Periodic Task

The Controller makes a response in the following I/O response time.
Minimum I/O response time = Primary period (= process data communications cycle)

Example: Controlling EtherCAT Input Slave A and EtherCAT Output Slave B with the Primary Periodic Task
Slave B

Process data
communications period =
Primary period (t)

Primary
periodic task

IO UPG

M
C

IO UPG

M
C

IO UPG

M
C

Task period 1 (e.g., t 3)

Priority-16
periodic task

UPG

Note: The above diagram shows only one input and one output.

However, the I/O response time may be as follows depending on the timing of the input from the
slave.
Maximum I/O response time = Primary period (= process data communications cycle) 2

NJ-series CPU Unit Software Users Manual (W501)

5-55

5-3-4 System Input and Output Response Times

For EtherCAT slaves, EtherCAT communications with external devices is performed for I/O refreshing in
the primary periodic task.

Slave A

5-3 Task Design Methods and I/O Response Times

Example: Controlling Unit A and Unit B with the Priority-16 Periodic Task

5 Designing Tasks

Performing Control with the Programs in the Priority-16 Periodic Task

The Controller makes a response in the following I/O response time.
I/O response time = Priority-16 periodic task period

Example: Controlling EtherCAT Input Slave A and EtherCAT Output Slave B with the Priority-16 Periodic Task
Slave A

Slave B

IN

OUT

Process data
communications cycle
= Primary period (t)

Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period
Priority-16
periodic task

IO UPG

IO UPG

Note: The above diagram shows only one input and one output.

However, the I/O response time may be as follows depending on the timing of the input from the
slave.
Maximum I/O response time = Priority-16 periodic task period 2

Performing Motion Control with Motion Control Instructions

Motion control instructions access the Servo Drive and encoder input slaves to which axes are
assigned.
Motion control instructions can be used in the primary periodic task and in a priority-16 periodic
task.
In either case, the motion control instructions are processed in the motion control processing (MC)
section of the primary periodic task.
The I/O response times that include EtherCAT communications times are given below.

5-56

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Programming Motion Control Instructions in the Primary Periodic Task

I/O response time = Primary period (= process data communications cycle)

Slave A

Primary periodic
task

Servo A

IN

Execution command

Process data
communications cycle
= Primary period (t)

Primary period (t)

IO UPG MC

Processing is performed in the

motion control processing (MC)
section in the next primary period.

IO UPG MC

IO UPG MC

MC_

Motion control
instructions
executed.

Commands to Servo A are sent via

EtherCAT communications when I/O is
refreshed in the next primary period.

Task period 1 (e.g., t 3)

Priority-16
periodic task

5-3 Task Design Methods and I/O Response Times

The motion control instructions are processed in the next motion control processing (MC) section of
the primary periodic task. The results of processing are output via EtherCAT communications to the
Servo Drive to which the axis is assigned during the I/O refresh period in the next primary periodic
task.
The Controller makes a response in the following I/O response time.

UPG

5
Note: The above diagram shows only one input and one output.

Maximum I/O response time = Primary period (= process data communications cycle) 2

NJ-series CPU Unit Software Users Manual (W501)

5-57

5-3-4 System Input and Output Response Times

However, the I/O response time may be as follows depending on the timing of the input from the
slave.

5 Designing Tasks

Programming Motion Control Instructions in the Priority-16 Periodic Task

The motion control instructions are processed in the next motion control processing (MC) section of
the primary periodic task after the priority-16 periodic task. The results of processing are output via
EtherCAT communications to the Servo Drive to which the axis is assigned during the I/O refresh
period in the next primary periodic task.
The Controller responds in the following I/O response time regardless of the execution timing of the
motion control instructions.
Minimum I/O response time = Priority-16 periodic task period +
Primary period (= process data communications cycle)
Slave A

Servo A

IN
Execution command
Process data
communications cycle
= Primary period (t)
Primary
periodic task

IO

UPG MC

IO

UPG MC

IO

UPG MC

Processing is performed in
the motion control processing
(MC) section of the next
primary periodic task.

IO

Commands to Servo A are sent via

EtherCAT communications when I/O
is refreshed in the next primary period.
Task period (e.g., t 2)

Task period (e.g., t 2)

Priority-16
periodic task

UPG MC

UPG
MC_

UPG
MC_

Motion control instructions executed.

Motion control instructions executed.

Note: The above diagram shows only one input and one output.

However, the response time may be as follows depending on the timing of the input from the slave.
Maximum I/O response time = Priority-16 periodic task period +
Primary period (= process data communications cycle) 2

If more than one axis is controlled by the programs in the priority-16 periodic task, they can be
started at the same time. (This is the same as controlling more than one axis in the primary periodic
task.)

Axis A

5-58

Motion control
instructions

Axis B

Motion control
instructions

Axis C

Motion control
instructions

Start commands
are output at the
same time.

NJ-series CPU Unit Software Users Manual (W501)

5 Designing Tasks

Additional Information
Reference: Reading the Values of Axis Variables in the Priority-16 Periodic Task

Values are not written to axis variables when motion control instructions are executed in the
priority-16 periodic task. They are written in the motion control processing (MC) section of the
next primary periodic task.
Primary period (t)
Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

IO UPG MC

Task period 1 (e.g., t 3)

Priority-16
periodic task

Axis
variables
read.

UPG
FB

They are written in the motion control

processing section in the next primary
periodic task.

Motion control instructions

executed.
The most recent values of the axis variables
are read at the start of execution of the
programs in the priority-16 periodic task.

Values are not written to axis variables

when motion control instructions are
executed in the priority-16 periodic task.

The results of execution of motion control instruction in the previous priority-16 periodic task
are read as the value of the axis variable in the next priority-16 periodic task.

Primary
periodic task

IO UPG MC

IO UPG MC

IO UPG MC

IO

UPG MC

IO UPG MC

Standby

Task period 1 (t 3)
Priority-16
periodic task

Axis
variables
read.

UPG
FB

Motion control instructions executed.

Axis
variables
read.

UP
G

FB

Motion control
instructions executed.

The results of execution in the

previous priority-16 periodic task
are read as the values of the axis
variables.

NJ-series CPU Unit Software Users Manual (W501)

5
5-3-4 System Input and Output Response Times

Primary period (t)

5-3 Task Design Methods and I/O Response Times

If an axis variable is read in the priority-16 periodic task, the most recent values of the axis
variable when the program execution for the priority-16 periodic task started are read. These
values show the results of motion control processing in the immediately proceeding primary
periodic task.

5-59

5 Designing Tasks

5-60

NJ-series CPU Unit Software Users Manual (W501)

Programming
This section describes programming, including the programming languages, and the
variables and instructions that are used in programming.

6-1 Overview of Programming Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6-2 POUs (Program Organization Units) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-2-7
6-2-8

What Are POUs? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

Overview of the Three Types of POUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Differences between Programs, Functions, and Function Blocks . . . . . . . . . . 6-7
Details on Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Details on Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Details on Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
Operation That Applies to Both Functions and Function Blocks . . . . . . . . . . 6-22
POU Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6-3-1
6-3-2
6-3-3
6-3-4
6-3-5
6-3-6
6-3-7
6-3-8
6-3-9
6-3-10
6-3-11
6-3-12

Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Types of Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Types of User-defined Variables in Respect to POUs . . . . . . . . . . . . . . . . . .
Attributes of Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Derivative Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Array Specifications and Range Specifications for Data Types . . . . . . . . . . .
Variable Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Changes to Variables for Status Changes . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function Block Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring Variable Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Restrictions on Variable Names and Other Program-related Names . . . . . .

6-27
6-27
6-28
6-29
6-30
6-39
6-49
6-54
6-62
6-64
6-64
6-65

6-4 Constants (Literals) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-67

6-4-1
6-4-2

Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-67
Types of Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-67

6-5 Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-72

6-5-1
6-5-2
6-5-3

Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-72

Ladder Diagram Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-72
Structured Text Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-78

NJ-series CPU Unit Software Users Manual (W501)

6-1

6 Programming

6-6 Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-112

6-6-1
6-6-2
6-6-3

Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-112
Basic Understanding of Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-112
Instruction Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-115

6-7 Namespaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-120

6-7-1
6-7-2
6-7-3

Namespaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-120
Namespace Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-121
Procedure for Using Namespaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-124

6-8 Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-125

6-8-1
6-8-2
6-8-3
6-8-4

Introduction to Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-125

Specifications of Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-125
Library Object Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-126
Procedure to Use Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-127

6-9 Programming Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-129

6-9-1
6-9-2
6-9-3

6-2

Array Specifications for Input Variables, Output Variables, In-Out

Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-129
Structure Variables for Input Variables, Output Variables, In-Out
Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-129
Master Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-130

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-1

Overview of Programming
Procedures
This section provides an overview of programming procedures.
The shaded steps in the overall procedure that is shown below are related to programming.

Step 1. Software Design

6-1 Overview of Programming Procedures

Step 1-1 Designing I/O and Processing

Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming

Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Step 4. Wiring

Step 5. Checking Operation and Starting Operation on the

Actual System
Refer to 1-3 Overall Operating Procedure for the NJ-series Controller for details.

NJ-series CPU Unit Software Users Manual (W501)

6-3

6 Programming

POU (Program Organization Unit) Design

Determine which processes to put into which POUs and design

the POUs.

Reference
6-2 POUs (Program Organization Units)

Note Functions cannot contain function block instructions or function blocks.

Determine which languages, such as ladder diagrams, inline

ST, and ST, to use to create each process.

6-5 Programming Languages

Note Inline ST is structured text that is written as an element of a ladder diagram.

Variable Design

Reference

Design the user-defined variables that you need to create.

6-3-1 Variables
6-3-2 Types of
Variables

Separate variables into those that you use in more than one
POU (global variables) and variables that you use in only
specific POUs (local variables).
Determine if you need to automatically generate the variable
names for the device variables that you use to access slaves
and Units or if you need to define them yourself.
Design the attributes for the variables.
Variable Name, Data Type, AT Specification, Initial Value, Retain, Constant, and Network
Publish
Decide the data types of your variables (including array specifications, range specifications,
structures, and enumerations).

Keep the following precautions in mind when you design

variables.
Retention:
Set the Retain attributes to determine the values that are used for variables when the power
supply is turned ON or when the operating mode changes.
Structures:
When a structure is used for a variable in an instruction, design the program to use the same
structure data type for the input parameter, output parameter, or in-out parameter.
Example: Communications Instructions
Array Specifications:
When an array variable is used for the variable for an instruction, design the program to use
an array variable for the input parameter, output parameter, or in-out parameter.
Examples: Shift Instructions, Stack Instructions, and Table Instructions
AT Specifications:
Use AT specifications for the variables used for input parameters to certain instructions.
Example: Fixed or user I/O allocations for DeviceNet Units
Network Publishing:
Design the variables for EtherNet/IP tag data links.

6-4

6-3-3 Types of
User-defined
Variables in
Respect to
POUs
3-3 I/O Ports
and Device
Variables
6-3-4 Attributes
of Variables
6-3-5 Data
Types
6-3-6 Derivative Data Types
6-3-4 Attributes
of Variables
6-3-5 Data
Types
6-3-6 Derivative Data Types

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-2

POUs (Program Organization Units)

The user program that runs on an NJ-series CPU Unit is made from a combination of POUs (program
organization units).
This section describes the configuration and specifications of POUs.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on creating POUs
in the Sysmac Studio.

6-2-1

What Are POUs?

There are three types of POUs, as described below.

Programs
A program corresponds to a main routine. It is the main type of POU that is used for algorithms.
You can place any instruction, function, or function block in the algorithm of a program.
Function Blocks (FBs)
A function block can output different values even with the same inputs. Function blocks are executed
when they are called from a program or another function block.
Functions (FUNs)
A function always outputs the same values for the same inputs. Functions are executed when they
are called from a program, another function, or a function block.

NJ-series CPU Unit Software Users Manual (W501)

6
6-2-1 What Are POUs?

The POUs consists of a combination of these three types of POUs. You can create many POUs.
You assign the programs to tasks to execute them.

6-2 POUs (Program Organization Units)

A POU (program organization unit) is a unit that is defined in the IEC 61131-3 user program execution
model. A POU includes a local variable table and an algorithm (i.e., a series of code or logic). It is the
basic unit used to build the user program.
You combine POUs to build a complete user program.

6-5

6 Programming

6-2-2

Overview of the Three Types of POUs

Programs
Executing Programs and Execution Conditions
You execute a task to execute the programs that are assigned to that task.
Programs are always executed.

Notation
The POUs must include at least one program. You can assign up to 128 programs to a single task.
]

Function Blocks (FBs)

Executing Function Blocks and Execution Conditions
You can call function blocks from programs or other function blocks to execute them.
Function blocks are always executed.
If you want a function block to execute only when a condition is met, you must define an input variable that sets the execution condition.

Notation
You can use any instruction, user-defined function, or user-defined function block in the algorithm
of a function block.
You can retain the values of internal variables. Therefore, you can retain status, such as for timers
and counters.
There are both user-defined and system-defined function blocks.
User-defined function blocks are called user-defined function blocks. System-defined function
blocks are sometimes called FB instructions.
For details on function blocks, refer to 6-2-5 Details on Function Blocks.
]

Functions
Executing Functions and Execution Conditions
You can call functions from programs, other functions, or function blocks to execute them.
The EN input variable specifies the execution condition. A function is executed only once each
time EN changes to TRUE.

Notation
You cannot use FB instructions or user-defined function blocks in algorithms.
The values of internal variables are not retained. Therefore, the output value remains constant.
There are both user-defined and system-defined function blocks.
User-defined functions are called user-defined functions. System-defined functions are sometimes called FUN instructions.
For details on functions, refer to 6-2-6 Details on Functions.

6-6

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-2-3

Differences between Programs, Functions, and Function Blocks

Item

POU type

Programs

Function blocks

Executed upon execution of assigned task.

Called from a program or another function block.

Called from a program, function, or

function block.

Supported.

Supported.

Not supported.

User-defined functions Supported.

Supported.

Supported.

User-defined function
blocks

Supported.

Not supported.

Execution method
Any instructions
Algorithm

Supported.

Functions

Execution condition

variable.

The hierarchical relationships between programs, functions, and function blocks are shown in the following figure.
Task
Program 1
Program 2

Functions

Function blocks

6-2-4

6-2-3 Differences between Programs, Functions, and Function Blocks

Function blocks
Functions

Functions

Details on Programs

Program Structure
Programs consist of a local variable table and an algorithm.
You can use any function or function block in the algorithm of a program.
Program
Local variable table

Task
Program
Assigned.
Program

Algorithm

FUN
FB

You cannot call programs from other POUs.

NJ-series CPU Unit Software Users Manual (W501)

6-2 POUs (Program Organization Units)

Executed each period. Executed each period. Specify the execution

Specify the execution condition with the EN
condition with an input input.

6-7

6 Programming

Program Execution Conditions

Programs are executed when the task they are assigned to is executed.

Order of Execution
You can set the order of execution of all programs in a task. You specify this order under Task
Settings - Program Assignment Settings in the Sysmac Studio.

Related System-defined Variables

All programs have the following system-defined variables in the local variables.
Variable
name
P_First_RunM
ode

Meaning
First RUN
Period Flag

Function
This flag is TRUE for only one task period after the
operating mode of the CPU Unit is changed from
PROGRAM mode to RUN mode if execution of the
program is in progress.

Data
type

Read/write

BOOL

Read

BOOL

BOOL

Read/write

BOOL

Read

This flag remains FALSE if execution of the program is not in progress.

Use this flag to perform initial processing when the
CPU Unit begins operation.
P_First_Run*1

First Program
Period Flag

This flag is TRUE for one task period after execution of the program starts.*2
Use this flag to perform initial processing when execution of a program starts.

P_PRGER

Instruction
Error Flag

This flag changes to and remains TRUE when an

instruction error occurs in the program or in a function/function block called from the program.
After this flag changes to TRUE, it stays TRUE until
the user program changes it back to FALSE.

P_CY

Carry Flag

This flag is updated by some instructions.

*1 A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required.
*2 To enable or disable the program, use the PrgStart or PrgStop instruction. You can make setting for the PrgStart instruction so that it executes the program without changing P_First_Run to TRUE.

6-2-5

Details on Function Blocks

Procedure to Create Function Blocks

A function block consists of a function block definition that is made in advance and instances that are
used in the actual programs. Create function blocks in the following order.

Create the function block definition.

Create the algorithm.

Placing an Instance of the Function Block Definition in a Program

Call the function block definition from a program or another function block.
You can call the same function block definition from more than one program or function block.
After you place an instance of a function block definition in a program or in another function
block, you can manipulate and execute it as an independent entity.

6-8

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Structure of Function Blocks

In a ladder diagram, function blocks are represented as rectangular boxes as shown below. Refer to
Calling Function Blocks from ST on page 6-10 for details about how to express function blocks in ST.
Function blocks consist of the following parts.
Function Block in Ladder Diagram:
Instance name
Function block name or instruction name
In-out variable

MyFB_instance
MyFB

TRIG

In

Input parameter

6-2 POUs (Program Organization Units)

InQ
SET

Output variable
OUT
InQ

SetValue

Result

RESULT

Input variable Output variable Output parameter

Algorithm

Function Block Settings

When you create an instance of a function block definition, make the following settings.
Settings of a function block instance in a program

Instance name

Function block name

Local Variable Table

Input
variables

In-out
variables

Output
variables

6-2-5 Details on Function Blocks

Input parameters

Output parameters

Internal variables
Algorithm
Written as a ladder diagram or in ST.
You can use any instructions,
user-defined functions, and userdefined function blocks.

Created in the Function Definition

Function Block Name or Instruction Name

This is the function block name or instruction name assigned in the function block definition when
the function block is created.

Instance Name
You give an instance name to a function block instance in a program to enable managing it. You
specify an instance name when you call a function block definition from a program or another function block.

NJ-series CPU Unit Software Users Manual (W501)

6-9

6 Programming

Algorithm
You can code the algorithm either as a ladder diagram or in ST. You can use any instruction, userdefined function, or user-defined function block in the algorithm.

Local Variable Table

The local variable table is used to define input variables, output variables, in-out variables, internal
variables, and external variables.
Refer to Variable Designations for Function Blocks on page 6-11 for details.

Parameters
Input Parameters to Input Variables
An input parameter passes a value to an input variable in a function block when function block execution begins. An input parameter can be either a variable or a constant.
Output Parameters from Output Variables
An output parameter receives a value from an output variable in a function block when function block
execution is completed. A variable is given as the parameter.
In-Out Parameters Shared between In-Out Variables
The value of the in-out parameter changes within the function block. The same variable is used for
both the input and output.
Additional Information
You can omit input and output parameters. Refer to information on operation when parameters
are omitted in 6-2-7 Operation That Applies to Both Functions and Function Blocks for details.

Calling Function Blocks from ST

The following example shows how to call function blocks from ST.
instance_name(input_variable_1:=input_parameter_1, ... input_variable_N:=input_parameter_N,inout_variable_1:=in-out_parameter_1, ... in-out_variable_N:=inout_parameter_N,output_variable_1=>output_parameter_1, ...
output_variable_N=>output_parameter_N);
You can also omit input variable names and other variable names, and give only the parameters. (If you
do, the parameters must be given in the order that they are given in the function block definition.) Also,
the number of parameters must match the number of input variables and other variables in the function
block definition.
TON_instance
a

TON

In

PT

ET

Function Blocks Expressed in ST:

Instance name
TON_instance(In:=a, PT:=b, Q=>c, ET=>d);
TON_instance(In:=a, PT:=b, Q=>c); (*The ET output is omitted here.*)
TON_instance(a,b,c,d); (*Input and output variables are omitted here.*)

6-10

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Refer to Function Block Calls in ST Language Statement on page 6-100 for details.
]

Variable Designations for Function Blocks

Instance Name
Function block definition name
or instruction name

Value is assigned.
Input parameter
Variable assignment
itself is passed.

In-out variable

Internal
variables

Output
variable

Output parameter
Variable assignment itself is passed.

In-Out variable

In-out parameter

The specifications for variables in function blocks are given below.

Variables

Number

Input variables*1 1 to 64

Specification
Input variables are used as input arguments within the function block. They cannot be changed inside the function block.

Output variables*3

1 to 64

In-out variables

0 to 64

Output variables are used as output arguments from the function block.
The output parameters are set to the values of the output variables at the end
of function block execution.
You cannot specify a constant or a variable with constant attribute for an output
parameter.
You can omit output parameter connections. If you omit an output parameter,
the value of the output variable is not assigned to any parameter.
You can access the values of output variables from outside of the function
block. Access these values with the following format: InstanceName.OutputVariableName. However, you cannot write values directly to an output variable.
In-out variables are used as inputs to and outputs from the function block. They
can be changed inside the function block.
The value of an in-out parameter is passed to an in-out variable and the value
of the in-out variable is then passed to the in-out parameter.
You cannot specify a constant or a variable with constant attribute for an in-out
parameter.
If you change the value of an in-out variable within a function block, the value of
the in-out parameter changes at that time.
You cannot omit in-out parameters.

Internal variables

No limit

Internal variables are used for temporary storage within a function block.
The values of internal variables are retained regardless of whether the function
block is executed.
Internal variables can have Retain attributes.
You cannot access the values of internal variables from outside of the function
block.

NJ-series CPU Unit Software Users Manual (W501)

6-11

6
6-2-5 Details on Function Blocks

When the function block is executed, the input variables are set to the values of
the input parameters.
You can specify either constants or variables for input parameters.
Omitting Input Parameters:
Refer to information on operation when parameters are omitted in 6-2-7 Operation That Applies to Both Functions and Function Blocks.
You can specify to detect when the variable changes to TRUE or changes to
FALSE.
You can access and change the values from outside the function block. Access
these values using the following format: InstanceName.InputVariableName.*2

6-2 POUs (Program Organization Units)

In-out parameter

Input
variable

Value is assigned.

6 Programming

Variables

Number

Specification

External variables

No limit

External variables are used to access global variables.

EN

An EN variable cannot be used in a function block. (This applies to both userdefined function blocks and FB instructions.)

ENO

0 or 1

Generally, this is a BOOL output variable that is set to TRUE for a normal end,
and to FALSE for an error end.
You can also omit it for some FB instructions.
Refer to ENO on page 6-20 for details.

*1 In the Sysmac Studio version 1.01 or lower, at least one BOOL input variable is required.
*2 In the Sysmac Studio version 1.07 or lower, it is impossible to change the value of an input variable from outside the function block. However, accessing it from outside the function block is possible.
*3 In the Sysmac Studio version 1.01 or lower, at least one BOOL output variable (including ENO) is required.

Refer to Attributes of Variables on page 6-29 for details on setting variable attributes.
Additional Information
If you define an external variable with the same name as a global variable in a function block, it is
defined automatically based on that global variable.

ENO
When ENO is FALSE, the previous values of all other output variables are retained.

6-12

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Function Block Definitions and Instances

A function block consists of a function block definition that is made in advance and instances that are
then used in the actual programs. All instances of a function block are based on the function block definition.
A function block definition consists of an algorithm and a local variable table.

Function Block Instance

You can create instances of a function block definition to process different I/O data in the same way.
Program POU
Instance name

FB1_1

Function block definition name

FB1
Variable
declarations
Algorithm

Memory area
reserved.

Memory area

Memory for
instance
FB1_1

6
6-2-5 Details on Function Blocks

Memory for
instance
FB1_2

Instance name

FB1_2

Function block definition name

FB1
Variable
declarations

Memory area reserved.

Algorithm

Instances cannot be read from other programs or function blocks. If an instance with the same name
as another instance is placed in a different program or another function block, that instance will operate as a completely separate instance.

NJ-series CPU Unit Software Users Manual (W501)

6-2 POUs (Program Organization Units)

When you place an instance of a function block definition in a program or another function block, the
function block definition is treated as a part of that program or function block.
Function block definitions that are called from a program or another function block are called
instances.
Every instance of a function block has an identifier known as an instance name associated with it,
and every instance uses memory.

6-13

6 Programming

Array Specifications for Instances

Array specifications can be made for instances. You can indirectly specify an array element number
with a variable to execute multiple instances with one instance name. Furthermore, you can switch
input sources and output destinations and effectively execute multiple instances with a single
instance name if you use an array specification for the input parameter and output parameter and
specify the element numbers with the same variable.
Example:
Not Using an Array to Specify Instances
timer0

Using an Array to Specify Instances

FOR

TON

ENO

UINT#0

Initval

Index

UINT#4

Endval

UINT#1

Stepval

OUT[0]

IN[0]
In
PT[0]

EN

PT

ET
timer1

timer[i]

TON

PT[1]

TON

OUT[1]

IN[1]
In

OUT[i]

IN[i]

PT

ET

PT[i]

timer2

In

PT

ET

EN

NEXT

Here, array variables are

used to specify instances of
the function block definition
TON and all input parameters
and output parameters. All of
the element numbers are
incremented to execute five
instances in succession.

ENO

TON
OUT[2]

IN[2]

PT[2]

In

PT

ET

timer3

Variable Table

TON
IN[3]

PT[3]

OUT[3]
In

PT

ET

timer4
TON
In

6-14

Data type
ARRAY [0..4] OF BOOL

OUT

ARRAY [0..4] OF BOOL

PT

ARRAY [0..4] OF TIME

timer

ARRAY [0..4] OF TON

UINT

OUT[4]

IN[4]

PT[4]

Variable name
IN

PT

Q
ET

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Execution Conditions for Function Blocks

Function blocks do not have an EN input like functions. They are executed each period.

Processes That Require Constant Data Monitoring

Case
Normal operation

Algorithm in FB
Executed.

Normal end

ENO
TRUE

Operations other than ENO

Output parameters: Values are updated
according to the internal algorithm.
In-out parameters: Values are updated
according to the internal algorithm.

Error end

FALSE

Output parameters: Retained

Inside a master control

region

Executed when the state of

the power flow input is
FALSE.

User-specified

One of the above, depending on the value

of ENO.

Refer to 6-5-2 Ladder Diagram Language for details on power flow output and parameter output.
You can specify the edge for an input variable to make the variable TRUE only when the input
parameter changes to TRUE.
Instance
A

Variable A

FB

6-2 POUs (Program Organization Units)

In-out parameters: Values are updated

according to the internal algorithm.

6
Instance X

6-2-5 Details on Function Blocks

Specifies detecting a change to TRUE.

You can specify falling edges too.

Instance
A

Variable A

FB
X

Instance X

NJ-series CPU Unit Software Users Manual (W501)

Specifies detecting a change to FALSE.

6-15

6 Programming

Accessing Variables in a Function Block from Outside the Function

Block
You can access the input and output variables of a function block from outside the function block. Variables are written as follows:
InstanceName.VariableName
Example: To Access Output Variable B of Function Block Instance FB1_Instance
FB1_Instance.B
You can access the input and output variables for a function block only within the program that contains
the function block. However, you cannot access these variables from within other function block
instances even if they are in the same program. You cannot access them from other programs.
Program P1

FB1_Instance
FB1

Can be accessed.

Input and Output Variables for FB1

Access is possible only from within program P1.
Access is not possible from program P2.
Access is not possible from within FB2.

FB1_Instance.B

Cannot be
accessed.
FB2_Instance
FB2
C

Program P2

Cannot be
accessed.

FB2_Instance.B

The in-out variables, and input variables for some instructions, cannot be accessed from external
devices.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502) for details.

6-16

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-2-6

Details on Functions

Structure of Functions
In a ladder diagram, functions are represented as rectangular boxes as shown below. Refer to Expressing Functions in ST on page 6-18 for details about how to express functions in ST. A function consists of
the following parts.
Function in Ladder Diagram:
Function name or instruction name
EN input

6-2 POUs (Program Organization Units)

ENO output
MyFUN
EN

ENO
Return value

Para1

In1

Para2

In2

Input parameters

ret_val

Out1

Input variables

Output1

Output variable

Output parameter

Function Name or Instruction Name

This is the function name or instruction name assigned in the function definition when the function is
defined.

Functions do not have instance names.

Algorithm
You can code the algorithm either as a ladder diagram or in ST. You can use function instructions or
user-defined functions in the algorithm of a function. You cannot use any FB instructions or userdefined function blocks. You also cannot use a differentiated instruction (e.g., R_TRIG or UP).
You cannot use the P_First_RunMode and P_First_Run system-defined variables.
Function

Local variable table

EN
Input parameter

Input
variable

In-out
variable

Output
variable
(return value)

Output paramete

Internal variables
Algorithm
FUN instruction
User-defined
function

NJ-series CPU Unit Software Users Manual (W501)

6-17

6-2-6 Details on Functions

Instance Name

6 Programming

Local Variable Table

A local variable table defines the input variables, output variables, in-out variables, internal variables,
and external variables.
Refer to Variable Designations for Functions on page 6-19 for details.

Parameters
Input Parameters to Input Variables
An input parameter passes a value to an input variable in a function when function execution begins.
An input parameter can be either a variable or a constant.
Output Parameters from Output Variables
An output parameter receives a value from an output variable in a function when function execution
is completed. A variable is given as the parameter.
In-Out Parameters Shared between In-Out Variables
The value of the in-out parameter changes within the function. The same variable is used for both
the input and output.

Expressing Functions in ST
The following example shows how to call functions from ST.
return_value:=function_name (input_variable_1:=input_parameter_1, ...
input_variable_N:=input_parameter_N,in-out_variable_1:=in-out_parameter_1, ... inout_variable_N:=in-out_parameter_N,output_variable_1=>output_parameter_1, ...
output_variable_N=>output_parameter_N);
However, you can also omit the return value.
You can also omit input variable names and other variable names, and give only the parameters. (If you
do, the parameters must be given in the order that they are given in the function definition.) Also, the
number of parameters must match the number of input variables and other variables in the function definition.
Functions Expressed in ST:
MAX
EN
Para1

In1

Para2

In2

ENO
Para_MAX

Function name
Para_MAX := MAX(In1:=Para1, In2:=Para2);
Para_MAX := MAX(Para1, Para2);

(*The input variables are omitted here.*)

Refer to Function Calls on page 6-103 for details.

6-18

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Variable Designations for Functions

Function name
name or
or instruction
instructionname
name

Value is assigned.

Return value
Value is assigned.
Input parameter
Variable assignment
itself is passed.

Value is assigned.
Input
variable

In-out variable

Internal
variables

Output parameter
Variable assignment
itself is passed.

Output
variable
In-out variable

In-out parameter

The specifications for variables in functions are given below.

Variables
Input variables

Number
0 to 64

Specification
Input variables are used as input arguments within the function. They cannot be
changed inside the function.

Output variables

0 to 64

Output variables are used as output arguments from the function.

The output parameters are set to the values of the output variables at the end
of function execution.
You cannot specify a constant or a variable with constant attribute for an output parameter.
At least one BOOL output variable (including ENO and the return value) is
required.
You can omit output parameter connections.
If you omit an output parameter, the value of the output variable is not
assigned to any parameter.
You cannot access the values of output variables from outside of the function.

In-out variables

0 to 64

In-out variables are used as inputs to and outputs from the function. They can be
changed inside the function.
In-out parameters (variable designations) are directly passed to or received
from the in-out variables.
You cannot specify a constant or a variable with constant attribute for an in-out
parameter.
If you change the value of an in-out variable within a function, the value of the
in-out parameter changes at that time.
You cannot omit in-out parameters.
You cannot access the values of in-out variables from outside of the function.

Internal variables

No limit

Internal variables are used for temporary storage within a function.

The value is not retained after execution is completed.
You cannot access the values of internal variables from outside of the function.

NJ-series CPU Unit Software Users Manual (W501)

6-19

6
6-2-6 Details on Functions

When the function is executed, the input variables are set to the values of the
input parameters.
You can specify either constants or variables for input parameters.
Omitting Input Parameters:
Refer to information on operation when parameters are omitted in 6-2-7 Operation That Applies to Both Functions and Function Blocks.
Unlike function blocks, you cannot specify to detect changes to TRUE or
FALSE.
You cannot access the values of input variables from outside of the function.
Some of the instructions provided by OMRON can have varying numbers of
input variables, but you cannot make a user-created function that has a varying number of input variables.

6-2 POUs (Program Organization Units)

In-out parameter

Return value parameter

6 Programming

Variables

Number

Specification

External variables

No limit

External variables access global variables.

EN

This is a BOOL input variable used to execute the function.

The function is executed when EN is TRUE.
You must have one EN variable. (This applies to both user-defined functions
and FUN instructions).

ENO

0 or 1

Generally, this is a BOOL output variable that is set to TRUE for a normal end,
and to FALSE for an error end.
You can omit the ENO variable from user-defined functions.
Refer to ENO, below, for details.

Return value

The return value is the value that is returned to the calling instruction. It represents the results of the process after the algorithm in the function is executed.
Each function must have one return value.
You can specify enumerations of all basic data types. You cannot specify an
array, structure, or union.
If you do not set the return values for algorithms in user-defined functions, the
return values are not dependable. That is, the return values may be different
even if the values of the input parameters are the same. Therefore, if you use
the return value at the process that called the function, always set the return
value in the algorithm in the function.
Refer to Return Values, below, for details.

Refer to 6-3-4 Attributes of Variables for details on setting variable attributes.

Additional Information
You can register global variables as external variables in a function variable table to access
global variables. We recommend that you create your functions so that they produce output values uniquely based on their input parameter values. Algorithms that access global variables and
use them to affect the output values are not recommended. When you check the program on the
Sysmac Studio, a message will appear that says that it is not recommended to use global variables in functions. Take appropriate measures if necessary.

ENO
When ENO is FALSE, the previous values of all other output variables are retained.

6-20

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Return Values
Return values are blank in ladder diagrams.
Case

Ladder diagram notation

ST language notation

Using return values

EN
Variable i

variable_q:=
MyFUN1(variable_i);

MyFUN1
ENO
Variable q

IN

Not using a return

value
EN
Variable i1
Variable i2

In1
In2

OutEQ

Variable q1

OutGT
OutGE
OutNE

Variable q4

OutLT

6-2 POUs (Program Organization Units)

MyFUN2(In1:=variable_i1,In2:=v
ariable_i2,
OutEQ=>variable_q1,
OutNE=>variable_q4 );

MyFUN2

OutLE

The calling instruction is not required to use the return value in either a ladder diagram or ST.

MyFUN
EN

Definition of MyFUN
ENO
Variable q

Variable i
IN

IF IN>100
MyFUN:=100;
ELSE
MyFUN:=IN;
END_IF;

Execution Conditions for Functions

A function is executed when EN is TRUE. The function stops processing when EN changes to FALSE.
Input variables
EN = TRUE

Algorithm in FUN
Executed.

Normal end

ENO
TRUE

Operations other than ENO

Output parameters: Values are updated according to
the internal algorithm.
In-out parameters: Values are updated according to
the internal algorithm.

Error end

FALSE

Output parameters: Values are retained.

In-out parameters: Values are updated according to
the internal algorithm.

EN = FALSE

Not executed.

FALSE

Output parameters and in-out parameters: Values

are retained.

Inside a master
control region

Not executed.

FALSE

Output parameters and in-out parameters: Values

are retained.

NJ-series CPU Unit Software Users Manual (W501)

6-21

6-2-6 Details on Functions

If you set the return value within a function algorithm, set the value to a variable with the same
name as the function.
For example, the return value of a function called MyFUN is MyFUN.

6 Programming

Example:
BOOL variable A

Algorithm within function

MyFUN

in
EN

MyFUN

ENO

P_On
BOOL variable B

in
Function
execution

You can change ENO with the

algorithm in the function.

ENO

BOOL variable A

BOOL variable B

6-2-7

Operation That Applies to Both Functions and Function Blocks

Using or Omitting EN and ENO

The following table shows when you can use and when you can omit EN and ENO in functions and
function blocks.
POU
FB

FUN

6-22

EN

ENO

User-defined
functions

Cannot be used.

Can be used or omitted.

A building error occurs if you try to define

EN in the variable table from the Sysmac
Studio.

You define ENO as an output variable in

the Sysmac Studio.

Instruction

All FB instructions do not use EN.

Some instructions use ENO, and others

do not.

User-defined
functions

Required.

Can be used or omitted.

When you create a function, the Sysmac

Studio automatically adds EN to the variable table by default.

You define ENO as an output variable in

the Sysmac Studio.

Instruction

All FUN instructions use EN.

Some instructions use ENO, and others

do not.

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Operation When Parameters Are Omitted

You can omit both input and output parameters.
Operation when omitted
Parameters omitted in

FB

FUN

Input parameters to input

variables

When the first time the instance is executed, the

initial value is used.
Thereafter, the function block is executed with the
previous value (if the input variable is omitted, the
initial value is always used).

The initial value is used for

operation.

Can be omitted.

In-out parameters to/from

in-out variables

You can omit the output

parameter. If it is omitted,
You can access the results of the operation outside
of the instruction by using InstanceName.OutputVari- there is no way to retrieve
the result of the operation.
ableName.*
Cannot be omitted.

Cannot be omitted.

* You can access the input and output variables of a function block from outside of the function block (but only
within the same program) with InstanceName.VariableName. However, you cannot access the input and output
variables of a function from outside the function.

FBinstance

FB
Omitted.

6-2 POUs (Program Organization Units)

Output parameters from

output variables

Done

Can be specified by using InstanceName.Done.

Operation for Parameter Errors

The following operation occurs when there is an error in an input parameter, output parameter, or in-out
parameter.

Errors in Input Parameters

If an error is detected in an input parameter, the function or function block is not executed and ENO
is FALSE. The power flow output is also FALSE, but all other values are retained.
Example:
Function
EN
x[i]

IN1

x[10]

IN2

ENO

OUT2

FALSE

abc Retained.

Variable Table
Variable name Array

Example when variable i is outside the

range of the elements in array variable x

NJ-series CPU Unit Software Users Manual (W501)

[ 1 .. 10 ]

Data type
INT

6-23

6-2-7 Operation That Applies to Both Functions and Function Blocks

FBinstance.Done

6 Programming

Errors in Output Parameters

If an error is detected in an output parameter, all values after that parameter are not output but their
values are retained.
Example:
Function
EN

ENO

IN1

OUT1

x[9]

IN2

OUT2

x[i]

OUT3

x[10] Retained.

Example when variable i is outside the

range of the elements in array variable x

Not output.

Errors in In-Out Parameters

If an error is detected in an in-out parameter, the function or function block is not executed and ENO
is FALSE. The power flow output is also FALSE, but all other values are retained.
Function
EN
x[i]

INOUT--

OFF

ENO
--INOUT
X

x[i]
xyz Retained.

Example when variable i is outside the

range of the elements in array variable x

Recursive Calling
The following recursive calls are not allowed for functions or function blocks. They will result in an error
when you build the user program on the Sysmac Studio.
A function or function block cannot call itself.
A called function or function block cannot call the calling parent.

6-2-8

POU Restrictions
This section describes the restrictions in the creation of POUs.

Names
Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names for restrictions on
POU names and function block instance names.

Passing Multiple Arguments

If you need to pass multiple arguments to a function or function block, use an array specification or
structure to pass the required data.
This will make your program simpler. However, be aware that if you use an in-out variable, the data
passed to the function block or function as a parameter is written and the original data is not retained.

6-24

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Additional Information
Specifying an Array Variable or Structure Variable as a Parameter
You can also specify an array variable or a structure variable as an input or output parameter.
However, it will take longer to pass and receive data for these data types in comparison to a variable with a basic data type (depending on the size). Therefore, when handling array variables or
structure variables in a function block, we recommend that you design them in such a way that
these variables are passed to and received from in-out variables.
Example 1: Specifying an Array
Program Variable Table

FB
x

IN1

OUT1

Do not assign INT variable x [0..199] to the function block input variable
IN1 (Data type of the IN1 input variable in the function block:
ARRAY[0..199] OF INT).

FB
x

INOUT

INOUT

Instead, assign INT variable x [0..199] to the INOUT in-out variable of

the function block. (Data type of INOUT in-out variable in the function
block: ARRAY[0..199] OF INT)

6-2 POUs (Program Organization Units)

Variable name Data type

x
ARRAY[0..199] OF INT

Example 2: Specifying a Structure Variable

Program Variable Table

6-2-8 POU Restrictions

Variable name
x

Data type
MyStructure

FB
x

IN1

OUT1

Do not assign MyStructure variable x to the IN1 input

variable of the function block (Data type of IN1 input
variable of the function block: MyStructure).

INOUT

Instead, assign MyStructure variable x to the INOUT in-out

variable of the function block. (Data type of INOUT in-out
variable of the function block: MyStructure)

FB
x

INOUT

NJ-series CPU Unit Software Users Manual (W501)

6-25

6 Programming

Nesting Levels
Calling another function or function block from a function or function block that was called from a program is called nesting. The limits that are given in the following table apply to the POUs that you can
call from a user-defined function or function block and the number of nesting levels. A building error will
occur if these limits are exceeded.
POU
Function blocks
Functions

Called POUs
Functions and function blocks
Functions

Nesting depth
8 levels max.

16 levels max.*1
*1 A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required. For other
versions, the limit is 8 levels.

Example 1: From a program, you can call function blocks to a depth of 8 levels. You can then call functions to a depth of 16 levels.
FB1

Program
FB1

FB7
FB2

Level 1

FB8

FUN15

FB8

Level 2

FUN9

Level 8

Level 9

You cannot call a function

block at level 9.

FUN16

Level 16
You cannot call a function
at level 17.

Example 2: From a program, you can call functions to a depth of 16 levels.

Program
FUN1

Level 1

FUN1

FUN15
FUN2

Level 2

FUN16

Level 16
You cannot call a
function at level 17.

6-26

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-3

Variables
In the NJ-series System, variables are used to exchange I/O information with external devices, to perform data calculations, and to perform other processes. This section describes variable designations in
detail.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on setting variables
with the Sysmac Studio.

6-3-1

Variables
Variables store I/O data for exchange with external devices or temporary data that is used for internal
POU processing. In other words, a variable is a container for data with a name, data type, and other
attributes.
You do not need to assign a memory address to a variable. However, you can assign a specific memory
address if necessary (see note). The NJ-series CPU Unit automatically allocates memory addresses in
the memory area for variables.

6-3-2

Types of Variables
Variables are broadly classified into the following three types.

6-3 Variables

Note This is done to use specific functions for some CJ-series Special Units. You must specify the CJ-series Unit
memory address in the AT Specification attribute of the variable. Refer to AT Specification on page 6-55 for
details.

User-defined Variables

Semi-user-defined Variables
These variables are used to access specific devices and data. There are two types of semi-userdefined variables: device variables and cam data variables. Refer to 2-3-1 Types of Variables and 33-1 I/O Ports for details on device variables.

System-defined Variables
System-defined variables are provided in advance in an NJ-series CPU Unit. The names and all
attributes are defined by the system. They have specific functions. System-defined variables are
supplied for each function module. Refer to A-3 System-defined Variables for details.
Refer to 2-3-1 Types of Variables for details on the different types of variables.

NJ-series CPU Unit Software Users Manual (W501)

6-27

6-3-1 Variables

The user defines all of the attributes of a user-defined variable. The rest of this section describes
user-defined variables.

6 Programming

6-3-3

Types of User-defined Variables in Respect to POUs

There are six types of user-defined variables as defined according to their function in a POU.
Type of user-defined variable

POU type
Programs

FB

FUN

Internal variables

Supported.

Supported.

Supported.

Input variables

Not supported.

Supported.

Supported.

Output variables

Not supported.

Supported.

Supported.

In-out variables

Not supported.

Supported.

Supported.

Global variables

Supported (see note).

Supported (see note).

Supported (see note).

External variables

Supported.

Supported.

Supported.

Local variables

Note You can define global variables as external variables to access the global variables through the external variables.

Local Variables
Local variables can be read and written only in the POU (program, function, or function block) in which
it is defined. Local variables are the same as internal variables if the POU is a program. If the POU is a
function block or a function, local variable is a collective term for internal variables, input variables,
output variables, in-out variables, and external variables.

Internal Variables
A local variable can be used only within one POU. An internal variable is declared in the local variable table for the POU. You cannot access the values of internal variables from outside of the POU.
You can declare internal variables with the same names in different POUs. Each of those variables
is assigned to a different memory area.

Input Variables
When a POU is called, the input variables are assigned to the values of the input parameters from
the calling POU. An input variable is declared in the local variable table of the POU.

Output Variables
Before processing a POU is completed, the output parameters returned to the calling POU are
assigned to the output variables. An output variable is declared in the local variable table of the
POU.

In-Out Variables
When a POU is called, the in-out variables are assigned to the in-out parameters themselves (variable designations) from the calling POU. If you change the value of an in-out variable within a POU,
the value of the in-out parameter changes at that time. An in-out variable is declared in the local variable table of the POU.

External Variables
External variables are used to access data outside of a POU. You can access global variables from
POUs.

6-28

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Global Variables
A global variable is declared in the global variable table.
Device variables that are automatically generated from the Unit configuration and slave configuration
and axis/axes group variables that are generated from the Axis Setting Table are automatically registered as global variables.

6-3-4

Attributes of Variables
You can set the following attributes for variables.

Variable Attributes According to Variable Type

Attributes of Variables
Attribute

Description

Specification

Default

Data Type

The data type defines the format of the

data that is stored in the variable.
If you want to handle a specific address
for a CJ-series Unit as a variable, specify
the address to assign to that variable.

Not specified.
Specify.

Not specified.

AT Specification

Specify whether to retain the value of the

variable in the following cases.

Retain: Value specified on the left is

retained if there is a
Battery.
Non-retain: Changes
to initial value.

Non-retain: Reset
to initial value

Initial Value

Depends on the
data type. (Refer to
the section on initial
values.)

6-3-4 Attributes of Variables

Retain

When power is turned ON after a

power interruption
When the CPU Unit changes to RUN
mode
When a major fault level Controller
error has occurred.
You can select to set or not set an initial
value.
Initial value setting: Specify the value of
the variable in the following cases and do
not specify the Retain attribute.

Initial Value

6-3 Variables

Variable Name

The variable name is used to identify the

variable.
BOOL

Yes
None

When power turned ON

When operating mode changes
When a major fault level Controller
error occurs
If the initial value is not set, the value is
not retained.

Constant

If you set the Constant attribute, you can

set the initial value of the variable when it
is downloaded, but you cannot overwrite
the value afterwards.

Network Publish

This attribute allows you to use CIP com- Do not publish

munications and data links to read/write Publish Only
variables from outside of the Controller.
Input
Output

NJ-series CPU Unit Software Users Manual (W501)

Specify making the

value a constant or not
a constant.
Do not publish

6-29

6 Programming

Attribute

Description

Specification

An Edge attribute allows you to detect

when the input parameter of a function
block changes to TRUE or changes to
FALSE. This can be used only on BOOL
input variables.

Edge

None
Change to TRUE
Change to FALSE

Default
None

Additional Information
Exclusive Control between Tasks
You can restrict writing to global variables to a single task to prevent changes to the values of
global variables during processing. Specify this as a task setting, not as a variable attribute.

Attributes Supported by Each Type of Variable

Type of variable

Function
blocks

Functions

6-3-5

Data
Type

AT Specification

Retain

Initial
Value

Constant

Network
Publish

Edge

Supported.

Supported.

Supported.

Supported.

Supported.

Supported.

Supported.

Not supported.

Internal
variables

Supported.

Supported

Supported

Supported

Supported

Supported

Not supported.

Not supported.

External
variables

Not supported.

Not supported.

Not supported.

Not supported.

Not supported.

Supported.

Not supported.

Not supported.

Internal
variables

Supported.

Supported.

Supported.

Supported.

Supported.

Supported.

Not supported.

Not supported.

Input variable

Supported.

Supported.

Not supported.

Supported.

Supported.

Supported.

Not supported.

Supported.

Output
variables

Supported.

Supported.

Not supported.

Supported.

Not supported.

Not supported.

Not supported.

Not supported.

In-out
variables

Supported.

Supported.

Not supported.

Not supported.

Not supported.

Supported.

Not supported.

Not supported.

External
variables

Not supported.

Not supported.

Not supported.

Not supported.

Not supported.

Supported.

Not supported.

Not supported.

Internal
variables

Supported.

Supported.

Not supported.

Not supported.

Supported.

Supported.

Not supported.

Not supported.

Input variables

Supported.

Supported.

Not supported.

Not supported.

Supported.

Supported.

Not supported.

Not supported.

Output
variable

Supported.

Supported.

Not supported.

Not supported.

Not supported.

Not supported.

Not supported.

Not supported.

In-out
variables

Supported.

Supported.

Not supported.

Not supported.

Not supported.

Supported.

Not supported.

Not supported.

External
variables

Not supported.

Not supported.

Not supported.

Not supported.

Not supported.

Supported.

Not supported.

Not supported.

Global variables

Programs

Variable
Name

Data Types
The Data Type attribute defines the type of data and range of data that is expressed by a variable.
The amount of memory that is allocated when you declare a variable depends on the data type of that
variable. The more memory allocated, the larger the range of values that the variable can express.
The data types for the input, output, and in-out variables of instructions depend on the instruction. Set
the data types of input, output, and in-out parameters for the instruction arguments according to the
data types of the input, output, and in-out variables for that instruction.

6-30

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Basic Data Types and Derivative Data Types

There are two kinds of data types: basic data types, which have predefined specifications, and derivative data types, which are defined according to user specifications.

Basic Data Types

The different kinds of basic data types are listed below.
Classification

Definition
A data type with a value of either TRUE or FALSE.

Bit string

A data type that represents a value as a bit string.

Integer

A data type that represents an integer value.

Real number

A data type that represents a real number.

Duration

A data type that represents a time duration (days, hours, minutes, seconds, and
milliseconds).

Time of day

A data type that represents a specific time of day (hour, minutes, and seconds).

Date

A data type that represents a date (year, month, and day).

Date and time

A data type that represents a date and time (year, month, day, hour, minutes,
seconds, and milliseconds).

Text string

A data type that contains a value that represents a text string.

There are a total of twenty different basic data types. The specifications are given in the following
table.

6-3 Variables

Boolean

The meanings of the data size and alignment columns in the following table are as follows:

Data size: The actual size of the value.

Alignment: The unit used to allocate memory.
Data type

Boolean

BOOL

16 bits

2 bytes

FALSE or TRUE

BOOL#1, BOOL#0, TRUE or FALSE

BYTE

8 bits

1 byte

BYTE#16#00 to FF

BYTE#2#01011010

WORD

16 bits

2 bytes

WORD#16#0000 to FFFF

BYTE#2#0101_1010

32 bits

4 bytes

DWORD#16#00000000 to
FFFFFFFF

BYTE#16#5A

64 bits

8 bytes

LWORD#16#0000000000000000
to FFFFFFFFFFFFFFFF

SINT

8 bits

1 byte

SINT#-128 to +127

100

INT

16 bits

2 bytes

INT#-32768 to +32767

INT#2#00000000_01100100

32 bits

4 bytes

DINT#-2147483648 to
+2147483647

INT#8#144

64 bits

8 bytes

LINT#-9223372036854775808 to
+9223372036854775807

INT#16#64

USINT

8 bits

1 byte

USINT#0 to +255

UINT

16 bits

2 bytes

UINT#0 to +65535

UDINT

32 bits

4 bytes

UDINT#0 to +4294967295

64 bits

8 bytes

ULINT#0 to
+18446744073709551615

Bit strings

DWORD
LWORD

DINT

Integers

LINT

ULINT

Data size

Alignment

NJ-series CPU Unit Software Users Manual (W501)

Range of values

Notation

6-3-5 Data Types

Classification

You can also use the _ character as a

separator.

INT#10#100
100

6-31

6 Programming

Classification

Data type

Data size
32 bits

Alignment
4 bytes

REAL

Real numbers

64 bits

8 bytes

Range of values

Notation

REAL#3.402823e+38 to
1.175495e-38

REAL#3.14

3.14

1.175495e-38 to 3.402823e+38

3.14

+ /

1.0E+6

LREAL#1.79769313486231e

1.234e4

LREAL#3.14

+308 to 2.22507385850721e-308
0

LREAL

2.22507385850721e-308 to
1.79769313486231e+308
+ /
64 bits

Durations*1*2

8 bytes

T#-9223372036854.775808ms
(T#106751d_23h_47m_16s_854.7758
08ms) to
T#+9223372036854.775807ms
(T#+106751d_23h_47m_16s_854.
775807ms)

TIME

T#12d3h3s
T#3s56ms
TIME#6d_10m
TIME#16d_5h_3m_4s
T#12d3.5h
T#10.12s
T#61m5s (Equivalent to T#1h1m5s)
TIME#25h_3m

64 bits
Date

8 bytes

DATE

D#1970-01-01 to D#2106-02-06
(January 1, 1970 to February 6,
2106)

Add DATE#, date#, D#, or d# to the

beginning of the string and express the
date in the yyyy-mm-dd format.
Example:
d#1994-09-23

64 bits
Time of day*2

8 bytes

TIME_OF
_DAY

TOD#00:00:00.000000000 to
TOD#23:59:59.999999999
(00:00:0.000000000 to
23:59:59.999999999)

Add TIME_OF_DAY#, time_of_day#,

TOD#, or tod # to the beginning of the
string and express the time of day in the
hh-mm-ss format.
Example:
tod#12:16:28.12

64 bits
Date and
time*2

Text strings

8 bytes

DATE_
AND_
TIME

STRING

(Number of
single-byte
characters
plus 1) 8
bits*3

1 byte

DT#1970-01-0100:00:00.000000000 to DT#210602-06-23:59:59.999999999 (January 1, 1970 00:00:0.000000000 to

July 21, February 6, 2106,
23:59.999999999 seconds.)

Add DT# or dt# to the beginning of the

string and express the date and time in the
yyyy-mm-dd-hh:mm:ss format.

The character code is UTF-8.

0 to 1,986 bytes (1,985 single-byte
alphanumeric characters plus the
final NULL character, for Japanese,
this is approximately equal to 0 to
661 characters)*4

Enclose the string in single-byte single

quotation marks ().

Example:
dt#1994-09-23-12:16:28.12

Example:
OMRONPLC

The default size is 256 bytes.

*1 Use the NanoSecToTime and TimeToNanoSec instructions to convert between durations and integer data. Refer to the
NJ-series Instructions Reference Manual (Cat. No. W502) for detailed instruction specifications.
*2 Variables are compared with nanosecond precision for comparison instructions. To change the precision for comparison,
use the TruncTime, TruncDt, or TruncTod instruction.
*3 A NULL character (1 byte) is added to the end of text strings. Therefore, reserve memory for one more character than the
number of handled characters. For example, if a maximum of 10 single-byte characters are handled, define a STRING
variable for 11 characters (11 bytes). STRING[11]
*4 If you want to insert tabs, line break codes, or other special characters, you can use a single-byte dollar sign ($) as an
escape character before them. Refer to Escape Character List on page 6-70 for a list of the escape characters.

6-32

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Precautions for Correct Use

The total amount of memory required by all variables is not equal to the total of the data sizes of
each of those variables. This is because the first position where data is stored in memory is automatically set to a multiple of the alignment value for that data type. This results in some empty
space in memory between data types. For example, even if the data types are the same, the
overall memory space required depends on the order of data types, as shown below.
Example:
DWORD -> DWORD -> WORD: Requires a total of
10 bytes.

DWORD -> WORD -> DWORD: Requires a total of

12 bytes.

Byte
First byte
First byte+1
First byte+2
First byte+3
First byte+4
First byte+5
First byte+6
First byte+7
First byte+8
First byte+9

Byte
First byte
First byte+1
First byte+2
First byte+3
First byte+4
First byte+5
First byte+6
First byte+7
First byte+8
First byte+9
First byte+10
First byte+11

DWORD data
The beginning of the
data type is a
multiple of four.

DWORD data

The beginning of the

data type is a
multiple of two.

WORD data

DWORD data

WORD data

The beginning of the

data type is a multiple
of two.

Not used.

DWORD data

The beginning of the

data type is a multiple of
four, i.e., first byte + 8.

Derivative Data Types

Description

Structures

This data type consists of multiple data types placed together into a single layered structure.

Unions

This data type allows you to handle the same data as different data types
depending on the situation.

Enumerations

This data type uses one item from a prepared name list as its value.

Refer to 6-3-6 Derivative Data Types for details.

Specifications for Data Types

The following array specifications and range specifications are possible for all data types.
Type

Description

Array specification

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. You can
specify arrays for both basic data types and derivative data types.

Range specification

You can specify a specific range for a data type in advance.

You can specify a range for any integer basic data type.

Refer to 6-3-7 Array Specifications and Range Specifications for Data Types for details.

NJ-series CPU Unit Software Users Manual (W501)

6-33

6-3-5 Data Types

A derivative data type is a data type with user-defined specifications. Derivative data types are registered in the Data Type View in the Sysmac Studio. The following is a list of the derivative data
types.
Type

6-3 Variables

You must be aware of the alignment values for different data types when you exchange data
such as structure variables between devices so that you can properly align the position of the
data in memory. Refer to A-7 Variable Memory Allocation Methods for details.

6 Programming

Additional Information
In addition to basic data types and derivative data types, there are also POU instance data
types. A POU instance data type is the data type of a function block instance. To create a function block instance, the instance name is registered as a variable and the function block definition
name is registered as a data type in the local variable table.

Restrictions on Using Data Types

A list of the data types that you cannot use in different POUs is given below.
POU type

Type of variable

Programs
FUN

FB

Unusable data types

Basic data types

Derivative data types

Internal variables

None

Global variables

None

Input variables, output variables, and in-out

variables

None

Internal variables

None

Return values

None

A structure or union

Input variables, output variables, and in-out

variables

None

Unions

Internal variables

None

Unions

Bit String, Real Number, and Text String Data Formats

This section describes the data formats for bit string data, real number data, and text string data.

Bit String Data Format

Bit 0 is the least significant bit of a bit string variable. Bit values are represented by values of either 1
or 0. However, you can also represent the value of a single bit as a BOOL variable where 1 equals
TRUE and 0 equals FALSE.
Bit 7
BYTE#16#3B

Bit 0

0 0 1 1 1 0 1 1

One-bit extraction
TRUE

Real Numbers (REAL and LREAL Data)

REAL and LREAL data have a real number data format. This section describes how to express real
numbers and how to perform data processing with real number data types.

Data Size
REAL data is 32 bits, while LREAL data is 64 bits.

Data Formats
The floating-point format is a way to express a real number as a combination of a sign, an exponent,
and a mantissa. To express a real number as shown below, the value of s is the sign, the value of e
is the exponent, and the value of f is the mantissa.
REAL Data
Number = (1)s2e127(1+f 223)
LREAL Data
Number = (1)s2e1023(1+f 252)

6-34

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

This floating-point format follows the IEEE 754 standard. The formats are given below.
Sign Exponent
REAL data (32 bits) s

Mantissa

31 30

f
0

23 22

Sign Exponent

Mantissa

LREAL data (64 bits) s

e
63 62
52 51

f
0

Example: Expressing 86.625 as REAL Data

1
2
3
4
5

This is a negative number, so s =1.

86.625 in binary is 1010110.101.
Normalizing this value gives us 1.010110101 26.
From the above expression we can determine that e127 = 6, so e = 133 (or 10000101 in
binary).

Therefore, you can express 86.625 as shown in the following figure.

REAL data (32 bits)

Sign Exponent
Mantissa
1 10000101 01011010100000000000000
31 30

23 22

Valid Ranges

Negative numbers

Positive numbers

REAL

3.402823e+38 to 1.175495e-38 0

+1.175495e38 to
+3.402823e+38

LREAL

1.79769313486231e+308 to
2.22507385850721e308

+2.22507385850721e308 to
+1.79769313486231e+308

REAL 3.402823e+38
LREAL 1.79769313486231e+308

REAL +3.402823e+38
LREAL +1.79769313486231e+308

REAL 1.175495e38
LREAL 2.22507385850721e308

NJ-series CPU Unit Software Users Manual (W501)

REAL +1.175495e38
LREAL +2.22507385850721e308

6-35

6-3-5 Data Types

The valid ranges for REAL and LREAL data are shown in the following table. There are a range of
values that you cannot express as you approach 0.
Data type

6-3 Variables

Next we take the value after the decimal part of 1.010110101, which is 010110101. This is not
enough for the 23-bit mantissa, so f is this number with the required amount of zeroes added to
the end. Therefore, f = 01011010100000000000000.

6 Programming

Special Values
Values such as positive infinity, negative infinity, +0, 0, and nonnumeric data are called special values. Nonnumeric data refers to data that you cannot express as a floating-point number and therefore cannot be treated as a numeric value. Although +0 and 0 both mathematically mean 0, they
are different for the purpose of data processing. This is discussed later in this section. The values for
the sign s, exponent e, and mantissa f of special numbers are given in the following table.
Data type name

Special values

REAL

Data type name

LREAL

Sign s

Exponent e

Mantissa f

255

255

+0

Nonnumeric

---

255

Not 0

Special values

Sign s

Exponent e

Mantissa f

2047

2047

+0

Nonnumeric

---

2047

Not 0

Subnormal Numbers
You cannot use the floating-point format to express values close to 0 (i.e., values with an extremely
small absolute value). Therefore, you can use subnormal numbers to expand the valid range of numbers near 0. You can use subnormal numbers to express values with a smaller absolute value than
with the normal data format (normal numbers). Any number where the exponent e = 0 and the mantissa f 0 is a subnormal number and its value is expressed as shown below.
REAL Data
Number = (1)s2126(f 223)
LREAL Data
Number = (1)s21022(f 252)
Example: Expressing 0.75 2127 as REAL Data

1
2
3
4

This is a positive number, so s = 0.

0.75 in binary is 0.11.
From (0.11)2 2127 = 2126(f 223) we can see that f = (0.11)2 222.
From the above expression, f = 01100000000000000000000.

Therefore, you can express 0.75 2127 as shown in the following figure.
Sign
REAL data (32 bits)

Exponent

0 00000000
31 30

Mantissa
01100000000000000000000

23 22

Subnormal numbers have less effective digits than normal numbers. Therefore, if a calculation with
normal numbers results in a subnormal number or if a subnormal number results in the middle of
such a calculation, the effective digits of the result may be less than the effective digits of a normal
number.

6-36

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Data Processing
The floating-point format expresses only an approximate value. Therefore, there may be a difference
between the floating-point number and its true value. There is also a limited number of effective digits for these values. Therefore, the following actions are taken when you perform calculations with
the floating-point format.
Rounding
If the real value exceeds the effective digits of the mantissa, the value is rounded off according to the
following rules.
The result of the calculation will be the closest value to the value that can be expressed as a floating-point number.
If there are two values that are the closest to the real value (e.g., if the real value is the median
value of two approximate values), the mantissa with a least significant bit value of 0 is selected as
the result of the calculation.
Overflows and Underflows
An overflow occurs when the absolute value of the true value is larger than the maximum value that
can be expressed in the floating-point format. An underflow occurs when the absolute value of the
true value is smaller than the minimum value that can be expressed in the floating-point format.

If an underflow occurs and the true value is positive, the result of the calculation is positive zero. If
the true value is negative, the result of the calculation is negative zero.

6-3 Variables

If an overflow occurs and the true value is positive, the result of the calculation is positive infinity. If
the true value is negative, the result of the calculation is negative infinity.

Special Value Calculations

Calculations that involve special values (i.e., positive infinity, negative infinity, +0, 0, and nonnumeric data) are performed according to the following rules.

Addition of positive and negative infinity results in nonnumeric data.

6-3-5 Data Types

Subtraction of two infinite values of the same sign results in nonnumeric data.
Multiplication of +0 or 0 with infinity results in nonnumeric data.
Division of +0 by itself, 0 by itself, or infinity by itself results in nonnumeric data.
Addition of positive and negative zero results in positive zero.
Subtracting +0 from itself or 0 from itself results in +0.
Any arithmetic that involves nonnumeric data results in nonnumeric data.
Comparison instructions (such as for the Cmp instruction) treat +0 and 0 as equal.
If you compare nonnumeric data with anything else, the result is always not equal.

Text String Data Format

All STRING variables are terminated with a NULL character (character code BYTE#16#00).

Converting Data Types

When you use a variable of a different data type, the data type is automatically converted in some
cases. You can also perform the conversion yourself with a data type conversion instruction.

Data Type Conversion

All variables must have data types. Programs must operate properly according to these data types.
For example, the left and right sides of an assignment expression should normally use the same
data type. In some cases, however, it may be necessary to assign data of a different data type to a
variable in order to program something successfully.
Example:

NJ-series CPU Unit Software Users Manual (W501)

6-37

6 Programming

var3 := var1;

Assigning a value to a variable of a different data type

var1 is a variable of data type INT.

var3 is a variable of data type REAL.

In order to assign the data in var1 to the data type of var3, the data must first be converted. This type
of conversion is called data type conversion or just type conversion for short.

When Data Type Conversion Occurs

Converting between data types occurs in the following two cases.
(1) Conversion by User Execution of Data Type Conversion Instructions
(2) Automatic Conversion for Assignments and Instructions
ST assignments
Connecting lines in ladder diagrams

6-38

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-3-6

Derivative Data Types

A derivative data type has a configuration that is based on one of the basic data types. The following is
a list of the derivative data types.
Structures
Unions
Enumerations
Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names for restrictions on
the number of characters in data type names and other restrictions when you create a derivative data
type.
Additional Information
NJ-series Controllers come with three different types of system-defined derivative data types.
System-defined variables that are structures
Structures used for input, output, and in-out variables for instructions
Structures for Special Unit expansion memory (You must register these in the Unit Editor to
use them.)
6-3 Variables

Structures
A structure is a derivative data type that groups together data with the same or different variable types.
You can easily change data and add new data if you place your data into a structure.
For example, you can define a Box structure that has three members (Width, Height, and Depth) in
order to organize and group your data.

If you need to create a new variable to store more box data, you can perform the same steps to add a
new variable called Box2 to the variable table.
Height of Box2
Height of Box3
Height of Box1
Structure Variable Box2
Structure Variable Box3
Structure Variable Box1
Member

Member

Member

Height

Height

Height

Width

Width

Width

Depth

Depth

Depth

When a structure is used for a variable in an instruction, it is necessary to select a structure for the input
parameter, output parameter, or in-out parameter, and register the variable.
Example: Communications Instructions

NJ-series CPU Unit Software Users Manual (W501)

6-39

6-3-6 Derivative Data Types

You can then use this structure data type to add a variable called Box1. You can then use it to access
the different levels of the data by placing a period after the variable name followed by the name of the
data you want to access. For example, Box1.Width or Box1.Height.

6 Programming

Expressing Structure Variables and Structure Variable Members

Specifying Members
The individual pieces of data that make up a structure are called members. You can express individual members of a structure by putting a period after the variable name that represents the entire
structure followed by the member name that you want to access. You can even have a structure that
is the member of another structure.
Example:

abc.x: Member x of structure variable abc

abc.Order.z: Member z of member structure variable Order of structure variable abc

Specifying the Structure

The structure represents all members that make up the structure. A structure is expressed by the
name of the structure variable. In the example above, you would write abc.

Creating a Structure

Create a structure data type in the Data Type Table.

Specify the data type name, members, and the data type.
Data Type Table
Name

Member

Data type

RGB

red

INT

green

INT

blue

INT

ItemNo

INT

Color

RGB

ITEM

Specify the member name and the structure data type from above as the data type and register
the variable in the variable table.
Variables
Desk

red
Data type RGB

green
blue
Variable Table

Chairs[0]

Variable name

Data type

Desk

RGB

Chairs

ARRAY[0..1]OF ITEM

ItemNo
Color

red
green
blue

Chairs[1]

Data type ITEM

ItemNo
Color

red
green

Data type ITEM

blue

Structure Specifications
The specifications of structure data types are given in the following table.
Item
Structure names

Specification
Names are not case sensitive. Prohibited characters and character length restrictions
are the same as for variable names.

Member data types Refer to the table on the data types of structure members that is given below for details.
Member attributes

Member Name
Comment

6-40

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Item

Specification

Number of members

1 to 2,048

Nesting depth of
structures

Maximum of 8 levels (however, a member name must be 511 bytes or less, including the
variable name)

Maximum size of
one structure variable

No restrictions

Data Types of Structure Members

Classification
Basic data types

Derivative data types

Data type

Usage

Boolean, bit string, integer, real, duration, date, time of day, date
and time, or text string data

Supported.

Array of Boolean, bit string, integer, real, duration, date, time of

day, date and time, or text string data

Supported.

Arrays (see note), unions, and enumerations

Supported.

Note Recursions and loops are not allowed. (An error will occur
when the program is checked.)
Array specifications for structures, unions, and enumerations

6-3 Variables

POU instances

Supported.
Not supported.

Arrays and Structures

You can set an array in which the elements are structures. You can also set a structure in which the
members are arrays.

Specifying Structure Member Offsets

The meanings of the offset type are as follows:

Offset type

Meaning

NJ

The memory configuration that is optimum for the NJ-series Controllers is

automatically used and operating speed is maximized.

CJ

The memory configuration for CJ-series PLCs is automatically used. This

allows you to use the same memory configuration as a CJ-series CPU Unit.

User

You can set the memory offsets for each member. This allows you to use the
same memory configuration as external devices other than CJ-series CPU
Units.

NJ-series CPU Unit Software Users Manual (W501)

6-41

6-3-6 Derivative Data Types

When you specify an offset for a member, you can set the memory configuration of the members as
required for each structure data type. This allows you to align the memory configuration of the members of the structure data type when you use tag data links with CJ-series CPU Units or with other
external devices. You can select NJ, CJ, or User as the offset type for structure members. If you
select NJ, the memory configuration that is optimum for the NJ Series is automatically used. Refer to
A-7 Variable Memory Allocation Methods for details on the memory configuration of NJ-series Controllers. Refer to A-7-2 Important Case Examples for examples of tag data lings with CJ-series CPU
Units.

6 Programming

Version Information
The following table gives the unit version of the CPU Units and the Sysmac Studio version that
are required to specify member offsets.
Unit version of CPU Unit

Sysmac Studio version

1.01 or lower

1.02

1.03 or higher

1.01 or later

Not possible.

Possible.*

Possible.

1.00

Not possible.

Not possible.

Not possible.

* You cannot select the memory offset type. You can set member offsets.

Setting Offsets
If you set the memory offset type to User, you can set memory offsets for each member of the structure. There are byte offsets and bit offsets. If you set the memory offset type to NJ or CJ, the memory configuration is determined automatically. You do not need to set offsets.
The meanings of the offsets are as follows:
Offset

Meaning

Unit

Range of
values

Byte offset

The byte offset is the offset of a member from the start of the
structure. Bytes offsets are used for all basic data types and
derivative data types.

Byte

0 to 1,023

Bit offset

The bit offset is the offset of a member from the start of the byte
position that is specified with the byte offset.

Bit

0 to 63

Example:
This example shows the memory configuration when the following settings are made with the Structure Editor.
Name
StrA

Data type
STRUCT

Offset type

Byte offset

Bit offset

User

VarA

DINT

VarB

INT

VarC

DINT

Bit 7
Memory
First byte
First byte + 1
First byte + 2
First byte + 3
First byte + 4
First byte + 5
First byte + 6
First byte + 7
First byte + 8
First byte + 9
First byte + 10
First byte + 11

VarA

Bit 0
Byte offset: 0
Bit offset: 0

VarB

Byte offset: 4
Bit offset: 0

VarC

Byte offset: 6
Bit offset: 0

Offsets That You Can Set

Even if you set the memory offset type to User, the offsets cannot be changed for some data types.
The following table shows when offsets can be set.

6-42

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Classification

Data type

Byte offsets

Bit offsets

Boolean

BOOL

Can be set.

Can be set.

Bit strings

BYTE, WORD, DWORD, LWORD

Can be set.

Fixed.

Integers

SINT, INT, DINT, LINT, USINT, UINT,

UDINT, ULINT

Can be set.

Fixed.

Real numbers

REAL, LREAL

Can be set.

Fixed.

Durations

TIME

Can be set.

Fixed.

Dates

DATE

Can be set.

Fixed.

Times of day

TIME_OF_DAY

Can be set.

Fixed.

Dates and Times

DATE_AND_TIME

Can be set.

Fixed.

Text strings

STRING

Can be set.

Fixed.

Arrays

Can be set.

Can be set only for

BOOL elements.

Structures

Can be set.

Fixed.

Unions

Can be set.

Fixed.

Enumerations

Can be set.

Fixed.

POU instances

Fixed.

Fixed.

The following restrictions apply to setting member offsets. If you specify member offsets for a structure, the same restrictions apply to structures that are members of that structure.
If you set the memory offset type to User for a structure, you must set offsets for all members of
the structure.

The memory size that is required for the structure is determined by the sizes of the members, the
alignment values of the data types, and the memory configuration.

Errors in Specifying Member Offsets

The following error can occur when setting member offsets.
Error name

Meaning

Offset type

Correction

Offset Out of Range Error A value that is out of range was

specified for an offset.

User

Change the value of the

offset to a suitable
value.

Offset Not Set Error

There is a member for which

the offsets are not set.

User

Set offsets for all members.

Memory Configuration
Overlap Error

The same memory location is

allocated to more than one
member.

User

Change the values of

the offsets to suitable
values.

Initial Value Setting Error

An initial value was set for a

structure member for which an
offset was specified when creating the variable table.

CJ or User

Do not set an initial

value.

Instructions That Take a Structure as a Parameter

Some instructions pass structure variables as parameters. To do so, specify the structure variable as
the input parameter.
Example: Passing a Member of a Structure Variable to the MOVE Instruction and Passing a Structure Variable to the MOVE Instruction

NJ-series CPU Unit Software Users Manual (W501)

6-43

6
6-3-6 Derivative Data Types

You cannot set initial values for members of structures for which offsets are set. The default initial
value for each data type is used. Refer to When the Initial Value Specification Is Left Blank on
page 6-59.

6-3 Variables

Restrictions in Specifying Member Offsets

6 Programming

Data Type Table

Name
RGB

Member
red

Data type
UINT

green
blue

UINT
UINT

Variable Table
Variable name
Color1

Data type
RGB

Specifying Just One Member of a Structure

MOVE
Color1.red

EN
In

ENO
Out

Transferring only the red member of the Color1 RGB structure to x.

Specifying the Entire Structure

MOVE
Color1

EN
In

ENO
Out

Transferring all members of the Color1 RGB structure to x.

Passing Values to System-defined Structure Input Variables for Certain

Instructions
Some instructions take a predefined structure variable as an input variable.
Example: The Port input variable for the Serial Communications Instructions (which specifies the target port) is a structure with a data type name of _sPORT. When you use one of these
instructions, follow the procedure provided below to create a user-defined structure variable and specify that variable for the input parameter to the instruction.

The system-defined data type for the instruction is registered in the Sysmac Studio in advance.
Select that system-defined data type in the Sysmac Studio and add a user-defined structure
variable to the variable table.

2
3

Use the user program or initial values to set the member values of that structure.
Specify the structure variable for the input parameter to the instruction.

Unions
A union is a derivative data type that enables access to the same data with different data types. You can
specify different data types to access the data, such as a BOOL array with 16 elements, 16 BOOL variables, or a WORD variable.

Expressing Unions and Union Members

Specifying Members
When you define a union, you must name each data type that can be accessed. These names are
called members. You can express individual members of a union by putting a period after the variable name that represents the entire union followed by the member name that you want to access.
Example:
Define the data type as a union as shown for My Union in the following example.
Data Type Definition

6-44

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Name

Member

My Union

Data type

data

WORD

bit

ARRAY [0..15] OF BOOL

Variable Table
Variable name

Data type

Output

My Union

Output.bit[0]:

This notation specifies the 0th element, or value at bit 00, of union Output when it is treated
as a 16-bit BOOL array variable.

Output.data:

This notation specifies the value when union Output is treated as a single WORD variable.

Specifying the Union

The union represents all members that make up the union. Unions are expressed by the name of the
union variable. In the example above, you would write Output.

Creating Unions
Create a union data type in the Union Table.
Specify the data type names and different data types of the members of the union.

Specify the union data type from above as the data type and register the variable in the variable
table.

Example:

Data Type Definitions

Name

Member

OUT16ACCESS

BoolData ARRAY[0..15] of BOOL

ByteData ARRAY[0..1] of BYTE
WordData WORD

Variable name

Data type

Output

OUT16ACCESS

BoolData
[15]

Data type

BoolData
[8]

BoolData
[0]

BoolData
[7]

ByteData
[1]

ByteData
[0]
WordData

Output.WordData := WORD#16#1234;
11

10

0
16#12

0
16#34

*
*
1
*
*
*
*
*
Bit 04 of ByteData[1] is TRUE
Bit 11 of WordData is TRUE

15

14

13

12

16#1234

Output.BoolData[11] :=TRUE;

BoolData
ByteData
WordData

15

14

13

12

NJ-series CPU Unit Software Users Manual (W501)

11

10

*
*
No change

6-45

6-3-6 Derivative Data Types

Here, OUT16_ACCESS is defined as the data type of a union. The members of this union are a
BOOL array with 16 elements and a WORD variable. The variable Output is registered with a data
type of OUT16_ACCESS. You can now read/write variable Output as a BOOL value for any of the 16
bits and as a WORD value.

BoolData
ByteData
WordData

6-3 Variables

6 Programming

Union Specifications
Item

Specification

Data types that can be

specified for members

Refer to the table on the valid data types for union members that is given below.

Number of members

4 max.

Setting initial values

Not supported. Always zero.

Data Types of Union Members

Classification
Basic data types

Derivative data types

Data type

Usage

Boolean and bit strings

Supported.

BOOL and bit string data array specifications

Supported.

Other basic data types

Not supported.

Array specification for structures, unions, and

enumerations

Not supported.

POU instances

Not supported.

Restrictions
The initial values for unions are always zero.
You cannot move unions.
You cannot specify unions for parameters to POUs.

Enumerations (ENUM)
An enumeration is a derivative data type that uses text strings called enumerators to express variable
values. To use an enumeration, you must first set the values that can be obtained from that variable as
enumerators (text strings). Use enumerations to make it easier for humans to understand the meaning
behind the values of a variable.

Expressing Enumerations
When you define an enumeration, you must define the possible values of the variable as enumerators and give the enumeration a name.

Creating Enumerations

Create an enumeration data type in the Enumeration Table.

Set the enumerators and their values for the enumeration.

Specify the enumeration data type from above as the data type and register the variable in the
variable table.
Example:
Here, Color is defined as the data type of an enumeration. For this example, we will set three
enumerators: red, yellow, and green. The numbers associated with these enumerators are as follows: red = 0, yellow = 1, green = 2. The variable DiscColor will change to one of the following:
red (0), yellow (1), or green (2).

6-46

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Enumeration Table
Data type
Color
Enumerator
red
yellow
green
Variable Table
Variable name
DiscColor

FB
(Color)
IN

Color#red

ENUM
Value
0
1
2
Data type
Color

Enumeration Specifications
Item

Specification

Enumerator names

Enumerator names consist of single-byte alphanumeric characters. They are not case
sensitive. A building error will occur if you specify the same enumerator more than
once. A building error will occur if you specify an enumerator with the same name as a
variable in the user program or if you specify an enumerator that already exists in
another enumeration.

Values

Valid range: Integers between 2,147,483,648 and 2,147,483,647

A compiling error will occur if you specify the same value more than once.
Note You cannot perform size comparisons with enumeration variables. You can only
test to see if the enumerators are the same.

Number of enumera- 1 to 2,048

tors

6-3 Variables

Values do not have to be consecutive.

Notation to Use an Enumerator as a Function Block or Function Parameter

Enumerator Only
For a function or function block for which the parameter specifies an enumerator, you can just specify the enumerator.
Example: Passing an Enumerator to the BCDToBins_WORD Instruction
BinToBCDs_WORD
ENO

EN
INT#1234
_BCD1

In

BCDdata

Format

The Format input variable to the BinToBCDs_WORD is specified as an enumerator.

Therefore, it is necessary to specify only the enumerator.

Enumeration#Enumerator Notation
For a function or function block for which the data type of the parameter is not specified, specifying
just the enumerator is not valid. A building error will occur. To clarify that the parameter is an enumerator, the following notation is used: Enumeration#Enumerator.
Example: Passing an Enumerator to the MOVE Instruction
MOVE
Color#red

EN

ENO

In

Out

ColorA

The data type of the In input variable is not specified.

To pass an enumerator, use the Enumeration#Enumerator notation.

NJ-series CPU Unit Software Users Manual (W501)

6-47

6-3-6 Derivative Data Types

There are the following two notations that you can use to specify an enumerator for a function or
function block parameter.

6 Programming

Additional Information
For a function or function block for which the parameter specifies an enumerator, you can also
use the Enumeration#Enumerator notation. Therefore, for the above BinToBCDs_WORD instruction, the following notation can be used to pass the parameter to Format: _eBCD_FORMAT#
_BCD1.

Value Checks
When a value is written to an enumerated variable through execution of an instruction, an error will
not occur even if that value is not defined as one of the enumerators of that variable. Therefore, if it
is necessary to confirm that a value is defined as an enumerator of an enumeration, write the user
program to check the value.

6-48

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-3-7

Array Specifications and Range Specifications for Data Types

You can specify the following attributes for variables with each data types.
Array specifications
Range specifications

Array Specifications (ARRAY[]OF)

Use an array specification for a data type that handles a group of data with the same attributes as a single entity. You can use an array specification for the basic data types and derivative data types. Arrays
are useful when you want to handle multiple pieces of data together as you would, for example, coordinate values for motion control.

Expressing Arrays and Array Elements

Specifying Elements

Examples:

6-3 Variables

The individual pieces of data that make up an array are called elements.
The elements of an array are expressed by adding a subscript (element number) from the start of
the array to the name of the variable that represents the entire array.
Enclose the subscript in single-byte braces []. Subscripts can be either constants or variables. In ST,
you can also use expressions to express subscripts.

Variable Table
Variable name

Data type

Mem

ARRAY[0..99] OF INT

Variable Table
Variable name

Data type

Data

ARRAY[0..99] OF INT

x:=10;
y:=20;
Data[x+y]: This expression specifies the x+yth element of the array variable Data (the variable
x has a value of 10 and variable y has a value of 20, so this would point to the 30th element).

Specifying An Array (i.e., the Entire Array)

The array represents all elements that make up the array. Arrays are expressed by the name of the
array variable. In the above examples, the arrays are written as Mem and Data.

Creating an Array

1
2

Enter A into the Data Type Column of the variable table and select ARRAY[?..?] OF ? from the
list of possible data type name candidates.
Enter the number of the first element in the array for the left question mark and the last number
for the right question mark in the [?..?] section. Next, enter the data type for the question mark
in the OF ? section and register the variable.

NJ-series CPU Unit Software Users Manual (W501)

6-49

6-3-7 Array Specifications and Range Specifications for Data Types

x:=10;
Mem[x]: This expression specifies the xth element of the array variable Mem (the variable x
has a value of 10, so this would point to the 10th element).

6 Programming

Variable Table
Variable name
abc

Data type
ARRAY [ 0 .. 4 ] OF INT
Represents the data type of the array variable.
Represents the last number of the elements of the array.
Represents the first number of the elements of the array.

abc[0]
abc[1]
abc[2]

Array

abc[3]
abc[4]

Array Variable Specifications

Item

Specification

Maximum number
of elements for an
array variable

65,535

Element numbers

0 to 65535
The number for the first element in an array does not have to be 0.

Subscripts

Constants: Integer value between 0 and 65535

Variables:
Classification

Data type
Integer

Basic data type

Derivative data
types
POU instances

Usage

SINT, INT, DINT, USINT, UINT,

or UDINT

Supported.

LINT or ULINT

Not supported.

Boolean, bit string, real, duration, date, time of

day, date and time, or text string data

Not supported.

Structures, unions, and enumerations

Not supported.
Not supported.

Arithmetic expressions: Arithmetic expressions can be specified only in ST.

Example: y:= x[a+b];

Dimensions of Array Variables

You can regard the elements of a one-dimensional array as one-dimensional data lined up in a single row. You can set two-dimensional and three-dimensional arrays in the same way. The array elements are expressed by adding the same number of subscripts to the array variable name as the
number of dimensions. Arrays can have a maximum of three dimensions.

6-50

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Two-dimensional Array Specifications

0

Variable Table

0
Variable name Data type

ARRAY [0..5 , 0..3 ] OF INT

abc

abc[ 2 , 3 ]

3
4
5

Three-dimensional Array Specifications

Variable Table
Variable name Data type
ARRAY [ 0..1, 0..2, 0..3 ] OF INT

ITEM

Y( 0 . 2 )

1
Z( 0 . 3 )

X( 0 . 1 )

You can set an array in which the elements are structures. You can also set a structure in which the
members are arrays.

6-3 Variables

Arrays and Structures

Arrays with Structure Elements

Date Type Table
Member
x
y

Member
INT
DINT

Variable Table
Variable name

Data type

abc

ARRAY [1..4 ] OF Str

6-3-7 Array Specifications and Range Specifications for Data Types

Data type
Str

Variables
abc[1].x
abc[1].y
abc[4].x
abc[4].y

Structure with Array Members

Data Type Table
Data type
Str

Member
x
y

Data type
ARRAY [0..1] OF INT
DINT

Variable Table
Variable name Data type
abc

ARRAY [1..4 ] OF Str

Variables
abc[1].x[0]
abc[1].x[1]
abc[1].y
abc[4].x[0]
abc[4].x[1]
abc[4].y

Instructions with an Array Parameter

Some instructions pass array variables as parameters. To do so, specify only the name of the array
variable as the input parameter.
Example:

Passing a Single Array Element to the MOVE Instruction and Passing an Array to the
MOVE instruction

NJ-series CPU Unit Software Users Manual (W501)

6-51

6 Programming

Specifying One Element in the Array

MOVE
ENO
EN
x[0]

Out

In

y[0]

Variable Table
Moves INT variable x[0] to y[0]

Variable name

Data type

ARRAY [ 0 .. 199 ]OF INT

ARRAY [ 0 .. 199 ]OF INT

Specifying the Array

MOVE
EN

ENO

In

Out

Moves INT variable x[0..199] to y[0..199]

Restrictions:
When you specify an array variable, it must be moved to a variable of the same data type with the same range of element numbers.

Additional Information
You cannot specify part of a multi-dimensional array as a parameter.
MOVE

EN
x[0]

In

Variable Table

ENO
Out

y[0]

Variable name

Data type

ARRAY [ 0..9 , 0..9 , 0..9 ]OF INT

ARRAY [ 0..9 , 0..9 , 0..9 ]OF INT

MOVE
EN

ENO

In

Out

x[0,1]

y[0,1]

Array Protection
The following errors occur if you attempt to access an element that exceeds the number of elements
in an array.

When the Subscript Is a Constant

An error is displayed when you input the variable or when you check the program on the Sysmac
Studio.
MOVE
ENO
In
Out

Variable Table

EN

Variable name Data type

INT#255

ARRAY [1..10] OF INT

[11]

When the Subscript Is a Variable

When an output parameter is assigned to an output variable, the CPU Unit checks to see if the number of elements was exceeded after it executes the instruction. When a subscript variable exceeds
the range of the elements of the array variable, an instruction error occurs. Even if this error occurs,
the value of ENO will be TRUE because internal processing of the instruction ends normally.
Variable Table
Variable name Data type
x

ARRAY [1..10] OF INT

INT#255

MOVE
EN
ENO
In
Out

If the value of variable i exceeds 10,

an instruction error occurs.

[i]

Range Specifications ((..))

Use the range specification to restrict the values of the following integer variables to specific ranges of
values.
Classification
Integers

Data type
SINT, INT, DINT, LINT, USINT, UINT, UDINT, and ULINT

You can check to make sure that the entered value is within the allowed range in the following cases.
When you specify an initial value for a variable
When you write a value to a variable with CIP message communications
6-52

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Making a Range Specification

Input the start point and end point after the data type name in the Data Type Column in the variable
table.
Start point: The minimum value that you can store in the variable.
End point: The maximum value that you can store in the variable.
Example:
Variable Table
Variable name
abc

Data type
INT (0 ..100)

The end point of the range specification

The start point of the range specification
abc

Range specification: Minimum 0 to maximum 100

Specifications of Range Specifications

Item
Variable type

Case

User program

Operation
An error does not occur and the value is written.
The CPU Unit does not perform a range check
when the value of a variable changes due to the
execution of an instruction.

Communications

Write from the

Sysmac Studio
or a CIP message

A command error occurs.

For an element of
an integer array
variable
For a member of an
integer structure
For an integer struc- A command error does not
ture
occur and the value is writFor an integer array ten.

Tag data links

(both via builtin EtherNet/IP
ports and EtherNet/IP Units)

An error occurs if you attempt to write to a single

member that specifies a range. An error does not
occur if you attempt to write to a structure that
contains a member for which a range is specified.

Input refreshing from slaves

and Units

An error does not occur and the value is written.

Forced refreshing values

An error does not occur and the value is written.

NJ-series CPU Unit Software Users Manual (W501)

6-53

6
6-3-7 Array Specifications and Range Specifications for Data Types

When the value is

an integer

Operation for
attempts to write
out-of-range
value

6-3 Variables

Data types that

you can specify

Specification

6 Programming

Precautions for Correct Use

Variables with range specifications are not checked for changes in variable values that result
from the execution of instructions in the user program. To check the range of values for a variable
that are set from execution of the user program, use instructions that perform range checks.
Variable Table
Variable name

Data type

Variable x

INT(10 .. 100)

ChkRange

MOVE

EN

EN

ENO

In

Out

Variable x
In
Variable i

Variable i

Variable x

Val

You cannot perform any checks beforehand if you set data with arithmetic processing results. In
this case, check the range of values after arithmetic processing (e.g., ADD).
Variable Table
ADD
EN

ENO

In1

Variable name

Data type

Variable A

INT(10 .. 100)

Variable tmp

In2

ChkRange

MOVE

EN
Variable tmp
Variable A

In

Variable tmp

EN

ENO

In

Out

Variable A

Val

If the results of the arithmetic

processing are within the range, set
variable A to the value.

Make sure that the initial value is within the range specified for the Range Specification. If the initial value field on the Sysmac Studio is left blank, an initial value of 0 is used. This applies even if
a range that does not include 0 is set for a Range Specification.

6-3-8

Variable Attributes
This section describes the variable attributes other than the Data Type.

Variable Name
The variable name is used to identify the variable. Each variable in a POU must have a unique name.
However, you can declare local variables with the same variable name in different POUs. These are
treated as two separate variables.
Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names for restrictions on
variable names.

6-54

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

AT Specification
Use the AT Specification attribute to specify the internal I/O memory address of a variable in memory
used for CJ-series Units. AT specifications are used mainly to specify specific memory addresses for
the following Special Units.
Addresses in fixed allocations for DeviceNet Units
Addresses in user-specified allocations for DeviceNet Units or CompoNet Master Units from the CXIntegrator (A CompoNet Master Unit must be set to communications mode 8 to use the CX-Integrator.)
Addresses in expansion memory for High-speed Counter Units
Addresses in expansion memory for Process I/O Units
Addresses in target node information and user-defined status areas that are used with EtherNet/IP
Units
If this attribute is not set, the variable is automatically assigned to an address in variable memory.
Additional Information
When you assign a device variable to an I/O port, they are automatically given an AT specification internally.
6-3 Variables

Allocation Areas
You can specify addresses in the following areas.
Area

Expression

CIO 0 to CIO 6143

Work

W0 to W511

Holding

H0 to H1535

DM

D0 to D32767

EM

NJ501-: E0_0 to E18_32767

NJ301-: E0_0 to E3_32767

6-3-8 Variable Attributes

CIO

The following table gives the data assignments by variable data type.
Variable data type
BOOL

Assignment position
You can specify an assignment for each bit.
You can specify bit 0 or bit 8 of the specified CJ-series address as the start
position of the data assignment.

BYTE/SINT/USINT

Example 1: AT Specification at Bit 0 of D100 (%D100)

D100: 16#**12....One-byte data (12) is stored from bit 0.
Example 2: AT Specification at Bit 8 of D100 (%D100.8)
D100: 16#12**....One-byte data (12) is stored from bit 8.

WORD/INT/UINT
DWORD/DINT/UDINT
REAL

Stored in increments of the data size from bit 0 of the specified CJ-series
address.

LWORD/LINT/ULINT
LREAL
STRING
TIME
DATE
TIME_OF_DAY
DATER_AND_TIME

You can specify bit 0 or bit 8 of the specified CJ-series address as the start
position of the data assignment.
Stored in increments of the data size from bit 0 of the specified CJ-series
address.

NJ-series CPU Unit Software Users Manual (W501)

6-55

6 Programming

Variables for Which You Can Set AT Specifications

AT specifications are made separately for each variable. Set them for all elements and members of
array, structure, and union variables.

Attributes of Variables with AT Specifications

Specification
Name

Supported.

Data Type

Supported.

Remarks

Supported.

An error occurs if the setting of the Retain attribute does not

agree with the attribute of the CJ-series Unit memory where the
address is assigned.

Supported.

Set the initial value setting to None if you want to use the memory
value as it is.

Constant

Supported.

You cannot write to a constant with an instruction.

Network Publish

Supported.

Retain

Initial Value

Not supported.

Edge

(You can specify the Edge attribute only for function block input
variables.)

Entering and Displaying AT Specifications

When you specify the AT Specification attribute, input the following in the Allocated Address Box of
the variable table in the Sysmac Studio. The following is displayed in the Allocated Address Box of
the variable table or the I/O Map.
Type of variable

Entries and displays in the AT

field.

Example

User-defined variables with AT

specifications to word addresses

%[word_address]

%D100

User-defined variables with AT

specifications to bit addresses

%[word_address].[bit_position]

%W0.00

The following variables are also allocated an address internally. The following is displayed in the
Allocated Address Box.
Type of variable

Displays in the AT field.

Example

IOBus://rack#[rack_number]/slot#[
slot_number]/[I/O_port_number]

Basic I/O Units:

IOBus://rack#0/slot#1/Ch1_In/Ch1
_In00

Device variables for CJ-series

Units

For NX Units on EtherCAT Slave

Terminals:
ECAT://node#[node_address.NX_
Unit_number]/[I/O_port_name]

ECAT://node#[10.15]/Input1

Other device variables:

ECAT://node#[node_address]/[I/O
_port_name]

ECAT://node#1/Input1

Axis Variables

MC://_MC_AX[]

MC://_MC_AX[1]

Axes Group Variables

MC://_MC_GRP[]

MC://_MC_GR[1]

Device variables for EtherCAT

slaves

6-56

Special Units:
IOBus://rack#0/slot#1/PeakHoldCmd/ch1_PeakHoldCmd

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Precautions for Correct Use

You can assign the same address to more than one variable. However, this is not recommended
as it reduces readability and makes the program more difficult to debug. If you do this, set an initial value for only one of the variables. If you set a different initial value for each individual variable, the initial value is not stable.

Additional Information
You cannot use an AT specification for an EtherCAT slave. Always specify the device variables
for EtherCAT slaves.

Retain
Use the Retain attribute to specify whether a variable should retain its value in the following cases.
When power is turned ON after power interruption
When the operating mode is changed
If the Retain attribute is not set, the value of the variable is reset to its initial value in the above situations.
You can specify the Retain attribute when you need to retain the data that is stored in a variable (such
as the manufacturing quantities) even after the power to the Controller is turned OFF.

Conditions Required to Enable the Retain Attribute

The CPU Unit must contain a Battery.

Using Initial Values for Retain Variables

When you download the user program, select the Clear the present values of variables with Retain
attribute Check Box.

Operation with and without the Retain Attribute

The following table shows when variable values are retained or not.
Values of variables
Case
When power is turned ON after power interruption

Retain attribute specified

Retained.

Retain attribute not

specified
Not retained.

When the operating mode is changed

When a major fault level Controller error occurs

When you download the

user program

When the Clear the present values of variables

with Retain attribute
Check Box is selected.
When the check box is
not selected.

NJ-series CPU Unit Software Users Manual (W501)

Not retained.

6-57

6
6-3-8 Variable Attributes

For a variable with an AT specification, the setting of the Retain attribute must agree with address in the
memory area where the address is assigned.
(Retained areas: Holding, DM, and EM Areas
Non-retained areas: CIO and Work Areas)

6-3 Variables

When a major fault level Controller error occurs

6 Programming

Variables for Which You Can Specify the Retain Attribute

AT specifications are made separately for each variable. Set them for all elements and members of
array, structure, and union variables.

Initial Value
The variable is set to the initial value in the following situations.
When power is turned ON
When changing between RUN mode and PROGRAM mode
When you select the Clear the present value of variables with Retain attribute Check Box, and download the user program
When a major fault level Controller error occurs
You can set an initial value for a variable in advance so that you do not have to write a program to initialize all of the variables. For example, you can preset data such as a recipe as initial values. You do not
have to set any initial values.

Types of Variables That Can Have Initial Values

You can set initial values for only some types of variables. A list is provided below.
Type of variable

Initial Value

Global variables

Supported.

Internal variables
Input variables
Output variables
Return values of functions

Not supported.

In-out variables
External variables

Enabling an Initial Value

You can specify whether a variable has an initial value when you create the variable.
Initial Value Specified
Initial value

Initial value

Or
(Blank)

3.14

No Initial Value Specified

Initial value
None

The following table shows the variables for which you can set an initial value.
Type
Basic data type variables

Enabling an Initial Value

Supported.

Arrays

bbb

Supported.

Elements

bbb[2]

Not supported.

Structures

ddd

Supported.

Members

ddd.xxx

Not supported.

Unions

eee

Not supported (initial values are always 0).

Members

eee.word

Initial values are always 0.

Enumerated variables

ccc

Supported.

POU instances

instance

Not supported.

Array variables
Structure variables
Union variables

6-58

Example
aaa

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Additional Information
Some Basic I/O Units have more than one access method for the same I/O port, such as bit
string data and BOOL data. If you use initial values for this type of I/O port, set the initial values
for one of the access types to None.

When Initial Values Are Set

The initial value is assigned to the variable at the following times.
When power is turned ON
When the operating mode changes from PROGRAM to RUN mode or from RUN to PROGRAM
mode
When you select the Clear the present value of variables with Retain attribute Check Box, and
download the user program
When a major fault level Controller error occurs

When the Initial Value Specification Is Left Blank

The following initial values are used for variables for which the initial value specification is left blank.
Default initial value

BOOL, BYTE, WORD, DWORD,

and LWORD

Integers

SINT, INT, DINT, LINT, USINT,

UINT, UDINT, and ULINT

Real numbers

REAL and LREAL

0.0

TIME

T#0S

DATE

D#1970-01-01

TIME_OF_DAY

TOD#00:00:00

DATE_AND_TIME

DT#1970-01-01-00:00:00

STRING

(blank character)

Durations, dates, times of day,

and dates and times

Text strings

6
6-3-8 Variable Attributes

Boolean and bit strings

6-3 Variables

Data type

Initial Value of Array Variables

Data type
Array specifications

Initial value specifications

You can specify an initial value for each element.
To specify initial values, you must specify a value or leave the specification
blank for each element.

Initial Values for Derivative Data Types

You do not specify an initial value for the data type itself. You set an initial value for each individual
variable.
Data type

Initial value specifications

Structures

You can specify an initial value for each member.

To specify initial values, you must specify a value or leave the specification
blank for each element.

Unions

Initial values cannot be specified. Always zero.

Enumerations

Initial values can be specified.

Variables That Do Not Apply Initial Values

For the following variables, initial values are not applied when the power is turned ON, and the values before the power interruption are retained.
Variables with Retain attribute
NJ-series CPU Unit Software Users Manual (W501)

6-59

6 Programming

Variables with AT specifications (retained areas or DM, Holding, or EM Area specifications only)
Precautions for Correct Use
If the CPU Unit has no Battery, the above variables are also initialized.

Constant
If you specify the Constant attribute, the value of the variable cannot be written by any instructions, ST
operators, or CIP message communications. Setting the Constant attribute will prevent any program
from overwriting the variable. The values of variables with a Constant attribute cannot be written from
instructions after the initial value is set. If there is an instruction in a POU that attempts to write a value
to a variable with the Constant attribute, an error will occur when the user program is compiled.

Operation
If there is an instruction or operator in a POU that attempts to write a value to a variable with the
Constant attribute, the following operations will occur.
Source

An error is detected during the program check. The Sysmac

Studio checks the program when it is built. A building error
occurs at that time.

User program

Communications

Operation for attempts to write the value

Writing from Sysmac Studio

Not supported.

CIP messages

A command error occurs.

Tag data links

An error occurs when a tag data link starts. The tag data link will
continue to operate. However, the values of variables with the
Constant attribute are not written.

Input refreshing from slaves and Units

An error does not occur and the value is written.

Forced refreshing

Range for Constant Attribute Specification

The Constant attribute is specified separately for each variable. Set them for all elements and members of array, structure, and union variables.
Additional Information
You cannot write to variables with the Constant attribute from the user program.

Network Publish
The Network Publish attribute allows a variable to be read/written from external devices (other Controllers, host computers, etc.) through CIP message communications or tag data links. If this attribute is not
set, you can read/write the variable from the Controller that declared the variable and external devices
(other Controllers, host computers, etc.) cannot read/write that variable.
Variables that have been published to the network are called network variables.

6-60

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Network Publish Specifications

There are three specifications for publishing variables to the network: Publish Only, Input, and Output. The specifications are given in the following table.
Network Publish
Do not publish

Publish

Specifications
You cannot access a variable with this attribute from external devices.
However, Support Software can still access the variable regardless of
this setting.

Publish Only

You can access a variable with this attribute from external devices
through CIP communications. Tag data links are not possible for variables with this attribute setting.

Input

You can access a variable with this attribute from external devices
through CIP communications or a tag data link. For tag data links, this
will be a variable for data input (from another CPU Unit to the local CPU
Unit).

Output

You can access a variable with this attribute from external devices
through CIP communications or a tag data link. For tag data links, this
will be a variable for data output (from the local CPU Unit to another
CPU Unit).

Ranges for Published to the Network

6-3 Variables

The Network publish attribute is specified separately for each variable. Set them for all elements and
members of array, structure, and union variables.

Edge

Application
Use the Edge attribute when you want the function block to accept the input only when the input
parameter changes from FALSE to TRUE or from TRUE to FALSE. For example, you can use this
attribute when you want to execute the function block any time there is a change detected in an input
parameter.

Operation
If you specify a change to TRUE, the input variable changes to TRUE only when the input parameter connected to that input variable changes from FALSE to TRUE.
If you specify a change to FALSE, the input variable changes to TRUE only when the input parameter changes from TRUE to FALSE.
Specification
Change to TRUE
Change to FALSE
None

NJ-series CPU Unit Software Users Manual (W501)

Value of input parameter

Value of variable

FALSE to TRUE

TRUE

Other

FALSE

TRUE to FALSE

TRUE

Other

FALSE

---

Changes according to the input

parameter value.

6-61

6
6-3-8 Variable Attributes

The Edge attribute makes the variable pass TRUE to a function block when a BOOL variable changes
from FALSE to TRUE or from TRUE to FALSE. You can specify the Edge attribute only for BOOL input
variables to function blocks.

6 Programming

6-3-9

Changes to Variables for Status Changes

The values of variables in the CPU Unit will change as shown in the following table when the power is
turned ON, when the operating mode changes, when the variable table is downloaded, when a major
fault level Controller error occurs, or during online editing.
After downloading
Retain
attribute of
variable

Type of variable

User-defined variables

Non-retain

AT specifications for
CIO and
Work Area
addresses
in the memory used
for CJseries Units
Device variables for
EtherCAT slaves

Device variables for

CJ-series Units
CIO and Work Area
addresses in the
memory used for CJseries Units*2

6-62

When power is
turned ON

When operating
mode changes

When the Clear the

present values of
variables with
Retain attribute
Check Box is
selected.

When the check

box is not
selected.

If initial values are set, the variables change to the initial values.
If initial values are not set (None), the variables change to 16#00.*1
If initial values are set, the variables
change to the initial values.

If initial values are set, the variables

change to the initial values.

If initial values are not set (None), the

variables change to 16#00.*1

If initial values are not set (None), the

previous value is retained.

If initial values are set, the variables change to the initial values.
If initial values are not set (None), the variables change to 16#00.*1
If initial values are set, the variables
change to the initial values.

If initial values are set, the variables

change to the initial values.

If initial values are not set (None), the

variables change to 16#00.*1

If initial values are not set (None), the

previous value is retained.

16#00

The previous values are retained.

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

After downloading
Retain
attribute of
variable

When power is
turned ON

When operating
mode changes

No change (retains
value before power
interruption).

No change (i.e.,
the values in RUN
mode are
retained).

Type of variable

Retain
condition is
met.*3

Retain condition is not

met.*3
Userdefined
variables

If initial values are

set, the variables
change to the initial values.
If initial values are
not set (None),
the variables
change to
16#00.*1

If initial values are

not set (None),
the variables
change to
16#00.*1

If initial values are

not set (None),
the variables
change to the values of the memory addresses in
the AT specifications.

If initial values are

not set (None),
the variables
change to the values of the memory addresses in
the AT specifications.
The previous values
are retained.

Holding, DM, and EM

Area addresses in the
memory used for CJseries Units*2

If initial values are

set, the variables
change to the initial values.

The variables
change to the values of the memory
addresses in the AT
specifications.

The previous values are retained.

If device variables
for CJ-series Units
are assigned to
setup data in the
DM Area, the initial values that are
set for the variables are used.
If user-defined
variables are
assigned, the initial values of the
variables are
used.

*1 Values other than 16#00 may be used depending on the data type. For details, refer to When the Initial Value
Specification Is Left Blank on page 6-59.
*2 This does not include user-defined variables and device variables for CJ-series Units if they have AT specifications.
*3 Retain condition: Indicates that all of the following conditions are met both before and after the download.
The variable name is the same.
NJ-series CPU Unit Software Users Manual (W501)

6-63

6
6-3-9 Changes to Variables for Status Changes

Device variables for

CJ-series Units

The values from

before the download
are retained.

If initial values are

set, the variables
change to the initial values.

If initial values are

set, the variables
change to the initial values.

Retain

When the check

box is not
selected.

6-3 Variables

AT specifications for
Holding,
DM, and EM
Area
addresses
in the memory used
for CJseries Units

When the Clear the

present values of
variables with
Retain attribute
Check Box is
selected.

6 Programming

The data type name and data type size are the same.
The Retain attribute is set to retain the value of the variable.
Retain attribute
of variable

Non-retain

Type of variable

User-defined variables and device variables

CIO and Work memory areas for CJseries Units

User-defined variables and device variables

Retain

When a major fault level

Controller error occurs

Variable in a POU for

online editing.

If initial values are set,

the variables change to
the initial values.

If initial values are set,

the variables change to
the initial values.

No change

If initial values are not

set, the variables
change to 16#00.

If initial values are not

set, the variables
change to 16#00.

16#00

No change

No change (retains value

before error).

If initial values are set,

the variables change to
the initial values.
If initial values are not
set, the variables
change to 16#00.

Holding, DM, and EM

memory areas for CJseries Units
Others

Forced refreshing
status

During online editing

Variable added to a POU
for online editing.

No change

Cleared.

No change

6-3-10 Function Block Instances

Function block instances are added to and displayed in the local variable table as a data type.
Additional Information
A function block instance is treated as a local variable of the program in which the instance is
created. As such, the instance is added to and displayed in the local variable table of the program. You cannot treat these instances as global variables.

6-3-11 Monitoring Variable Values

You can monitor the value of variables from a Watch Tab Page on the Sysmac Studio.

Select Watch Tab Page from the View Menu. The Watch Tab Page is displayed.
The Watch Tab Page is displayed.

Establish an online connection with the Controller and register the variables in one of the following ways.
(1) Enter the variable in the name cell in the Watch Tab Page.
(2) Drag variables to the Watch Tab Page from an editor or variable table.
The present values of the variables are displayed.

6-64

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-3-12 Restrictions on Variable Names and Other Program-related

Names
The following is a list of restrictions on program-related names.

Character Restrictions
Program-related
name
Variable name
(including POU
instance names)
POU definition
names
Data type

Enumerators
Task names
Namespaces
Full paths of variable names

Section names
Axis names
Axes group names

Usable characters
0 to 9, A to Z, and a to z
Single-byte kana
_ (underlines)
Multibyte characters (e.g., Japanese)
Refer to Reserved Words below
for a list of the reserved words.

Refer to
Reserved
Words
below.

Multibyte
character
compatibility
Supported.

Characters that cannot be used

together
A text string that starts with a
number (0 to 9)
Strings that start with P_
A text string that starts in an
underline (_) character
A text string that contains more
than one underline (_) character
A text string that ends in an
underline (_) character
Any text string that consists of
an identifier and has a prefix or
postfix which contains more
than one extended empty space
character (i.e., multi-byte spaces
or any other empty Unicode
space characters)

Case
sensitivity
Not case
sensitive.

Maximum
size (not
including
NULL)
127 bytes

Character
encoding
UTF-8*

63 bytes
93 bytes
Network variable: 255
bytes
Other: 511
bytes

127 bytes
Case
sensitive.
Not case
sensitive.

Cam table names

* For UTF-8, single-byte alphanumeric characters each use 1 byte. Multibyte characters each use more than 1
byte. Japanese characters require approximately 3 bytes.

Reserved Words
An error is detected during the program check for the following names.
A name that is the same as any of the instructions that are described in NJ-series Instructions Reference Manual (Cat. No. W502)
A name that is the same as any of the instructions that are described in NJ-series Motion Control
Instructions Reference Manual (Cat. No. W508)
Words that are reserved by the system

NJ-series CPU Unit Software Users Manual (W501)

6-65

6-3-12 Restrictions on Variable Names and Other Program-related Names

Device names

Reserved
words

6-3 Variables

Structure member
names and union
member names

Applicable characters

6 Programming

Names That Must Be Unique

The following names must be unique. An error is detected during the program check if they are not.
Global variable names in the same CPU Unit
Variable names in the same POU
Section names in the same POU
Member names in the same union or structure
Enumerators in the same enumeration
Local variable names and global variable names
POU names and data type names
Data type names and variable names
Enumerators of an enumeration and enumerators of another enumeration
Enumerators and variable names

6-66

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-4

Constants (Literals)
This section describes constants in detail.

6-4-1

Constants
The value of a variable changes depending on the data that is assigned to that variable. The value of a
constant never changes. Unlike variables, constants are not stored in memory. You can use constants
in the algorithm of a POU without the need to declare them. In the NJ-series Controllers, constants
have a data type in the same way as variables,

6-4-2

Types of Constants
6-4 Constants (Literals)

The following types of constants can be used with NJ-series Controllers.

Bits
Numbers
Bit strings
Times
Text strings
Enumerators of enumerated variables
The following tables show the notation for different constants in an NJ-series Controller. A building error
is detected if you use any other notation in programming.

Notation

Example

Remarks

TRUE or FALSE

TRUE or FALSE

TRUE is equivalent to BOOL#1.

{data_type}#{numeric_value]

BOOL#1 or BOOL#0

FALSE is equivalent to BOOL#0.

Precautions for Correct Use

You cannot express a BOOL value as 0 or 1. A building error will occur.
Example:

Wrong: BOOL_variable:=1;
Correct: BOOL_variable:=TRUE; or BOOL_variable:=BOOL#1;

Numbers
Integers
Notation

Example

Remarks

{data_type}#{base}#{numeric_value]

INT#10#1

Data types: SINT, USINT, INT, UINT, DINT, UDINT,

LINT, or ULINT
Base: 2, 8, 10, or 16

{data_type}#{numeric_value]

INT#1

This is interpreted as decimal data.

{numeric_value}

This is interpreted as DINT decimal data.

NJ-series CPU Unit Software Users Manual (W501)

6-67

6-4-1 Constants

Bits

6 Programming

Note You cannot omit {data_type}# and just enter {base}#{numeric_value]. Any variables that are entered in that
form for instruction parameters result in errors.
Example: You cannot enter only #16#1A.
If different data types are used, an error may occur when you build the program. We therefore recommend
that you include {data_type}# when you specify data types.

Real Data
Notation
{data_type}#{base}#{numeric_value]

Example
LREAL#10#3.14

Remarks
Data types: REAL or LREAL
Base: 10

{data_type}#{numeric_value]

LREAL#3.14

This is interpreted as decimal data.

{numeric_value}

3.14

If {data_type} is omitted, the value is interpreted

as LREAL decimal data.

Note Express real-number variables as REALnumeric_value.

Example:
Correct: REAL_variable:= REAL#3.14
Wrong: REAL_variable:=3.14;

Bit Strings
Bit String Data
Notation
{data_type}#{base}#{numeric_value]

Example
WORD#16#0064

Remarks
Data types: BYTE, WORD, DWORD, or LWORD
Base: 2, 8, 10, or 16

Note Express bit string data as bit_string_data_type#base#numeric_value.

Example:
Correct: bit_string_variable:=WORD#16#3
Wrong: bit_string_variable:=3

Precautions for Correct Use

You cannot compare the sizes of bit string data types (BYTE, WORD, DWORD, and LWORD).
You must convert variables of these types to an integer data type with a data conversion
instruction (e.g., WORD_TO_UINT) before you can compare the values.
Example:
BCD_data : WORD
IF WORD_BCD_TO _UINT(BCD_data)> UINT#1234 THEN
You cannot perform logic processing on integer data types (SINT, INT, DINT, LINT, USINT,
UINT, UDINT, and ULINT). You must convert variables of these types to a bit string data type
with a data conversion instruction (e.g., INT_TO_WORD) before you can perform logic operations.
Example:
a : INT
IF INT_TO_WORD(a) AND WORD#16#0001 THEN (*When a is odd*)

6-68

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Time-related Data
Durations
Notation

Example

TIME#{day}d{hour}h{mi
nutes}m{seconds}s{milliseconds}ms

TIME#61m5s

T#{day}d{hour}h{minutes}m{seconds}s{milliseconds}ms

T#61m5s

Remarks
You can also include decimal points such as in T#12d3.5h.
You can also include numerical values that are greater than the
valid range of times. For example, T#-61m5s expresses the same
time as T#-1h1m5s.
The numerical value is interpreted as a decimal number. If any
number that is not a decimal number is used, a building error will
occur.
You can specify the order of the time any way you want. For
example, TIME#1h_2d is a valid expression. As long as there is
at least one of the following: {day}, {hour}, {minutes}, {seconds},
{milliseconds}, no building error will occur.

Notation

Example

DATE#{year}-{month}{day}

DATE#2010-110

D#{year}-{month}-{day}

D#2010-1-10

Remarks
You can add one or more zeroes to the beginning of the year,
month, and day. For example, D#2010-1-10 expresses the same
date as D#2010-01-10.
A building error will occur if you specify any numerical value that
overflows the valid dates. For example, D#2010-01-35 will cause
an error.
The numerical value is interpreted as a decimal number. If any
number that is not a decimal number is used, a building error will
occur.

Notation

Example

Remarks

TIME_OF_DAY#{hour}:{ TIME_OF_DAY# You can add one or more zeroes to the beginning of the hour,
minutes}:{seconds}
23:59:59.99999
minute, and second. For example, D#23:1:1: expresses the same
9999
date as D#23:01:01.
TOD#{hour}:{minTOD#23:59:59.9 A building error will occur if you specify any numerical value that
overflows valid times. For example, D#24:00:00 will cause an
utes}:{seconds}
99999999
error.
The numerical value is interpreted as a decimal number. If any
number that is not a decimal number is used, a building error will
occur.

Dates and Times

Notation

Example

Remarks

DATE_AND_TIME#{ye
ar}-{month}{day}:{hour}:{minutes}:{seconds}

DATE_AND_TI
This is the same as the date data and time data types.
ME#2010-1010-23:59:59.123

DT#{year}-{month}{day}:{hour}:{minutes}:{seconds}

DT#2010-10-1023:59:59.123

NJ-series CPU Unit Software Users Manual (W501)

6-69

6
6-4-2 Types of Constants

Times of Day

6-4 Constants (Literals)

Dates

6 Programming

Text Strings
Text String Data
Notation

Example

String

This is a string

STRING#' String'*1

STRING#' This is a
string'

Remarks
Enclose the string in single-byte single quotation marks
().
If you want to insert tabs, line break codes, or other special characters, you can use a dollar sign ($) as an escape
character before them. (Refer to the following table.)
You can also specify a string with 0 characters.
As in the following example, a building error will occur if
you specify any strings that span across multiple lines.
strVar := 'ABC
DEF'

*1 You can use this notation in the Sysmac Studio version 1.08 or higher.

Escape Character List

Escape character

Name

Meaning

$$

Single-byte dollar sign

Single-byte dollar sign ($: character code 0x24)

$'

Single-byte single quotation mark

Single-byte single quotation mark (: character code 0x27)

$L or $l

Line feed

Moves the cursor to the next line.

LF control character (line feed: character code 0x0A)

$N or $n

Vertical tab

$P or $p

Form feed

Moves the cursor to the next line.

NL control character (vertical tab: character code 0x0B)
Moves the cursor to the next page.
FF control character (form feed: character code 0x0C)

$R or $r

Carriage return

Moves the cursor to the start of the line.

CR control character (carriage return: character code
0x0D)

$T or $t

Horizontal tab

Indicates a tab.
Tab character (character code 0x09)

$"

Single-byte double quotation mark

Outputs a single-byte double quotation mark (character

code 0x22).

$(two-digit hexadecimal number)

Direct character code

specification

Specify the character code as two-digit hexadecimal in

parentheses. Character codes are two-digit hexadecimal
numbers that range from 00 to FF.
For example, $L is the same as $0A. UTF-8 character
codes cannot be expressed in a single byte. But, for example, the character code for the Japanese character is
0xE38182 which can be represented as $E3$81$82.

6-70

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Enumerators of Enumerated Variables

Notation
Enumerator

Example
_WED

Remarks
You can use this notation to pass an enumerator to a function or
function block for which the parameter specifies an enumerator.
Example: The parameter that passes an enumerator to the Format input variable in the BinToBCDs_** instruction.

Enumeration#Enumerator

_eDAYOFWEEK# Use this notation in all other cases. A building error will occur if
_WED
you do not use this notation.
Example: The parameter that passes a value to the In input
variable in the MOVE instruction.

6-4 Constants (Literals)

6
6-4-2 Types of Constants

NJ-series CPU Unit Software Users Manual (W501)

6-71

6 Programming

6-5

Programming Languages
This section describes the programming languages in detail. Refer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504) for details on entering programs with the Sysmac Studio.

6-5-1

Programming Languages
The languages used to express the algorithms in a POU (program, function, or function block) are
called the programming languages. There are two different programming languages that you can use
for an NJ-series Controller: ladder diagram language (LD) and ST (structured text) language.

6-5-2

Ladder Diagram Language

The ladder diagram language (LD) is a graphical programming language that is written in a form that
appears similar to electrical circuits. Each object for processing, including functions and function blocks,
is represented as a diagram. Those objects are connected together with lines to build the algorithm.
Algorithms that are written in the ladder diagram language are called ladder diagrams.

General Structure of the Ladder Diagram Language

A ladder diagram consists of left and right bus bars, connecting lines, ladder diagram structure elements (e.g., inputs and outputs), functions, and function blocks.*
* Only Jump instructions and Label instructions are expressed with symbols that indicate the jumps and labels.

Algorithms are made of multiple rungs connected together. A rung is a connection of all configuration
elements between the left bus bar and the right bus bar. A program rung consists of logic blocks that
begin with an LD/LD NOT instruction that indicates a logical start.
Input
Left bus bar

Function or function block

Output
Connecting line
Right bus bar
Rungs
Logic blocks

Bus Bars
The vertical lines on the left and right sides of a ladder diagram are called the bus bars. These bus
bars always have a status of either TRUE or FALSE. If you think of the ladder diagram as an electrical circuit, these states represent the flow of current through the circuit. When a POU that is written
as a ladder diagram is executed, the value of the left bus bar changes to TRUE. As a result, all
inputs and other configuration elements connected to the left bus bar also become TRUE. Execution
progresses as elements to the right are also changed to TRUE based on the operation of these configuration elements. This cascade of the TRUE state is called the power flow. The left bus bar is the
source of this power flow.

6-72

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Connecting line
The straight horizontal lines that connect the bus bar and the configuration elements are called connecting lines. Connecting lines can be either TRUE or FALSE and can transfer the power flow from
the left to the right.

Inputs
Inputs are placed along the connecting line to receive the power flow and operate accordingly. There
are several different types of inputs and, depending on their specifications, they will either transfer
the power flow from the left to the right or prevent the power flow from passing through. When an
input transfers the power flow to the right, the connecting line to the right of the input will become
TRUE. If the power flow is inhibited, the connecting line to the right of the input will remain FLASE.
For detailed specifications on inputs, refer to the NJ-series Instructions Reference Manual (Cat. No.
W502).

Output

Functions and Function Blocks

Functions and function blocks are placed along the connecting line to receive the power flow and
operate accordingly. For detailed instruction specifications, refer to the NJ-series Instructions Reference Manual (Cat. No. W502).

Order of Execution for Ladder Diagrams

Ladder Diagram Completion

A ladder diagram is executed in order from top to bottom. When the execution reaches the very bottom,
the process is completed. However, the process will also end if an END or RETURN instruction is
encountered at any point during the process. No processes after those instructions are executed.

Controlling Execution of Ladder Diagrams

Ladder diagrams are generally executed from top to bottom, but you can use execution control instructions to change the execution order. In the following example, when the value of program input a
changes to TRUE, execution will move to the point labeled ExceptionProcessing.
Input a
Label: ExceptionProcessing
Input c

Label: ExceptionProcessing
Input d

Input e

NJ-series CPU Unit Software Users Manual (W501)

6-73

6-5-2 Ladder Diagram Language

Inputs, outputs, functions, and function blocks are executed when they receive the power flow. The
order of execution for a ladder diagram is from top to bottom. Elements at the same level are executed
from left to right.

Input b

6-5 Programming Languages

Outputs are placed along the connecting line to receive the power flow and operate accordingly. An
output writes the TRUE or FALSE value to a variable. There are different types of outputs. For
detailed specifications on outputs, refer to the NJ-series Instructions Reference Manual (Cat. No.
W502).

6 Programming

Connecting Functions and Function Blocks in a Ladder Diagram

Connection Configurations
You use the following two types of connections for functions or function blocks.

1) Power Flow Input and Output

In a ladder diagram, the line that connects an input variable of a function or function block and the
left bus bar indicates a BOOL input and the line that connects an output variable to the right bus bar
indicates a BOOL output.
Example:
Inputs are connected in the power flow that connects to the left bus bar. Outputs are connected in
the power flow that connects to the right bus bar.

x1

y2

FB

x2

IN1

OUT1

IN2

OUT2

y2

2) Parameter Inputs and Parameter Outputs

In a ladder diagram, parameter inputs and outputs are specified when the input and output variables
of a function or function block are not connected to the left and right bus bars.

x1

y2

FB

x2

IN1

OUT1

IN2

OUT2

y2

As shown below, you can specify either variables or constants for input and output parameters.
Function/function block variables

Input parameters

Output parameters

Input variables

You can specify variables or constants.

---

Output variables

---

You can specify only variables.

In-out variables

You can specify only variables.

You can specify only variables.

Number of BOOL Variables

At least one BOOL variable each is required for the input and the output (such as EN and ENO) of a
function or function block.
Example:
BOOL variable
(BOOL)
IN
(INT)
Val_In

6-74

BOOL variable

MyFB
(BOOL)
Q

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Connections Based on the BOOL Variable Positions

The top BOOL variables are connected to the left and right bus bars. In other words, they become
the power flow input and power flow output.
Top BOOL
variable

Power flow

MyFB
(BOOL)
IN
(INT)
Val_In

(INT)
Val_Out
(BOOL)
Q

Top BOOL variable

Power flow

There is only one power flow input and one power flow output for each function or function block. All
other BOOL variables that are not at the top are for parameter inputs and parameter outputs.
MyFB
(INT)
Val_Out
(BOOL)
Q1
(BOOL)
Q2

BOOL variable that is not

at the top
b
Parameter output

Parameter input

You cannot connect multiple BOOL variables to the left bus bar or the right bus bar as shown below.
RS
(BOOL)
Set
(BOOL)

NG

(BOOL)
Q1

Reset1

(INT)
Val_Out
(BOOL)
Q1
(BOOL)
Q2

NG

You do not have to connect an OUT instruction to the right bus bar. You can connect the function or
function block directly.
MyFB

OK

(BOOL)
Q

A LD instruction is not necessarily required. You can also connect directly to the left bus bar.

OK

MyFB
(BOOL)
IN
(INT)
Val_In

NJ-series CPU Unit Software Users Manual (W501)

(BOOL)
Q

6-75

6-5-2 Ladder Diagram Language

MyFB
(BOOL)
IN
(INT)
Val_In

(BOOL)
IN
(INT)
Val_In

6-5 Programming Languages

BOOL variable
that is not at the
top
a

(BOOL)
IN1
(INT)
Val_In
(BOOL)
IN2

6 Programming

Cascade Connections
Cascade connections in which the output of a function or function block is connected to the input of
another function or function block are allowed only for power flow outputs and inputs.
Example:
CIPRead
GO

(BOOL)
Execute
(BOOL)
Handle
(BOOL)
SrcDat
(BOOL)
Size
(BOOL)
DstDat

CIPRead
(BOOL)
Done
(BOOL)
Busy
(BOOL)
Error
(BOOL)
ErrorID

(BOOL)
Execute
(BOOL)
Handle
(BOOL)
SrcDat
(BOOL)
Size
(BOOL)
DstDat

(BOOL)
Done
(BOOL)
Busy
(BOOL)
Error
(BOOL)
ErrorID

(BOOL)
ErrorIDEx
(BOOL)
RcvSize

(BOOL)
ErrorIDEx
(BOOL)
RcvSize

MyFB
(BOOL)
IN
(INT)
Val_In

(INT)
Val_Out
(BOOL)
Q

(BOOL)
IN
(INT)
Val_In

MyFB
(INT)
Val_Out
(BOOL)
Q

You can branch the power flow output.

Example:

OK

CIPRead

CIPRead
GO

(BOOL)
Execute
(BOOL)
Handle
(BOOL)
SrcDat
(BOOL)
Size
(BOOL)
DstDat

(BOOL)
Done
(BOOL)
Busy
(BOOL)
Error
(BOOL)
ErrorID

(BOOL)
Execute
(BOOL)
Handle
(BOOL)
SrcDat
(BOOL)
Size
(BOOL)
DstDat

(BOOL)
Done
(BOOL)
Busy
(BOOL)
Error
(BOOL)
ErrorID

(BOOL)
ErrorIDEx
(BOOL)
RecvSize

(BOOL)
ErrorIDEx
(BOOL)
RecvSize

CIPRead
(BOOL)
Execute
(BOOL)
Handle
(BOOL)
SrcDat
(BOOL)
Size
(BOOL)
DstDat

(BOOL)
Done
(BOOL)
Busy
(BOOL)
Error
(BOOL)
ErrorID

(BOOL)
ErrorIDEx
(BOOL)
RecvSize

6-76

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Restriction
You cannot create closed loops or intersect connecting lines.
Example:
FB1

FB2

EN

ENO

EN

ENO

IN1

OUT1

IN

OUT

IN2

OUT2

NG
No closed loops

NOT Inputs
You can reverse the value of a BOOL input variable when you input it to an instruction.
6-5 Programming Languages

NOT input

FB
(BOOL)

(BOOL)
Q

IN
TRUEFALSE
FALSETRUE

Inline ST
Inline ST is a ladder diagram programming element in which you can write ST language code in a
box called an inline ST box (a blank text input area) within a ladder diagram. This allows you to easily code numeric data processing and text string processing within ladder diagrams. The connecting
line to an inline ST box becomes its execution condition. The ST code inside of the box is executed
based on that connecting line. Refer to the following figure.
Execution Condition for Inline ST

Inline ST
Inline ST box

i1

i2
taiseki := 4.0 * 3.14 * radius *radius * radius / 3.0;

Enter the ST language code here.

Inline ST is treated as a rung element in a ladder diagram. Therefore, unlike functions and function
blocks, they have no input, output, or in-out variables.

Restrictions for Inline ST

You can write ST language code in inline ST boxes.

NJ-series CPU Unit Software Users Manual (W501)

6-77

6-5-2 Ladder Diagram Language

Introduction

6 Programming

Execution Conditions for Inline ST

The execution conditions for inline ST are shown in the following table.
Status

Operation

TRUE execution condition

Operation follows the execution condition. You can use the execution condition at any point in the power flow (e.g., you can connect the inline ST
directly to the left bus bar). To specify a change to TRUE or a change to
FALSE, specify it for an input in the execution condition.

FALSE execution condition

Nothing is done.

Resetting in a master control

region

Nothing is done.

Scope of Variables in Inline ST

The scope of variables that you can access from inline ST is the same as the POU of the ladder diagram that contains the inline ST.

Restrictions for Inline ST

Item
Number of inline ST boxes per rung

6-5-3

Description
1

Structured Text Language

The ST (structured text) language is a high-level language code for industrial controls (mainly PLCs)
defined by the IEC 61131-3 standard. The standard control statements, operators, and functions make
the ST language ideal for mathematical processing that is difficult to write in ladder diagrams. The features of ST are described below.
Loop constructs and control constructs such as IF THEN ELSE are provided.
You can write programs like high-level languages such as C, and you can include comments to make
the program easy to read.

6-78

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Structure of ST
ST code consists of one or more statements. One statement is the equivalent of one process. Statements are executed from top to bottom, one line at a time, until the process is completed. Statements
are made up of keywords and expressions. A keyword is a symbol or string that expresses assignment
or execution control. An expression is a code that calculates a value from variables, constants, function
return values, and/or a combination of those, along with various operators. A statement represents a
process that completes by itself. Expressions form a statement by using a combination of values and
keywords.
Example of an Assignment Statement:
Assignment
keyword

Variables Operators Constant Return value of function

Comment

100

6-5 Programming Languages

A:= B +

* ABC (10, 20) ; (*Assign A to B + 100 * ABC (10, 20)*)

Expression

Example of an IF Construct:
IF keyword

IF keyword

IF D = E + 100 * DEF(10,20)

THEN

Expression
G := H ;

(*TRUE if D and E+100*DEF(10,20) are equal, otherwise FALSE*)

Statement IF keyword

END_IF ;

Statement Separators
Statements must end with a single-byte semicolon (;). Statements are not considered complete
with only a carriage return at the end. This allows you to write long statements across multiple
lines.
One statement must end with one single-byte semicolon (;). In the following example, the IF construct contains a single assignment statement. Each statement must be ended with a single-byte
semicolon (;).

IF A=B THEN
Assignment
C := D;
statement
END_IF;

IF construct

Comment
You can write comments in your program to make the code easier to understand.
Statements written as comments are not executed.

NJ-series CPU Unit Software Users Manual (W501)

6-79

6-5-3 Structured Text Language

ST Language Expressions

6 Programming

The two methods to insert comments are described below.

Comment notation

Examples

Enclose the comment in single-byte parenthesis and

asterisks, for example,
(*This is a comment*).

Remarks

(* Commenting out multiple lines

IF ErrCode = 3 THEN
Value := 1000;

This type of comment can span over

multiple lines. Comments cannot be
nested.

END_IF;
down to here. *)
Begin the comment with two
forward slashes (//) and end
it with a carriage return.

// Comment

You can comment out only single

lines.

// A := SIN(X)^2;

Spaces, Carriage Returns, and Tabs

You can place any number of spaces, carriage returns, and tabs in your code at any location. This
allows you to add spaces or tabs before statements and carriage returns between operators/keywords and expressions in order to make your code easier to read.
Always enter a token separator, such as a space, carriage return, or tab, between operators/keywords and variables.
Example:

The square boxes indicate where you must insert a token separator, such as a space,
carriage return, or tab.

IF A>0 THEN X:=10;

ELSE
X:=0;
END_IF;

Lowercase/Uppercase, Single-byte/double-byte Characters

Operators, keywords, and variable names are not case sensitive.
Operators, keywords, and variable names must always be in single-byte characters. A syntax
error will occur if you input double-byte characters.

Variables and Prohibited Characters

Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names for restrictions
on variable names.

Text Strings
Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names for restrictions
on text strings.

ST Keywords and Operators

Statement Keywords
Keyword
:=

Meaning

Example

Assignment

d := 10;

Calling functions and

function blocks

FBname(para1 := 10, para2 := 20);

RETURN

Return

IF

If

Refer to Function Block Calls on page 6-100.

IF d < e THEN f := 1;
ELSIF d = e THEN f :=2;
ELSE f := 3;
END_IF;

6-80

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Keyword
CASE

Meaning
Case

Example
CASE f OF
1: g :=11;
2: g :=12;
ELSE g :=0;
END_CASE;

FOR

For

FOR i: = 100 TO 1 BY -1 DO
Val[ i ] := i;
END_FOR;

WHILE

While

WHILE Val < MaxVal DO

Val := Val + 1;
END_WHILE;

REPEAT

Repeat

REPEAT
6-5 Programming Languages

Val := Val + 1;
UNTIL( Val > 4 )
END_REPEAT;
EXIT

Exit the loop.

FOR i := 1 TO 100 DO
FOR j := 1 TO 10 DO
IF Val[ i, j ]>100 THEN EXIT;
END_IF;
END_FOR;
END_FOR;

Empty statement

Val[ i ] := i

; (* Empty statement *)

6-5-3 Structured Text Language

WHILE(Var <>0) DO
; (* Empty statement *)
END_WHILE;
(* Text *)

Comments

(* Commenting out multiple lines

IF MyFun (ErrorCode) = 3
THEN ReturnValue := GetDetail();
END_IF;
down to here. *)

//Text

Comment

A := SIN( X ) ^ 2 + COS ( Y ) ^2 + 10;

// A := SIN( X ) ^ 2 + COS ( Y ) ^2 + 5;

NJ-series CPU Unit Software Users Manual (W501)

6-81

6 Programming

Operators
The following table gives the operators and their order of priority.
If operators with different priorities are mixed in one expression, the operators with the highest priorities are executed first.
Example: X:=(1+2)3*4; In this case, variable X is assigned a value of 9.
1. The operation in
parentheses (priority
of 1) is performed.

2. The multiplication
(priority of 5) is
performed.
33*4

(1+2)3*4
Operation
Parentheses

Operator
()

3. The subtraction
(priority of 6) is
performed.
312

Notation example and evaluated value

(1+2)*(3+4)

Priority
1

Value: 21
Function/function
block call

Sign

FUN1( FUN2( Var2A, Var2B), Var1B)

When function and function block calls are nested, the function or function block at the lower level is called first. In the
above example, FUN2 is executed first, and then FUN1 is
executed.
+,

+100

100
NOT

NOT

NOT TRUE
Value: FALSE

Exponent

**

-2**2

Value: 4
A minus sign is given priority over an exponent operator.
Therefore, -2**2 in the above example is the same as (2)**2, so the value is 4.
2**3**2
Value: 64
If there is more than one exponent operator, calculations
are performed for them left to right. Therefore, 2**3**2 in
the above example is the same as (2**3)**2, so the value is
64.
Multiplication

100*200

Value: 20,000
Division

100/200
Value: 0.5

Remainder

MOD

10 MOD 7
Value: 3
17 MOD 6
Value: 5
17 MOD (6)
Value: 5
17 MOD 6
Value: 5
17 MOD (6)
Value: 5

6-82

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Operation
Addition

Operator
+

Notation example and evaluated value

100+200

Priority
6

Value: 300
Subtraction

100-200
Value: 100

Comparison

<, >, <=, >=

100<200

If the comparison result is TRUE, the value is set to TRUE.

Otherwise, the value is set to FALSE. In the above example, 100 is less than 200, so the value is TRUE.
Matches

100=200

If the two values match, the value is set to TRUE. Otherwise, the value is set to FALSE. In the above example, 100
does not equal 200, so the value is FALSE.
Does not match

<>

100<>200

Logical AND

AND,&

Applies 1-bit AND logic to all bits.

6-5 Programming Languages

If the two values do not match, the value is set to TRUE.

Otherwise, the value is set to FALSE. In the above example, 100 does not equal 200, so the value is TRUE.
9

The results of 1-bit AND logic are as follows:

0 AND 0 = 0
0 AND 1 = 0
1 AND 0 = 0
1 AND 1 = 1
0101 AND 1100

Value: 0100
XOR

Applies 1-bit exclusive OR logic to all bits.

10
6-5-3 Structured Text Language

Logical exclusive
OR

The results of 1-bit exclusive OR logic are as follows:

0 XOR 0 = 0
0 XOR 1 = 1
1 XOR 0 = 1
1 XOR 1 = 0
0101 XOR 1100
Value: 1001

Logical OR

OR

Applies 1-bit OR logic to all bits.

11

The results of 1-bit OR logic are as follows:

0 OR 0 = 0
0 OR 1 = 1
1 OR 0 = 1
1 OR 1 = 1
0101 OR 1100
Value: 1101

Precautions for Correct Use

The intended operation may not occur if a function is nested under itself. Always separate the
functions into different statements as shown below.
Example of incorrect notation: out := MyFunc( In1:=x1, In2:=MyFunc( In1:=x2, In2:=x3 ) );
Example of correct notation: temp := MyFunc( In1:=x2, In2:=x3 );
out := MyFunc( In1:=x1, In2:=temp );

NJ-series CPU Unit Software Users Manual (W501)

6-83

6 Programming

Precautions for Correct Use

The order of priority for operators is sometimes different for different standards and manufacturers. Special attention is necessary for the priority of exponent operators. We therefore recommend that you use parentheses to ensure that calculations are performed in the intended order.
Example:

For X:= -2**3**4; we recommend that you use the following expression:
X:= ((-2)**3)**4;.

Additional Information
Calculations are performed based on the data types. For example, the result of calculations with
integer data will be integer data. Therefore, if the expression A/B is calculated with INT variables
A = 3 and B = 2, the result would not be 1.5 because all values after the decimal point are truncated. In this case, the expression (A/B)*2 would evaluate to 2 instead of 3.

Data Types for Operator Operands

If all the operands for an operator have the same data type, any data type given as Supported in
the following table can be set as operands. However, if an operand with a different data type is set
for the operator, an implicit cast is required. Refer to Implicit Casts on page 6-106 for details on
implicit casting.
Assignment
operator

Argument setting
operator

Numeric
operators

:=

:=
=>

*
/

Data type

Boolean

OK

OK

---

Modulodivision
operator

Power
operator

Comparison
operators

Equality
operators

Logic
operators

Positive/negative
signs

**

<
<=
=>
>

=
<>

NOT
AND
&
OR
XOR

MOD

---

---

---

OK

OK

---

Bit string

OK

OK

---

---

---

---

OK

OK

---

Integer

OK

OK

OK

OK

OK

OK

OK

---

OK

Real number

OK

OK

OK

---

OK

OK

OK

---

OK

Duration

OK

OK

---

---

---

---

---

---

OK

Date

OK

OK

---

---

---

---

---

---

---

Time of
day

OK

OK

---

---

---

---

---

---

---

Date and
time

OK

OK

---

---

---

---

---

---

---

Text string

OK

OK

---

---

---

---*

---*

---

---

Enumeration

OK

OK

---

---

---

---

OK

---

---

Structure
parent

OK

OK

---

---

---

---

---

---

---

Array parent

OK

OK

---

---

---

---

---

---

---

OK: Possible
---: A building error will occur.
* Do not use operators to compare text string variables. Use instructions (such as EQascii) instead.

6-84

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

ST Language Statements
Assignment
Overview:
This statement assigns the right side (i.e., the value of the expression) to the left side (i.e., the variable).

Reserved Words:
:=
Combination of a colon (:) and an equals sign (=)

Statement Structure:
<variable>:=<variable>;
<variable>:=<constant>;

Application:
Use this statement to assign a value to a variable. For example, use it to set initial values or to store
the results of a calculation.

Description:

6-5 Programming Languages

<variable>:=<expression>;

This statement assigns (or stores) the <expression_value> to the <variable>.

Example:

6-5-3 Structured Text Language

Example 1: The following statement assigns the result of the expression X+1 to variable A.
A:=X+1;

Example 2: The following statement assigns the value of variable B to variable A.

A:=B;

Example 3: The following statement assigns a value of 10 to variable A.

A:=10;

Precautions:
Either the source data type must match the destination data type, or the combination of data types
must allow implicit casting. A building error will occur if you do not use this notation.
If the value that is assigned is STRING data, make the size of the destination STRING variable
larger than that of the source string. Otherwise, an error will occur.
For STRING variables, assignment is allowed if the size of left-hand variable is greater than the
size of the text string stored in right-hand variable.
Example:
Assignment is allowed in the following case.
Variable Table:
Variable
name
Var1
Var2

Data type
STRING
STRING

Size
10
20

User Program:
Var2 :='ABC';

NJ-series CPU Unit Software Users Manual (W501)

6-85

6 Programming

Var1 := Var2;
You cannot make assignments to union variables. You must make the assignments to individual
members of the unions.

RETURN
Overview:
The following actions occur depending on where the ST statement is used.
ST
The ST program is ended during operation and the next program is executed.
ST in a Function Inside a Function Block Instance
The function or function block is ended during operation and the next instruction after the calling
instruction is executed.
Inline ST
The POU that contains inline ST with a RETURN statement is ended.

Reserved Words:
RETURN

Statement Structure:
RETURN;

Application:
Use this statement to force the current program, function, or function block to end.

IF with One Condition

Overview:
The construct executes the specified statement when a condition is met. If the condition is not met,
another statement is executed. The following expressions are used to specify whether the condition
is met.
TRUE: The condition is met.
FALSE: The condition is not met.

Reserved Words:
IF, THEN, (ELSE), END_IF
Note You can omit ELSE.

Construct Structure:
IF <condition_expression> THEN
<statement_1>;
ELSE
<statement_2>;
END_IF;

6-86

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Process Flow Diagram:

FALSE

Condition
expression

TRUE
Statement 1

Statement 2

Application:
Use this construct to perform one of two processes depending on evaluation of a condition (condition expression).

If <condition_expression> is TRUE, <statement_1> is executed.

If <condition_expression> is FALSE, <statement_2> is executed.

Precautions:
IF must always be used together with END_IF.
Write a statement that evaluates to TRUE or FALSE (for example IF A>10) or a BOOL variable (for
example IF A) for the condition expression.
You can write <statement_1> and <statement_2> on multiple lines. Separate statements with a
semicolon (;).

6-5 Programming Languages

Description:

Example: Another IF Statement before <statement_1>

6-5-3 Structured Text Language

IF <condition_expression_1> THEN
IF <condition_expression_2> THEN
<statement_1>;
ELSE
<statement_2>;
END_IF;
END_IF;

Process Flow Diagram:

Condition
expression 1

FALSE

TRUE
Condition
expression 2

FALSE

TRUE
Statement 1

Statement 2

ELSE corresponds to the previous THEN statement, as shown above.

You can execute more than one statement for both <statement_1> and <statement_2>. Separate
statements with a semicolon (;).

NJ-series CPU Unit Software Users Manual (W501)

6-87

6 Programming

You can omit the ELSE statement.

<condition_expression> is FALSE.

If

it

is

omitted,

nothing

is

executed

when

Process Flow Diagram:

Condition

FALSE

TRUE
Statement

Example:
Example 1:

A value of 10 is assigned to variable X when the statement A > 0 is TRUE. A value

of 0 is assigned to variable X when the statement A > 0 is FALSE.

IF A>0 THEN
X:=10;
ELSE
X:=0;
END_IF;

Example 2:

A value of 10 is assigned to variable X and a value of 20 is assigned to variable Y

when the statements A > 0 and B > 1 are both TRUE. A value of 0 is assigned to
variable X and variable Y when the statements A > 0 and B > 1 are both FALSE.

IF A>0 AND B>1 THEN

X:=10;Y:=20;
ELSE
X:=0;Y:=0;
END_IF;

Example 3:

A value of 10 is assigned to variable X when the BOOL variable A is TRUE. A value

of 0 is assigned to variable X when variable A is FALSE.

IF A THEN X:=10;
ELSE X:=0;
END_IF;

IF with Multiple Conditions

Overview:
The construct executes the specified statement when a condition is met. If a condition is not met but
another condition is met, another statement is executed. If neither condition is met, another statement is executed.
The following expressions are used to specify whether the condition is met.
TRUE: The condition is met.
FALSE: The condition is not met.

Reserved Words:
IF, THEN, ELSIF, (ELSE), END_IF
Note You can omit ELSE.

6-88

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Construct Structure:
IF <condition_expression_1> THEN <statement_1>;
ELSIF <condition_expression_2> THEN <statement_2>;
ELSIF <condition_expression_3> THEN <statement_3>;

ELSIF <condition_expression_n> THEN <statement_n>;

ELSE<statement_m>;
END_IF;

Process Flow Diagram:

TRUE
Statement 1

FALSE
Condition
expression 2

TRUE
Statement 2

6-5 Programming Languages

Condition
expression 1

FALSE
Condition
expression 3

FALSE

TRUE
Statement 3
Statement m

6
6-5-3 Structured Text Language

NJ-series CPU Unit Software Users Manual (W501)

6-89

6 Programming

Application:
Use this construct to perform a process depending on evaluation of multiple conditions (condition
expressions).

Description:
If <condition_expression_1> is TRUE, <statement_1> is executed.
If <condition_expression_1> is FALSE and <condition_expression_2> is TRUE, then
<statement_2> is executed.
If <condition_expression_2> is FALSE and <condition_expression_3> is TRUE, then
<statement_3> is executed.

If <condition_expression_n> is TRUE, <statement_n> is executed.

If none of the conditions is TRUE, <statement_m> is executed.

Precautions:
IF must always be used together with END_IF.
Write statements that can be TRUE or FALSE for the condition expressions. Example: IF(A>10)
You can also specify BOOL variables (including functions that return a BOOL value) for the condition expressions instead of an actual expression. In that case, when the variable is TRUE, the
evaluated result is TRUE and when the variable is FALSE, evaluated result is FALSE.
You can write any of the statements on multiple lines. Separate statements with a semicolon (;).
You can omit the ELSE statement. If it is omitted, and none of the conditions produces a match,
nothing is done.
Example:
A value of 10 is assigned to variable X when the statement A > 0 is TRUE.
A value of 1 is assigned to variable X when the statement A > 0 is FALSE and statement B = 1 is
TRUE.
A value of 2 is assigned to variable X when the statement A > 0 is FALSE and statement B = 2 is
TRUE.
If none of the conditions is TRUE, a value of 0 is assigned to the variable X.
IF A>0 THEN X:=10;
ELSIF B=1 THEN X:=1;
ELSIF B=2 THEN X:=2;
ELSE X:=0;
END_IF;

6-90

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

CASE
Overview:
This construct executes a statement that corresponds to an integer set value that matches the value
of an integer expression.

Reserved Words:
CASE

Construct Structure:
CASE <integer_expression> OF
<integer_expression_value_1>:<statement_1>;
<integer_expression_value_2>:<statement_2>;
6-5 Programming Languages

<integer_expression_value_n>:<statement_n>;
ELSE<statement_m>;
END_CASE;

Process Flow Diagram:

Equal to
value 1?

Yes

No
Yes

6-5-3 Structured Text Language

Equal to
value 2?
No

Equal to
value n?

Yes

No
Statement m

Statement n

NJ-series CPU Unit Software Users Manual (W501)

Statement 2

Statement 1

6-91

6 Programming

Application:
Use this construct to perform different actions based on the value of an integer.

Description:
If <integer_expression> matches <integer_expression_value_n>, <statement_n> is executed.
If <integer_expression> does not match any of the integer values, <statement_m> is executed.

Precautions:
CASE must always be used together with END_CASE.
Use one of the following for the <integer_expression>:
An integer or enumeration variable (example: abc)
An integer expression (example abc+def)
A function that returns an integer value (example: xyz())
You can write any of the statements on multiple lines. Separate statements with a semicolon (;).
To specify OR logic of multiple integers for <integer_expression_value_n>, separate the values
with commas. To specify a continuous range of integers, separate the start integer and the end
integer with two periods (..).
Example 1:

You can specify a condition for a specific integer value, or the same condition for
multiple integer values.

CASE A OF
1: X:=1;
2: X:=2;
3: X:=3;
ELSE
X:=0;
END_CASE;

CASE A OF
1: X:=1;
2,5: X:=2;
6..10: X:=3;
11,12,15..20: X:=4;
ELSE
X:=0;
END_CASE;

Example 2:

A value of 1 is assigned to variable X when variable A is 1.

A value of 2 is assigned to variable X when variable A is 2.
A value of 3 is assigned to variable X when variable A is 3.
If none of the values is matched, a value of 0 is assigned to
the variable X.

A value of 1 is assigned to variable X when variable A is 1.

A value of 2 is assigned to variable X when variable A is 2 or 5.
A value of 3 is assigned to variable X when variable A is between 6 and 10.
A value of 4 is assigned to variable X when variable A is 11, 12,
or between 15 and 20.
If none of the values is matched, a value of 0 is assigned to the
variable X.

You can give an integer variable, integer expression, integer function return value,
enumeration variable, or enumeration function return value for the
<integer_expression>. An example is shown below.

Example for an Integer Enumeration Variable

CASE ColorVar OF
RED:
X := 0;
BLUE:
X := 1;
ELSE
X := 2;
END_CASE;

6-92

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Example for an Integer Expression

CASE (a1 + a2) OF
0:
X := 0;
1:
X := 1;
ELSE
X := 2;
END_CASE;

Example of an Integer Enumeration Function Return Value

Branches depending on the return value of FUN( ).

6-5 Programming Languages

CASE FUN( ) OF
0:
X := 10;
1:
X := 11;
ELSE
X := 12;
END_CASE;

Data Types That You Can Use in CASE Constructs

Classification
Basic data types

Data type specifications

Data type
Integers
Boolean, bit string, real, duration, date, time
of day, date and time, or text string data
Arrays
Array specifications
Elements

Derivative data types

Members
Unions

Unions
Enumerations

Members

Not supported.
Supported for integers and enumerations only.
Not supported.
Supported for integers and enumerations only.
Not supported.
Supported for integers and enumerations only.
Supported.

FOR
Overview:
This construct repeatedly executes the same statements until a variable (called the FOR variable)
changes from one value to another value.
The following expressions are used to specify whether the condition is met.
TRUE: The condition is met.
FALSE: The condition is not met.

Reserved Words:
FOR, TO, (BY), DO, END_FOR
Note You can omit BY.

Construct Structure:
FOR <FOR_variable>:= <initial_value> TO <end_value> BY <increment/decrement> DO
<statement>;
END_FOR;

NJ-series CPU Unit Software Users Manual (W501)

6-93

6
6-5-3 Structured Text Language

Structures
Structures

<integer_expression>
Supported.
Not supported.

6 Programming

Process Flow Diagram:

FOR variable = Initial value

TRUE

FOR variable >

end value?

Repeated

FALSE
Statement

FOR variable +
Increment/decrement value

End

Application:
Use this construct when you know in advance how many times you want to repeat a process.
This type of repeat construct is particularly effective to specify each element of an array variable
based on the value of a FOR variable.

Description:
A decision is made based on the evaluation of <initial_value>, <end_value>, and <increment/decrement>.
When <FOR_variable> is <initial_value>, <statement> is executed.
After execution, the value of <increment/decrement> is added to <FOR_variable> and <statement>
is executed again if <FOR_variable> is less than the value of the <end_value>.
After execution, the value of <increment/decrement> is added to <FOR_variable> and <statement>
is executed again if <FOR_variable> is less than the value of the <end_value>.
This process is repeated.
The loop ends when <FOR_variable> > <end_value>.
If <increment/decrement> is negative, the directions of the comparison symbols in the above statements are reversed.

Precautions:
If the FOR variable is signed, <increment/decrement> can be a negative number.
FOR must always be used together with END_FOR.
The FOR variable becomes the end value plus increment/decrement after execution of the process is completed for the end value. This ends the FOR construct.
Example: When the FOR construct is completed in the following ST statements, the value of i is
101.
FOR i:=0 TO 100 DO
X[i]:=0;
END_FOR;
// Here, i is 101.

6-94

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Do not write code that directly modifies the FOR variable inside the FOR construct. Unintended
operation may result.
Example:
FOR i:=0 TO 100 BY 1 DO
X[i]:=0;
i:=i+INT#5;
END_FOR;

You can write any of the statements on multiple lines. Separate statements with a semicolon (;).
You can omit BY<increment/decrement>. If it is omitted, the statement is executed with an increment value of 1.
You can specify an integer (SINT, INT, DINT, LINT, USINT, UINT, UDINT, or ULINT) variable or
integer value for the <initial_value>,<end_value>, and <increment/decrement>. You can also
specify a function that returns an integer value.
Example 1:

FOR n := 0 TO 50 BY 5 DO
SP[n] := 100;
END_FOR;

Example 2:

The total of elements DATA[1] through DATA[50] of array variable elements DATA[n]
is calculated and the result is assigned to the variable SUM.

IF a THEN
FOR n := 0 TO 50 BY 1 DO
DATA[n]:= 1 ;
END_FOR;

a:=FALSE;
END_IF;

The maximum and minimum values of elements DATA[1] through DATA[50] of array
variable elements DATA[n] are found. The maximum value is assigned to the MAX
variable, and the minimum value is to the MIN variable. The value of DATA[n] is from
0 to 1,000.

MAX :=0;
MIN :=1000;
FOR n :=1 TO 50 BY 1 DO
IF DATA[n] > MAX THEN
MAX :=DATA[n];
END_IF;
IF DATA[n] < MAX THEN
MIN :=DATA[n];
END_IF;
END_FOR;

NJ-series CPU Unit Software Users Manual (W501)

6-95

6-5-3 Structured Text Language

FOR n := 0 TO 50 BY 1 DO
SUM:= SUM + DATA[n] ;
END_FOR;

Example 3:

6-5 Programming Languages

A value of 100 is assigned to array variable elements SP[n]. The FOR variable is
variable n, the initial value is 0, the end value is 50, and the increment is 5.

6 Programming

If the total execution time of the statements in the FOR construct from when the FOR variable is
incremented/decremented from the initial value until it reaches the end value exceeds the task
period, a Task Period Exceeded Error occurs.
When the FOR Variable Cannot Logically Reach the End Value
Example:
FOR i := 0 TO 100 BY 1 DO
intArray[i] := i;
i := INT#50;
END_FOR;

An infinite loop occurs and results in a Task

Period Exceeded Error.

Example:
FOR i := 0 TO 100 BY 0 DO
;
END_FOR;

An infinite loop occurs and results in a Task

Period Exceeded Error.

When an Overflow or Underflow Occurs Because the FOR Variable Exceeds the End Value
Example:
FOR i := 0 TO 254 BY 2 DO
INTArray[i] := i;
END_FOR;

Version Information
With the Sysmac Studio version 1.08 or higher, you can specify arithmetic expressions for
<end_value> and <increment/decrement>.
However, the evaluation is performed for <end_value> or <increment/decrement> only before the
execution of FOR loop operation. The values of <end_value> and <increment/decrement> do
not change after the FOR loop operation is started.
For example, in the following case, the value of <end_value> is 10 and <increment/decrement>
is 3. Even after the FOR loop operation is started and the values of variable A and C are
changed, the value of <end_value> is still 10 and <increment/decrement> is still 3.
A := INT#1;
B := INT#2;
C := INT#10;
FOR i := 0 TO C BY A+B DO
INTArray[i] := i;
A := B + i;
C := C + i;
END_FOR;

If an arithmetic expressions is specified for <end_value> or <increment/decrement> on the Sysmac Studio version 1.07 or lower, a building error will occur.

Data Types That You Can Use in FOR Constructs

Classification
Basic data types

Data type specifications

6-96

Data type
Boolean, bit string, real, duration, date, time
of day, date and time, or text string data
Integers
Arrays
Array specifications
Elements

<initial_value>, <end_value>,
and <increment/decrement>*
Not supported.
Supported.
Not supported.
Supported for integers and enumerations only.

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

<initial_value>, <end_value>,
and <increment/decrement>*
Structures
Not supported.
Structures
Supported for integers and enuMembers
merations only.
Derivative data types
Unions
Not supported.
Unions
Supported for integers and enuMembers
merations only.
Enumerations
Supported.
* You must use the same data type for the <FOR_variable>, <end_value> and <increment/decrement>. Otherwise,
an error occurs when the program is built on the Sysmac Studio.
Classification

Data type

WHILE
Overview:

Reserved Words:
WHILE, DO, END_WHILE

Construct Structure:
WHILE <condition_expression> DO
<statement>;
END_WHILE;

Process Flow Diagram:

6-5-3 Structured Text Language

Repeated
Condition
expression

FALSE

TRUE
Statement

End

Application:
Use this type of repeat construct when you do not know how many times to repeat a process (i.e.,
when you do not know how many times based on the condition) and you want to repeat a process
for as long as a certain condition is met. You can also use this type of repeat construct to execute a
process only when a condition expression is TRUE (pre-evaluation repeat construct).

Description:
The <condition_expression> is evaluated before <statement> is executed.
If <condition_expression> is TRUE, <statement> is executed. Then the <condition_expression> is
evaluated again. This process is repeated.
If the <condition_expression> is FALSE,
<condition_expression> is no longer evaluated.

NJ-series CPU Unit Software Users Manual (W501)

6-5 Programming Languages

This construct repeatedly executes the specified statements as long as a condition expression is
TRUE.

<statement>

is

not

executed

and

the

6-97

6 Programming

Precautions:
WHILE must always be used together with END_WHILE.
If the <condition_expression> is FALSE before <statement> is executed, the WHILE construct is
exited and <statement> is not executed.
You can write <statement_1> and <statement_2> on multiple lines. Separate statements with a
semicolon (;).
You can execute more than one statement for <statement>. Separate statements with a semicolon (;).
You can also specify a BOOL variable (including functions that return a BOOL value) for the condition expressions instead of an actual expression.
Example:
Example 1: The first multiple of 7 that exceeds 1,000 is calculated and assigned to variable A.
A := 0;
WHILE A <= 1000 DO
A := A+INT#7;
END_WHILE;

Example 2:

The value of variable X is doubled if X is less than 3,000 and the value is assigned
to array variable element DATA[1]. Next, the value of X is doubled again and the
value is assigned to the array variable element DATA[2]. This process is repeated.

n := 1;
X := 1;
WHILE X < 3000 DO
X:= X*INT#10#2;
DATA[n]:= X;
n := n+INT#1;
END_WHILE;

If you do not write correct condition expressions, the program execution time increases and may
cause a Task Period Exceeded Error.
Example:
boolVar := TRUE;
WHILE boolVar DO
intVar := intVar + INT#1;
END_WHILE;

REPEAT
The following expressions are used to specify whether the condition is met.
TRUE: The condition is met.
FALSE: The condition is not met.

Overview:
This construct repeatedly executes one or more statements until a condition expression is TRUE.

Reserved Words:
REPEAT, UNTIL, END_ REPEAT

Construct Structure:
REPEAT
<statement>;
UNTIL <condition_expression>
END_REPEAT;

6-98

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Process Flow Diagram:

Statement
Repeated

Condition
expression

FALSE

TRUE
End

Application:

Description:
First, <statement> is executed unconditionally. Then the <condition_expression> is evaluated.
If <condition_expression> is FALSE, <statement> is executed.
If <condition_expression> is TRUE, <statement> is not executed and the REPEAT construct is
exited.

6-5 Programming Languages

Use this type of repeat construct when you do not know how many times to repeat a process (i.e.,
when you do not know how many times based on the condition) and you want to repeat a process
for as long as a certain condition is met after processing. Use this type of repeat construct to determine repeat execution based on the result of the execution of a process (post-evaluation repeat construct).

Precautions:
REPEAT must always be used together with END_REPEAT.

<statement> can contain multiple lines of code for the statement. Separate statements with a
semicolon (;).
You can also specify a BOOL variable (including functions that return a BOOL value) for the condition expressions instead of an actual expression.
Example:
Example 1: Numbers from 1 to 10 are added and the values are assigned to the variable TOTAL.
A := 1;
TOTAL := 0;
REPEAT
TOTAL := TOTAL + A;
A := A+INT#1;
UNTIL A>10
END_REPEAT;

If you do not write correct condition expressions, the program execution time increases and may
cause a Task Period Exceeded Error.
Example:
intVar := INT#1;
REPEAT
intVar := intVar + INT#1;
UNTIL intVar = INT#0
END_REPEAT;

NJ-series CPU Unit Software Users Manual (W501)

6-99

6-5-3 Structured Text Language

Even if the <condition_expression> is TRUE before <statement> is executed, <statement> is executed.

In other words, <statement> is always executed at least one time.

6 Programming

EXIT
Overview:
Use this statement only inside a repeat construct (FOR construct, WHILE construct, or REPEAT
construct) to exit the repeat construct.
Use this statement inside an IF construct to exit from the repeat construct when a condition is met.

Reserved Words:
EXIT

Construct Structure (e.g., in an IF Construct):

FOR (WHILE, REPEAT) <statement>

IF <condition_expression> THEN EXIT;

END_IF;

END_FOR (WHILE, REPEAT);

Application:
Use EXIT to end a repeating process before the end condition is met.

Description (e.g., in an IF Construct):

If the <condition_expression> is TRUE, the repeat construct (FOR construct, WHILE construct, or
REPEAT construct) is ended and all code inside the repeat construct after the EXIT statement is
ignored.
Note 1 You can also specify a BOOL variable instead of an expression for the condition expressions.
2 Even if the <condition_expression> is TRUE before <statement> is executed, <statement> is executed.

Example:
Variable n is repeatedly incremented by 1 from 1 to 50 while the value of n is added to array variable elements DATA[n]. However, if DATA[n] exceeds 100, the repeat construct is exited.
IF A THEN
DATA[3] :=98;
FOR n := 1; TO 50 BY 1 DO
DATA[n] := DATA[n] + n;
IF DATA[n] > 100 THEN EXIT;
END_IF;
END_FOR;
A :=FALSE;
END_IF;

Function Block Calls

Overview:
This statement calls a function block.

6-100

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Reserved Words: None

Statement Structure:
Give the argument specifications (to pass the values of the specified variables to the input variables
of the called function block) and the return value specification (to specify the variable that will receive
the value of the output variable of the called function block) in parenthesis after the instance name of
the function block. There are two methods of writing this statement, as shown in (1) and (2) below.
We recommend method 1 for program readability.

Notation Method 1:
Give both the variable names of the called function block and the parameter names of the calling POU.

6-5 Programming Languages

ABC(A:=x1, B:=x2, C=>y1);

ABC: Function block instance name
A and B: Input or in-out variable names of called function block
x1 and x2: Input or in-out parameter of calling POU (can be a constant)
C: Output variable of called function block
y1: Output parameter of calling POU
Ladder Diagram Expression
ABC
x1

y1

MyFB
A
x2

You can give the arguments and return values in any order.

You can omit the output variables and output parameters. If they are omitted, the value of the output variable is not assigned to anything.

Notation Method 2:
Omit the variable names of the called function block and give the parameter names of the calling
POU.
ABC(x1, x2, y1);
ABC: Function block instance name
A and B: Omitted. (Input or in-out variable of called function block)
x1 and x2: Input or in-out parameter of calling POU (can be a constant)
C: Omitted. (Output variable of called function block or constant)
y1: Output parameter of calling POU
Ladder Diagram Expression
ABC
x1

y1

MyFB
A
x2

The order of parameters is based on the function block definition. The order is the same as the
local variable definition for the function block, from top to bottom.

Application:
This statement calls a function block.

NJ-series CPU Unit Software Users Manual (W501)

6-101

6
6-5-3 Structured Text Language

You can omit the input variable names and input parameter names. If you omit these names, the
values assigned to the input variables for the previous call are assigned to the input variables
again. If this is the first time that the function block is called, the input variables are set to their initial values.

6 Programming

Example
Programming
Notation 1
ChangeFixToFloat(Execute:=Exe,Data32_1:=FixPointData1, Data32_2:=FixPointData2,
NoOfDigit_1:=FixPointPos1,
NoOfDigit_2:=FixPointPos2,OK=>Done,Double_1=>RealData1,
Double_2=>RealData2);
Notation 2
ChangeFixToFloat(Exe, FixPointData1, FixPointData2, FixPointPos1, FixPointPos2,
Done, RealData1, RealData2);
Ladder Diagram Expression
ChangeFixToFloat
Exe

Done

ConvData32ToDouble
Execute

OK

FixPointData1

Data32_1

Double_1

RealData1

FixPointData2

Data32_2

Double_2

RealData2

FixPointPos1

NoOfDigit_1

FixPointPos2

NoOfDigit_2

Function Block Definition

Function block name: ConvData32ToDouble
Function Block Variables
I/O
Input variables

Output variables

Variable name
Execute
Data32_1
Data32_2
NoOfDigit_1
NoOfDigit_2
OK
Double_1
Double_2

Data type
BOOL
DINT
DINT
INT
INT
BOOL
LREAL
LREAL

Program Variables

6-102

Variable name
ChangeFixToFloat

Data type
ConvData32ToDouble

Exe
FixPointData1

BOOL
DINT

FixPointPos1

INT

FixPointData2

DINT

FixPointPos2

INT

Done
RealData1
RealData2

BOOL
LREAL
LREAL

Comments
Convert from fixed-point to
floating-point.
Execution trigger
Decimal point position specification data 1
Number of digits below decimal point 1
Decimal point position specification data 2
Number of digits below decimal point 2
Normal end
Floating-point data 1
Floating-point data 2

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Omitting Parameters
When you call a function block, you can omit parameters that are not required. The following table
shows when you can omit parameters.

POU type
FB

Variables for
the called
POU
Given (notation
method 1)

Given (notation
method 2)

Notation pattern
Parameters included

instance(x:=a,y:=b,z:=c);
instance(x:=a,y:=b);
instance(y:=b);
instance(x:=);
instance(a,b,c);
instance();
instance(a);
instance(a, , );
instance(a,b);

Omission
OK

--OK
--6-5 Programming Languages

All parameters given

More than one parameter given
One parameter given
No parameters given
All parameters given
All parameters not given
Only the first parameter given
One parameter given
More than one parameter given

Examples

OK: Possible (initial used), ---: A building error will occur.

Function Calls
Overview:
This statement calls a function.

Reserved Words: None

Statement Structure:

Notation Method 1:
IF (x0=TRUE) THEN
y1 := MyFUN(A:=x1, B:=x2, C=>y2);
END_IF;
Ladder Diagram Expression
MyFUN

x0
EN
x1
x2

ENO
y1

A
B

y2

MyFUN: Function name

x0: Specifies whether to call the function.
A and B: Input variable names of the called function
x1 and x2: Input parameters of the called function
C: Output variable name of the called function
y1: Storage location for the return value from the called function
y2: Output parameters of the called function
You can give the arguments in any order.

NJ-series CPU Unit Software Users Manual (W501)

6-103

6-5-3 Structured Text Language

Give the output parameter to which the return value is assigned on the left side of the assignment
keyword (:=). On the right side, give the argument specifications (to pass the values of the specified
variables to the input variables of the called function) inside the parenthesis after the function name.
There are two methods of writing this statement, as shown in (1) and (2) below.
We recommend method (1) for program readability.

6 Programming

You can omit the input variable names and input parameter names. If they are omitted, the input
variables are assigned their initial values.
You can omit EN as well. If it is omitted, EN is assigned a value of TRUE.

Notation Method 2:
Omit the variable names of the called function and give the parameter names of the calling POU.
IF (x0=TRUE) THEN
y1 := MyFUN(x1, x2, y2);
END_IF;
Ladder Diagram Expression
MyFUN

x0
EN
x1
x2

ENO
y1

A
B

y2

MyFUN: Function name

x0: Specifies whether to call the function.
A and B: Input variable names of the called function
x1 and x2: Input parameters of the called function
C: Output variable name of the called function
y1: Storage location for the return value from the called function
y2: Output parameters of the called function
The order of parameters is based on the function definition. The order is the same as the local
variable definition for the function, from top to bottom.

Example:
Programming
Notation 1
ConvData32ToDouble(Data32_1:=FixPointData1,Data32_2:=FixPointData2,
NoOfDigit_1:=FixPointPos1, NoOfDigit_2:=FixPointPos2,
Double_1=>RealData1, Double_2=>RealData2);
Notation 2
ConvData32ToDouble(FixPointData1, FixPointData2, FixPointPos1, FixPointPos2,
RealData1, RealData2);
Ladder Diagram Expression
P_On

ConvData32ToDouble
EN

6-104

FixPointData1

Data32_1

Double_1

RealData1

FixPointData2

Data32_2

Double_2

RealData2

FixPointPos1

NoOfDigit_1

FixPointPos2

NoOfDigit_2

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Function Definition
Function name: ConvData32ToDouble
Function Variables
I/O
Input variables

Output variables
Return value

Variable name
Execute
Data32_1
Data32_2
NoOfDigit_1
NoOfDigit_2
Double_1
Double_2
---

Data type
BOOL
DINT
DINT
INT
INT
LREAL
LREAL
BOOL

Program Variables
Data type
ConvData32ToDouble

Exe
FixPointData1

BOOL
DINT

FixPointPos1

INT

FixPointData2

DINT

FixPointPos2

INT

Done
RealData
RealData

BOOL
LREAL
LREAL

Comment
Convert from fixed-point to
floating-point.
Execution trigger
Decimal point position specification data 1
Number of digits below decimal point 1
Decimal point position specification data 2
Number of digits below decimal point 2
Normal end
Floating-point data 1
Floating-point data 2

6-5 Programming Languages

Variable name
ChangeFixToFloat

This statement calls a function.

Omitting Parameters
When you call a function, you can omit parameters that are not required. The following table shows
when you can omit parameters.

POU type
FUN

Variables for
the called
POU
Given (notation
method 1)

Given (notation
method 2)

Notation pattern
Parameters included
All parameters given
More than one parameter given
One parameter given
No parameters given
All parameters given
No parameters given
Only the first parameter given
One parameter given
More than one parameter given

Example
FUN(x:=a,y:=b,z:=c);
FUN(x:=a,y:=b);
FUN(y:=b);
FUN(x:=);
FUN(a,b,c)
FUN();
FUN(a);
FUN(a, , );
FUN(a,b);

Omission
OK

--OK
---

OK: Possible (initial used), ---: A building error will occur.

NJ-series CPU Unit Software Users Manual (W501)

6-105

6-5-3 Structured Text Language

Application:

6 Programming

Precautions for the ST Language

Observe the following precautions when you use the ST language in the user program.

Implicit Casts
If the data types of the operands do not match, as shown below, the data types are converted automatically according to the implicit cast rules. If the implicit cast rules are not satisfied, a building error
occurs.
(1) When the data types of the operands in the expression on the right side of the
assignment statement are not the same
Example:

A: = INT#10 + SINT#2;
(2) When the data types of the operands on the right and left sides of the assignment
statement are not the same
Example:

A: = B + C;
REAL

INT

(3) When the data types of the operands in statement are not the same
Example:

INT

LINT

CASE A+B OF
INT#1:
def:=INT#10;
The casting rules are described for the following three cases.

Casting Rules When the Right-hand Side of an Assignment Statement Is an

Arithmetic Expression
For the right-hand operand, you can use any combination of the data types that are supported for
the operator operand.
Of the operands on the right side, the operand with the highest rank is considered the data type of
the entire side. (Refer to the Data Type Ranking Table given below for the data type ranks.)
If both an unsigned integer and a signed integer with the same ranks exist on the right side, the
data type of the right side is considered to be unsigned.
Data Type Ranking Table:
The higher the rank, the larger the range (absolute values and precision) of numerical values that
the data type can express.
Rank
1

6-106

Data type
USINT, SINT, and BYTE

UINT, INT, and WORD

REAL

DINT, UDINT, and DWORD

LREAL

LINT, ULINT, and LWORD

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Casting Rules When You Assign the Right-hand Value to the Left-hand Side
In the following chart, a cast is performed if an arrow connects the data type of the source to the
data type of the assignment destination. Any combination that is not connected will cause a building
error.
UINT

UDINT

ULINT

SINT

INT

DINT

LINT

REAL

LREAL

6-5 Programming Languages

USINT

When you assign the value, the sign and absolute value of the number do not change.
When you assign the value, the sign and absolute value of the number may change.
Example: intVar := -1; (* intVar := 16#FFFF *)
uintVar := 1;
uintVar := intVar;
(* uintVar:= 16#FFFF, or 1 was
assigned but the result is 65535 *)

Even if the arrow does not connect directly to a data type, you can still perform assignments for the
data types. For example, SINT->USINT->UINT->UDINT->ULINT are all connected, so you can write
an assignment such as ULINT:=SINT.

Observe the following precautions when casting UDINT to ULINT data, DINT to LINT data, or
DINT to LREAL data.
All of these are casts from 32-bit data to 64-bit data. If the result of the calculation of the right
side of the assignment statement exceeds the range of 32-bit data, the correct value may not be
assigned.
Example: For the following assignment statements, the result of the addition in the third statement exceeds the range of 32-bit data. An overflow will result and 0 will be assigned
to LintVar.
UdintVar := UDINT#16#FFFF_FFFF;

// Upper limit of 32-bit data

DintVar := DINT#1;

// 1

LintVar := (UdintVar + DintVar)/DINT#2;

// (Upper limit of 32-bit data + 1)/2

In a case like this one, convert the data to 64-bit data before you perform the calculation. To do
this for the above example, change the assignment status as shown below.
LintTmp1 := UDINT_TO_LINT(UDINT#16#FFFF_FFFF); //Convert UDINT to LINT data.
LintTmp2 := DINT_TO_LINT(DINT#1);
LintVar

// Convert DINT to LINT data.

:= (LintTmp1 + LintTmp2) / DINT#2;

NJ-series CPU Unit Software Users Manual (W501)

6-107

6-5-3 Structured Text Language

Precautions for Correct Use

6 Programming

Casting Rules in Expressions in Statements

The implicit cast rules for right-hand arithmetic expressions in assignment statements and for
assigning the value of the right-hand side to the left-hand side also apply to expressions in statements.
Example:
CASE (A+B+C) OF
Result1:
to
ResultN:
to
END_CASE;

Order of Execution of Functions

The order of execution of functions is not defined for functions in expressions. The order of execution
of functions depends on the unit version of the CPU Unit, the version of the Sysmac Studio, and the
notation. Precaution is required in cases where the results of an expression may depend on the
order of execution of the functions, such as in the following cases.
Expressions that contain more than one function that access the same global variable
Expressions that contain a function and a variable whose value is changed by that function

Expressions That Contain More Than One Function That Access the Same
Global Variable
In the following example, the order of execution of the three functions is not necessarily the same as
the order of execution of the calculations, which is determined by the priority of the operators. Therefore, it is possible that the functions are executed in the following order: FUN2, FUN3, and then
FUN1.
result := FUN1() + FUN2() * FUN3();
If all three of the functions in the above expression access and write the same global variable, the
value of the result variable may change depending on the order of execution of the functions.
To ensure that the three functions are always executed in the same order, the expression is broken
up. The following notation is used to execute the functions in the following order: FUN2, FUN3, and
then FUN1.
tmp2 := FUN2();
tmp3 := FUN3();
result := FUN1() + tmp2 * tmp3;

Expressions That Contain a Function and a Variable Whose Value Is Changed

by That Function
The following expression contains a function and a variable whose value is changed by that function.
result := varA + FUN4(out => varA);
In the above expression, the first element on the right side, variable varA, is not necessarily evaluated before FUN4 is executed. Therefore, the value of the result variable may change depending on
the order of varA evaluation and FUN4 execution.
To ensure that varA evaluation and FUN4 execution always occur in the same order, the expression
is broken up. The following notation is used to evaluate varA first and then execute FUN4.
tmp := varA;
result := tmp + FUN4(out => varA);
6-108

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

The following notation is used to execute FUN4 first and then evaluate varA.
tmp := FUN4(out => varA);
result := varA + tmp;

6-5 Programming Languages

6
6-5-3 Structured Text Language

NJ-series CPU Unit Software Users Manual (W501)

6-109

6 Programming

Differences between ST and Ladder Diagrams

The differences between ST and ladder diagrams are described below.
Item
Input differentiation

Ladder diagram
Change to TRUE

Method 1
start

ST (including inline ST)

Change to TRUE
Method 1
R_TRIG_instance (Clk:=start, Q=>do);

do

----||-----------

* R_TRIG_instance is an instance of the

R_TRIG instruction.

Method 2
R_TRIG_instance
R_TRIG
Clk

start

do

Method 3
Up
do

In

start

Change to FALSE

Method 1
start

Change to FALSE
Method 1
F_TRIG_instance (Clk:=start, Q=>do);

do

----||-----------

* F_TRIG_instance is an instance of the

F_TRIG instruction.

Method 2
F_TRIG_instance
F_TRIG
start

Clk

do

Method 3
Down
start

Instruction
differentiation

In

do

Upward Differentiation
start

@Inst

Upward Differentiation
There is no equivalent in ST. You must create it
in logic.
Example:
Method 1
R_TRIG_instance (Clk:=start, Q=>do);
IF (do = TRUE) THEN Inst();
END_IF;
Method 2
IF (start = TRUE) THEN
IF (pre_start = FALSE) THEN Inst();
END_IF;
END_IF;
pre_start:=start;// Update previous value.

6-110

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Item
Instructions
that last
multiple
task periods

Ladder diagram
With the TON instruction, multiple cycles are
required from the start of instruction execution
to the end and the instruction is reset when the
power flow is FALSE. Therefore, you need to
declare only one instance to both execute the
instruction and reset it.
TON_instance
start

PT

ET

Add a circle to indicate NOT at the intersection

of the BOOL argument and the function/function
block.

Add a NOT operator to the argument.

* You can add NOT operators to any BOOL
variable, not just arguments.

Func

emergency

EN

6-5 Programming Languages

Function/function block
argument
NOT specifications

TON
In

ST (including inline ST)

You must declare two instances, one for
execution and one to reset, as shown below.
IF (start = TRUE) THEN
TON_instance(In:=TRUE, omitted);
// Start timer.
ELSE
TON_instance(In:=FALSE, omitted);
// Reset timer.
END_IF;

IF (NOT emergency) THEN

ENO

Func();
END_IF;
Multi-stage
connections

start

IF(start=TRUE) THEN

Func1
EN ENO

Func2( in := Func1());
tmp

tmp

Func2
EN ENO
in

You can connect only other Out instructions

after an Out instruction.

6
You cannot continue the ladder diagram after
inline ST.

NG
// Inline ST
str :=ABC;

Program
divisions

You can create sections.

NJ-series CPU Unit Software Users Manual (W501)

You cannot create sections.

6-111

6-5-3 Structured Text Language

Post-connecting ladder
instructions

END_IF;

6 Programming

6-6

Instructions
This section describes the instructions that are pre-defined by the NJ-series Controller.
For details on these instructions, refer to the NJ-series Instructions Reference Manual (Cat. No. W502)
and NJ-series Motion Control Instructions Reference Manual (Cat. No. W508).

6-6-1

Instructions
Instructions are the smallest unit of the processing elements that are provided by OMRON for use in
POU algorithms. Instructions are classified as shown below.
Ladder diagram structure elements (inputs and outputs)

FB instructions
Instructions
FUN instructions

ST language statements

Programs, user-defined functions, and user-defined function blocks consist of these instructions.

6-6-2

Basic Understanding of Instructions

The fundamental specifications of the instructions follow the specifications of functions and function
blocks.
This section describes specifications that are unique to instructions.

Ladder Diagram Structure Elements (Inputs and Outputs)

Locations
Instructions for ladder diagram inputs and outputs have certain positions where they can be placed,
as shown below.
Classification
Input
Logical start
instructions

Locations
Connected directly to the left bus bar
or is at the beginning of an instruction
block.

Intermediate
instructions

Between a logical start and the output

instruction.

Output instructions

6-112

Diagram

Connected directly to the right bus

bar.

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Instruction Options
Some ladder diagram instructions for inputs also detect changes to TRUE or changes to FALSE if
you add an upward arrow or downward arrow to them.
Change to
TRUE ()

The instruction reads input status, makes

comparisons, tests bits, or performs other
types of processing every task period
and outputs the power flow when result
changes from FALSE to TRUE.

Variable A

Variable A
Output
1 task period
1 task period
Time Chart

Change to
FALSE ()

The output power flow changes to FALSE

in the next task period (after it is TRUE
for one task period).
The instruction reads input status or performs other types of processing every
task period and outputs the power flow
when result changes from TRUE to
FALSE. The output power flow changes
to FALSE in the next task period (after it
is TRUE for one task period).

Variable A

Variable A
Output
1 task period

6-6 Instructions

1 task period
Time Chart

Function Block Instructions

Execution Conditions
The operation of the execution condition for an FB instruction depends on the instruction.

A specific input variable for the execution condition is defined for each instruction.
Execute specifies a change to TRUE or a change to FALSE in the execution condition.
Enable causes the instruction to be executed each task period according to the current
execution condition.
Function block instructions are unconditionally executed for as long as the POU that called them is
executed.

Instruction Options
Instruction options cannot be specified.

NJ-series CPU Unit Software Users Manual (W501)

6-113

6-6-2 Basic Understanding of Instructions

Examples:

6 Programming

FUN Instructions
Execution Conditions
All FUN instructions have EN inputs as execution conditions. The FUN instruction is executed each
task period as long as EN is TRUE.

Instruction Options
In a ladder diagram, you can add the following instruction options to specify a change to TRUE or a
change to FALSE as the execution condition for that instruction. ST statements do not have options.
Instruction Options
Differentiation
Change to
option
TRUE

Symbol
@

This option creates an upwardly differentiated instruction.

The instruction is executed only once when EN
changes to TRUE.

To add an instruction option, add one of the option symbols listed in the table above before the
instruction.
Example:
@ MAX
EN

ENO

In1

Out

In2

Information That Applies to Both FB Instructions and FUN

Instructions
Condition Flags
System-defined variables that are assigned values that represent the result of instruction processing
are called Condition Flags. The only Condition Flag for an NJ-series Controller is the Carry Flag
(P_CY).
The Carry Flag serves the following purposes.
It shows whether the result of processing an instruction exceeds the range that can be expressed
by the data type of the output variable.
It shows whether an overflow occurred in a bit shift instruction for bit string data. For details, refer
to the NJ-series Instructions Reference Manual (Cat. No. W502).

6-114

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-6-3

Instruction Errors
Instruction errors refer to the errors that occur when an instruction is executed. This section describes
when an instruction error occurs, which error is detected as an instruction error, and what operation follow an instruction error, etc.

Timing When Instruction Errors Occur

The timing when instruction errors occur can be divided into the following three cases. Detectable
errors and operations following to the errors differ by the timing when instruction errors occur.
When the values of input parameters or in-out parameters are checked before instruction execution.
When internal processing is performed during instruction execution.
When the values of output parameters are checked after instruction execution.

Errors Detected As Instruction Errors

Errors detected before or after instruction execution

The followings are the errors detected before or after instruction execution.
Reading or writing an array variable from or to an element beyond the array range.

6-6 Instructions

The followings are the errors detected as instruction errors. Different errors are detected depending on
the timing when instruction errors occur.

Assigning a string that is longer than the defined byte length to a STRING variable.
Assigning a string that does not end with a NULL character to a STRING variable.

Dividing an integer variable by 0.

Errors detected during instruction execution differ by instruction. For details on errors detected in
each instruction, refer to the NJ-series Instructions Reference Manual (Cat. No. W502).

Operation for Instruction Errors

The operation for the following elements differ depending on whether an instruction error occurs or not:
output variable ENO, output variable Error, output variable ErrorID, system-defined variable P_PRGER,
and events. The details on the operations are described below.

Output variable ENO, output variable Error, and output variable ErrorID
ENO (enable out), Error, and ErrorID (error code) are the output variables that indicate whether an
error exists or not. Each instruction has different output variables. The meaning of each variable and
its value on an instruction error are shown below. The values vary by the timing when an instruction
error occurs.

Output
variable

Data
type

Meaning

ENO

BOOL

TRUE
FALSE

Error

BOOL

TRUE
FALSE

Value when an instruction error occurs

Before
After
During
instruction
instruction
instruction
execution
execution*1
execution*2
FALSE
FALSE
TRUE

: Normal end
: Error end, Execution in progress, or Not executed
: Error End
FALSE
: Normal end, Execution in
progress, or Not executed

NJ-series CPU Unit Software Users Manual (W501)

TRUE

FALSE

6-115

6-6-3 Instruction Errors

Errors detected during instruction execution

6 Programming

Output
variable
ErrorID

Data
type
WORD

Meaning

Error code on Error end, and

Value when an instruction error occurs

Before
After
During
instruction
instruction
instruction
execution
execution*1
execution*2
WORD#16#0 Error code
WORD#16#0

WORD#16#0 on Normal end

*1 If an instruction error occurs before execution of an instruction, the instruction will not be executed. Therefore, the value of each output parameter before instruction execution will be retained.
*2 If an instruction error occurs after execution of an instruction, the instruction itself will be regarded as normally ended. Therefore, the values of output variables of the instruction will be assigned to the output
parameters. Values of the output parameter to which an error occurred are retained as the one before the
instruction execution.

System-defined variable P_PRGER

The system-defined variable P_PRGER is a flag that indicates the occurrence of an instruction error.
If an instruction error occurs, the value will change to TRUE regardless of when the error occurred.
When the instruction ends normally, the value will be retained.
For the details on P_PRGER, refer to Instruction Error Flag on page 6-118.

Events
When an instruction error occurs, an event is created for it. For details on events, refer to Events for
Instruction Errors on page 6-119.
Version Information
A CPU Unit with unit version 1.02 is required to create events for instruction errors.

Output Parameters in Ladder Diagrams

The following table shows the values of output parameters when an instruction, user-defined function,
or user-defined function block that is created in a ladder diagram ends normally or has an instruction
error.
Condition
Normal end

Instruction error

6-116

Type of output parameter

Power flow output
BOOL parameter output
Parameter output other than BOOL
Power flow output
BOOL parameter output
Parameter output other than BOOL

Value of output parameter

Values are updated according to the
internal algorithm.
Set to FALSE.
The previous values are retained.

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Operation When a Syntax Error Occurs in a POU Written in ST

Errors in Assignment Statements
When an error occurs in an assignment statement written in ST, that line is not executed.
5 a = b / (c + d) + e f + ABS(g);
6 x := 1;
For example, if a division by zero error occurs
in (b/(c+d)) on line 5, execution of line 5 is
cancelled (the value of a is not changed) and
line 6 is executed.

This operation is the same as when the output ENO of a user-created function is FALSE.
5 a = User-created_function_block (b) + c;
6 x := 1;
When the ENO output from the user-created
function is FALSE, execution of line 5 is
cancelled (the value of a is not changed) and
line 6 is executed.

If a syntax error occurs in ST, perform error processing for the syntax error.
When the value of (c+d), below, is zero, the lines between the IF and END_IF are not executed.
POU"AA"
IF a = b / (c + d) THEN
x := 1;
ELSE
x := 2;
END_IF;
y := 10;
:
IF P_PRGER = TRUE THEN
x:= initial_value; (*Processing when an error occurs*)
y:= initial_value;
END_IF;

6
The user must include a safety
processing for possible errors.

Syntax Errors in ST
The following syntax errors can occur in ST.
Exceeding the number of elements in an array.
No parameter set for in-out variable.
STRING assignment: When the text string size (bytes) of the left side is less than the text string
length (bytes) of the right side
Division by zero (excluding floating-point number calculations)
* When the value of a floating-point number is nonnumeric, the result of the calculation will also be nonnumeric.
This is not considered an error.

Operation for Structure Errors

The P_PRGER Flag changes TRUE and the following occurs.
Syntax
Assignment
statement

Error location

NJ-series CPU Unit Software Users Manual (W501)

Operation
The line is not executed.

6-117

6-6-3 Instruction Errors

5
6
7
8
9
10
:

6-6 Instructions

Errors in IF Constructs

6 Programming

Syntax

Error location
IF condition
expression
CASE condition
expression
FOR condition
expression
WHILE condition
expression
REPEAT condition expression

Control constructs

Operation
No statements between IF and END_IF are executed.
No statements between CASE and END_CASE are executed.
No statements between FOR and END_FOR are executed.
No statements between WHILE and END_WHILE are executed.
No statements between REPEAT and END_REPEAT are executed.

Instruction Error Flag

When an instruction error occurs in a ladder algorithm or when a syntax/function error occurs in an ST
algorithm, the P_PRGER (Instruction Error Flag) system-defined variable changes to TRUE. The
P_PRGER flag is a local variable for the program. This flag changes to TRUE when an instruction error
occurs in the program, and remains TRUE during the next task period.
Variable
name
P_PRGER

Data
type

Meaning

Function

Instruction Error Flag

This flag changes to and

remains TRUE when an
instruction error occurs. After
this flag changes to TRUE, it
stays TRUE until the program
changes it back to FALSE.

BOOL

Range of values
TRUE or FALSE

Initial value
FALSE

Read
/writ
e
Read
/write

The user can write the P_PRGER Flag. You can temporarily set the value of this flag to FALSE through
a user operation to determine if the error occurs within a specific range, for example. After this flag
changes to TRUE, it remains TRUE until the operating mode is changed or the flag is overwritten by a
program.
Example:
User Program
P_PRGER

Initial process

R
If the flag is ON, you
know that the
instruction error has
to be inside this
range.

Algorithm (instructions)

Normal process #1

P_PRGER
Error processing
for normal
process #1

Normal process #2

Example: Initial values

set for variables

The P_PRGER Flag also changes to TRUE when an instruction error occurs inside a user-defined
function block that is used by the program.
Example:
Program
P_PRGER : OFF
Inside function block definition
User-defined
function block

P_PRGER : OFF
Instruction error

P_PRGER : ON
P_PRGER : ON

6-118

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Events for Instruction Errors

When an instruction error occurs, an event is created for it. Refer 8-6 Event Logs for the procedure to
check events. For information on the events that are created, refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-04 or later).
Precautions for Correct Use
To create events for instruction errors, you must select Use for Event Log Settings Instruction
Error Output on the Sysmac Studio. Refer to 4-2-2 Controller Setup and to the Sysmac Studio
Version 1 Operation Manual (Cat. No. W504-E1-04 or later) for information on the Controller
Setup.
If you change the user program after an instruction error occurs, the information in the event
log may no longer be correct.
If an instruction with an error is executed repeatedly, an instruction error or event is created
each time the instruction is executed. This may cause the event log to exceed the maximum
number of events. If this occurs, older events are overwritten.

A CPU Unit with unit version 1.02 is required to create events for instruction errors.
A CPU Unit with unit version 1.02 or later and Sysmac Studio version 1.03 or higher are
required to specify whether to output instruction errors when they occur.

Additional Information

Events for motion control instruction are created even if you select Do not use for Event Log
Settings Instruction Error Output in the Controller Setup on the Sysmac Studio.

6-119

6-6-3 Instruction Errors

If an error occurs in a motion control instruction, two events are created, one for the instruction
error and one for the motion control instruction. For details on events for motion control instructions, refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508).

NJ-series CPU Unit Software Users Manual (W501)

6-6 Instructions

Version Information

6 Programming

6-7

Namespaces
This section provides the specifications for namespaces and the procedures to use them. Refer to the
Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the procedures to manipulate them.
Version Information
A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required
to use namespaces.

6-7-1

Namespaces
Namespaces are a system for grouping function block definitions and other entities to manage them in
nested structures. They are similar to grouping files in folders to manage them in a directory structure. If
you do not use namespaces, the name of each function block definition or other entity must be unique.
If you use namespaces, you can use the same name more than once by setting namespaces. Using
namespaces is not required.

Features of Namespaces
Namespaces provide the following features.

Preventing Duplicated Names

As long as different namespaces are used, you can use the same name for a function block or other
entity more than once. For example, assume that several systems must be programmed, and that a
different programmer will program each of them. Here, it would be likely that the same names would
be used for different function block definitions or other entities. If you did not use namespaces, you
would have to create naming rules to prevent the duplication of names. However, if you set a different namespace for each system, programming would be possible without worrying about duplicating
names with other systems.
Not Using Namespaces
Programmer for
system A

Using Namespaces
Programmer for
system B

Namespace: None

Namespace: None

FB: Read_recipe

FB: Read_recipe

FB: System_A_Read_recipe

Programmer for
system A

Programmer for
system B

Namespace: System_A

Namespace: System_B

FB: Read_recipe

FB: Read_recipe

FB: System_B_Read_recipe
The same names can be used.

All names must be unique, so naming rules must be followed.

6-120

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-7-2

Namespace Specifications
This section describes what namespaces can be used for, namespace notation, and namespace declarations.

Namespace Usage
You can use namespaces for the entities that are listed in the following table. You cannot use them for
local variables.
Library object

Details

POU definitions

Function definition names and function block definition names

Data types

Structure data type names, union data type names, and enumeration data
type names

Namespace Notation

Examples:
Location of namespace
Outside of an algorithm
Inside of an algorithm

Expression
System_A\Read_recipe
\\System_A\Read_recipe

Fully Qualified Names and Short Names

In the algorithm in a POU definition, you can use the short name of any POU definition that has the
same namespace as the POU definition of the algorithm.
Example:
System_A\Read_recipe
Name of Short name
namespace
Fully qualified name

Restrictions on Namespace Notation

You can use the same characters as you can for variable names. For details, refer to 6-3-12
Restrictions on Variable Names and Other Program-related Names.
The following table gives the limits to the number of characters in the names of namespaces.

Names of
namespaces
Short names

Maximum size
93 bytes

Character
encoding
UTF-8

127 bytes

NJ-series CPU Unit Software Users Manual (W501)

6-121

6-7-2 Namespace Specifications

The fully qualified name of an entity is the name that includes the name of the namespace. The
short name of an entity is the name that does not include the name of the namespace.

Name

6-7 Namespaces

Separate the levels in a namespace with backslashes (\). To use a namespace in a POU algorithm,
place two backslashes (\\) at the front of the namespace.

6 Programming

Precautions for Correct Use

An error will occur when you build the program if the short name of a variable is also used in
the name of the namespace.
System_A\Process_A\Read_recipe\Process_A
Not
allowed.

The short name is used in the name of the namespace.

System_A\Read_recipe\System_A\Process_A
Not
allowed.

The same name is used twice within the overall name of

the namespace.

You can use the short name of a POU definition in the algorithm of a POU definition if it is in
the same namespace. However, an error will occur when you build the program if there is a
POU definition or data type with the same short name at a higher level in that namespace.
For example, assume that the following POU definitions are used. You can use the short name
to call System_A\Read_recipe\Process_A from within the algorithm of the Process_B function
block definition (which is in the System_A\Read_recipe namespace) because Process_A is in
the same namespace.
POU Definitions
System_A\Read_recipe\Process_A
System_A\Read_recipe\Process_B
Notation in the Algorithm of the
System_A\Read_recipe\Process_B Function Block Definition

Process_A

If, however, a System_A POU definition also exists at a higher level than the
System_A\Read_recipe namespace, Process_A exists twice. Therefore, an error will occur
when you build the program.
In this case, you must use the fully qualified name or change the short name.
POUPOU Definitions
Process_A (no namespace)
System_A\Process_A

If any names are the same as a reserved word, an error will occur when you check the program.

Namespace Declarations
To program with namespaces, you can declare the namespaces in advance before you use them in the
algorithm of a POU definition.
After you declare the namespace in the POU definition, you can use the short name of any POU definition or other entity that has the same namespace. You can also use the fully qualified name even if you
declare the namespace.
In the algorithm in a POU definition, you can use the short name of any function definition or function
block definition that has the same namespace as the POU definition of the algorithm even if you do not
declare the namespace.
You can declare more than one namespace for the same POU definition.

6-122

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Notation Examples
Notation examples are provided below for creating a function block definition when declaring the
namespaces to use in the function block definition and when not declaring the namespaces.
Examples:
In this example, the Read_recipe and Calculate_upper_limit function block definitions are used in the
algorithm for the Lifter function block definition. Each of these function block definitions is in a different
namespace. In the Lifter function block definition, only the System_C namespace is declared. The fully
qualified name must be given for the Read_recipe function block, which is not in the System_C
namespace. The short name can be given for the Calculate_upper_limit function block, which is in the
System_C namespace.
Short name
Namespace
Entity
System_A
Lifter
Function block definition
System_B
Function block definition Read_recipe
System_C
Function block definition Calculate_upper_limit
The following notation is used in the namespace
declaration for the Lifter function block definition.
6-7 Namespaces

System_C
Notation for the Algorithm of the Lifter Function Block
Definition
When Namespace Is Not Declared
The System_B namespace of the Read_recipe function
block definition is not declared, so you must give the fully
qualified name.

\\System_B\Read_recipe

6-7-2 Namespace Specifications

When Namespace Is Declared

The System_C namespace of the Calculate_upper_limit
function block definition is declared, so you can give the
short name.
Calculate_upper_limit

Restrictions of Declarations
You can use short names only in the algorithm of a POU definition.

NJ-series CPU Unit Software Users Manual (W501)

6-123

6 Programming

Precautions for Correct Use

An error is detected during the program check in the following cases.
If a namespace that does not exist is declared
If you declare more than one namespace for one POU definition, and a POU definition, data
type, or other entity with the same name exists in two or more namespaces
An error will occur when you build the program if the same name is used as follows for different
POU definitions or data types.
If the same name is used for the namespace of a POU definition and at a higher level in the
namespace
If the same name is used in a declared namespace
If the same name is used without a namespace
Entity
Namespace
Short name
System_A\Lifter Function block definition Process_A
System_A
System_B
None

Not
allowed.

The name is used in the namespace of the POU definition.

The name is used at a higher level than the namespace
of the POU definition.

Function block definition Process_A

Not
allowed.

Function block definition Process_B

Process_A
Function block definition Process_A

Not
allowed.

The name is used in a declared namespace.

Not
allowed.

The name is used without a namespace.

The following notation is used in the namespace

declaration for the Process_A function block definition.
System_B

Additional Information
You cannot set a namespace for a program name. However, you can declare namespaces for
objects that are used in the algorithm of the program.

6-7-3

Procedure for Using Namespaces

Use the Sysmac Studio to set the namespaces and then declare them. Perform steps 1 and 2 when you
create data types or when you create function definitions, function block definitions, or other objects.
Declare a namespace with step 3 to use an object for which a namespace is set.

1
2
3
4

In the Data Type Editor, set the namespace for the data type.
Set the namespace in the properties of the function definition or function block definition.
In the Ladder Editor or ST Editor, declare the namespace in the properties of the function definition or function block definition.
Use the data types, function definitions, and function block definitions in the user program.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-03 or higher) for specific procedures.

6-124

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-8

Libraries
This section describes the specifications of libraries. Refer to the Sysmac Studio Version 1 Operation
Manual (Cat. No. W504-E1-03 or higher) for specific procedures.
Version Information
A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required
to use libraries.

6-8-1

Introduction to Libraries
A library contains POU definitions and data types in a form that allows you to reuse them as objects in
programming. The objects in a library are called library objects. The NJ-series CPU Units allow you to
create and use libraries.
The following figure illustrates the use of library objects. Here, program A uses FUN:A1 and FB:B1 from
the objects in the library, and program B uses Type:C1 and FB:B1.
6-8 Libraries

Library
Sysmac Studio
Library objects
Create library.

FUN:A1

FB:B1

FUN:A2

FB:B2

Type:C1

FB:B3

6
6-8-1 Introduction to Libraries

Type:C2

Reuse objects.

FUN:A1

Type:C1

FB:B1
Program A

6-8-2

FB:B1
Program B

Specifications of Libraries
This section describes the library settings and synchronization.

Library Settings
The following settings are supported for libraries.
Setting

Description

Name

The name of the library.

Version

The version of the library.

Author

The creator of the library. (optional)

Creation date

The date that the library was created.

NJ-series CPU Unit Software Users Manual (W501)

6-125

6 Programming

Setting

Description

Update date

The date that the library was last updated.

Comment

A comment on the library. (optional)

Company name

The name of the company that created the library. (optional)

ID

A unique ID that is used to access the library. The ID is generated automatically.

You cannot change it.

Display/hide source

You can specify whether to display or hide the source.

Attached files

You can attach one or more files.

* If data protection is set for a library object, a password is required to display the source code.

Selecting Library Objects

You can select the objects to include in a library. You can also access other libraries to create library
objects. When you do, you can select whether to include the library data from the accessed library.
Additional Information
When you select to include accessed library data, the accessing library is created so that it contains a copy of the accessed library data. This means that only one library file is required. However, if there is more than one accessing library, you must change each one of them to make any
changes. When you select not to include accessed library data, the accessing library is created
without the accessed library data. This means that there will be two library files, the accessing
file and the accessed file. However, even if there is more than one accessing library, you need to
change only the accessed library to make changes.

Library Synchronization
You can download a library to a Controller, upload a library from a Controller, or verify a Controller
library against one on the computer.
Additional Information
If you transfer a project for which transferring the source program is disabled from the Sysmac
Studio to a Controller that contains libraries for which the source is displayed, the source data
for the library is not transferred.
The libraries in the Controller are deleted for the Clear All Memory operation.

6-8-3

Library Object Specifications

This section describes the library objects that can be created and the settings for the library objects.

Applicable Library Objects

You can handle the following entities as library objects.
Library objects

Details

POU definitions

Functions and function blocks

Data types*

Structure data types, union data types, and enumeration

data types

* Data types are always included in the library object selections on the Sysmac Studio.

6-126

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

Library Object Settings

You can set the following for each library object.
Property

Definition

Name

The name of the library object.

Namespace

The namespace of the library object.

Version*

The version of the library object.

Author*

The creator of the library object. (optional)

Creation date*

The date that the library object was created.

Update date*

The date that the object library was last updated.

Comment

A comment on the library object. (optional)

* These items can be set only for functions and function blocks. They are set in the POU definition properties on
the Sysmac Studio.

6-8-4

Procedure to Use Libraries

6-8 Libraries

Use the following procedures to create and use libraries.

Procedure to Create Libraries

Create a project to use as the library. Use the following procedure to create and save a library.

Create a library project.

When you create the project, select a library project as the project type in the Project Window.
Create library objects.
In the library project, create the required POU definitions and data types, and then check them
to make sure that they operate correctly.

Set the properties of the library.

Set the properties of the library project, including selecting the library objects, hiding/displaying
source code, and attached files.

Save the project as a library file.

Save the project in a library file in the Create Library File Dialog Box.
Additional Information
You can change an existing project to a library project as long as the only device that is registered in the project is a Controller. Simply change the project type in the project properties to a
library project.
You can create data that cannot be used as library objects in a library project. However, you
cannot select any of this data as library objects.
We recommend that you use namespaces for names of the functions, function block definitions, and data types that you create as library objects to prevent duplicating names with other
libraries. For details on namespaces, refer to 6-7 Namespaces.

NJ-series CPU Unit Software Users Manual (W501)

6-127

6-8-4 Procedure to Use Libraries

6 Programming

Procedure to Use Libraries

You can read objects that are created in libraries into a project to use them in the user program. Use the
following procedure to use libraries.

Specify the library.

Specify the library file to access in the Library Reference Dialog Box of the project in which to
use the library objects.

Use the library objects in programming.

Use the library objects from the library that you read in the project. Use the library objects in the
same way as any other functions, function block definitions, or data types.

6-128

NJ-series CPU Unit Software Users Manual (W501)

6 Programming

6-9

Programming Precautions
This section describes precautions for developing a user program.

6-9-1

Array Specifications for Input Variables, Output Variables, In-Out

Variables
Some instructions handle array variables.
Example:
Data Type Table
Variable name
data

Data type
ARRAY[0..4] OF INT

INT#0
data[0]
UINT#5

6-9-2

ENO

EN
In
AryOut

Out
data[0]

Size

Structure Variables for Input Variables, Output Variables, In-Out

Variables
Some instructions have structure variables for input, output, or in-out variables.

Example:

InPort
UINT#13

Execute
Port
Size
DstDat

Done
Busy
Error

RecvDat[0]

RecvDat[0]
ErrorID
ErrorIDEx
RcvSize

NJ-series CPU Unit Software Users Manual (W501)

6-9-1 Array Specifications for Input Variables, Output Variables, In-Out Variables

SerialRcv_instance
SerialRcv

Operating

6-9 Programming Precautions

SetBlock

RecvSize

6-129

6 Programming

In this case, you must create a structure variable for the input, output, and in-out parameters, then use
the MOVE instruction to set the values.
Example:
Variable Table
Variable name Data type
InPort
_sPORT
Execution
condition

Inline ST: Sets values in the Inport structure variable.

1 InPort.UnitNo
2 InPort.PhysicPortNo

:=_CBU_No00;
:=USINT#2;

// Serial Communications Unit with unit number 0

// Serial port 2

SerialRcv_instance
SerialRcv
InPort
UINT#13

Execute
Port
Size
DstDat

Done
Busy
Error

RecvDat[0]

RecvDat[0]
ErrorID
ErrorIDEx
RcvSize

6-9-3

RecvSize

Master Control

Introduction
Master control is used to make output FALSE for all processing between the MC (Master Control Start)
instruction and the MCR (Master Control End) instruction. Master control is useful to control the execution conditions of a relatively long series of instructions.
Refer to information on the MC and MCR instructions in the NJ-series Instructions Reference Manual
(Cat. No. W502) for details.

Master Control Programming Languages

You can use master control in ladder diagrams.
You cannot use master control with ST. You also cannot use master control for inline ST inside a ladder
diagram.
Example:
Inside a Master Control Region:
Ladder diagram algorithm

The ladder diagram is reset by the master

control.
For example, the output variables from OUT
instructions change to FALSE.

Inline ST

Nothing is done.

Ladder diagram algorithm

The ladder diagram is reset by the master

control.
For example, the output variables from OUT
instructions change to FALSE.

Programs
User-defined
function block

Operation of Instructions That Are Reset in a Master Control Region

Refer to information on the MC and MCR instructions in the NJ-series Instructions Reference Manual
(Cat. No. W502) for the operation of other instructions in the master control region when master control
is reset.

6-130

NJ-series CPU Unit Software Users Manual (W501)

Checking Operation and Actual Operation

This section describes the items and procedures for checking the operation of an NJseries Controller, including offline debugging procedures.

7-1 Overview of Steps in Checking Operation and Actual Operation . . . . . . . 7-2

7-2 Offline Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7-2-1
7-2-2
7-2-3

Features of Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Simulation Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Setting Up Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7-3 Checking Operation on the Actual System and Actual Operation . . . . . . 7-8
7-3-1
7-3-2
7-3-3
7-3-4
7-3-5
7-3-6

Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Downloading the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Checking I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
MC Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Checking the Operation of the User Program . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Starting Actual Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

NJ-series CPU Unit Software Users Manual (W501)

7-1

7 Checking Operation and Actual Operation

7-1

Overview of Steps in Checking

Operation and Actual Operation
The shaded steps in the overall procedure that is shown below are related to the checking operation
and actual operation. In Step 2-4. Offline Debugging, a simulation is used to check operation without
going online with the Controller. In Step 5. Checking Operation and Starting Operation on the Actual
System, you go online with the Controller to check the operation of the physical Controller. When checking operation is completed, you start actual operation.
Refer to 1-3 Overall Operating Procedure for the NJ-series Controller for the overall procedure.

Step 1. Software Design

Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Step 4. Wiring

Step 5. Checking Operation and Starting Operation on the

Actual System

7-2

NJ-series CPU Unit Software Users Manual (W501)

7 Checking Operation and Actual Operation

7-2

Offline Debugging
This section describes how to use simulation to debug operation offline. You can simulate the operation
of an NJ-series Controller on a computer to check the operation of the user program with only the computer. There are also debugging operations that can be used during simulation that are not supported
on the physical Controller. This makes user program development and debugging more efficient.

7-2-1

Features of Simulation
In the following way, simulation is more effective than going online with the Controller to debug operation.
You can use breakpoints, step execution, pausing, and other functions to check program logic.
You can select only specific programs to simulate to check only those programs.
You can change the simulation execution speed to check operation at a slower speed than for actual
operation.
You can use the Task Execution Time Monitor to estimate the task execution times.
You can use debugging programs to manipulate inputs from outside the Controller.
7-2 Offline Debugging

7-2-2

Simulation Execution
You can do the following for simulations.
Start and stop the Simulator.
Check the logic of programs.
Estimate task execution times.
Use online debugging functions.

You perform simulations by starting the Simulator from the Simulation Pane of the Sysmac Studio. After
you complete checking operation with the simulation, you stop the Simulator. The following procedure
shows how to start and stop simulations.

Select Simulation Pane from the View Menu of the Sysmac Studio.
The Simulation Pane is displayed on the lower right of the window.

Execute Button

Stop Button

Simulation Pane

Click the Execute Button in the Simulation Pane.

NJ-series CPU Unit Software Users Manual (W501)

7-3

7-2-1 Features of Simulation

Starting and Stopping the Simulator

7 Checking Operation and Actual Operation

The user program is transferred to the Simulator and the simulation starts. When a simulation
starts, the Editors and other parts of the Sysmac Studio window will enter the same state as
when the Sysmac Studio is online with the Controller.

After you complete checking operation, click the Stop Button in the Simulation Pane to stop the
Simulator.

Checking the Logic of Programs

You can use simulation debugging to stop the operation of the Simulator or to execute a program one
step at a time to check the validity of the program logic. You can perform the following operations with
the buttons in the Simulation Pane.
Operation

Description of operation

Breakpoints

Use a breakpoint to specify a location in a program and pause program execution at that location.

Step execution

Use step execution to execute one line of an ST program or one instruction in

a ladder diagram program and then pause the Simulator.

Continuous step execution

Use continuous step execution to continually perform step execution at a

specified interval.

Pausing

Use pausing to pause execution of the simulation.

Step-in execution

Use step-in execution to perform step execution of source code inside a function or function block.

Step-out execution

Use step-out execution to execute the current function or function block to the
end.

One-period execution

Use one-period execution to execute the current task for one period. Execution pauses at the beginning of the program in the next period.

Conditional breakpoints

Use conditional breakpoints to pause the execution of a program at a breakpoint when the specified stopping condition is met.

Estimating Task Execution Times

If you execute the Simulator in Execution Time Estimation Mode, the estimated task execution time
from when task execution starts until it stops is displayed on the Task Execution Time Monitor Display.
The average and maximum estimated task execution times are displayed. Refer to Task Execution
Timeout Error on page 5-46 for the Task Execution Time Monitor Display.
Precautions for Correct Use
The estimated task execution times are not necessarily the same as the actual task execution
times on the physical Controller. Depending on the user program, I/O configuration, and whether
communications are used, the execution times on the physical control may exceed the estimated
maximum value. Use them only as guidelines in task design. Always confirm the task execution
times while connected to the physical Controller to study the designs and before starting actual
system operation.

7-4

NJ-series CPU Unit Software Users Manual (W501)

7 Checking Operation and Actual Operation

Online Debugging Functions

With the Simulator, you can use some of the functions for debugging that are supported when you are
online with the Controller. The following table shows the differences between online debugging with the
Controller or offline debugging with the Simulator. Refer to the Sysmac Studio Version 1 Operation
Manual (Cat. No. W504) for details on the differences in debugging operations for the Controller and for
the Simulator.
Debugging function

Controller

Simulator

Supported.

Supported.

Monitoring in a Watch Tab Page

Supported.

Supported.

Monitoring in the I/O Map

Supported.

Supported.

Controlling BOOL variables

Supported.

Supported.

Forced Refreshing (TRUE/FALSE/Cancel)

Supported.

Supported.

Changing present values of data

Supported.

Supported.

Clearing all memory

Supported.

Not supported.

Cross-reference pop-ups

Supported.

Supported.

Online editing

Supported.

Supported.

Monitoring Controller status

Supported.

Not supported.

Monitoring task execution status

Supported.

Supported.

Monitoring axis status (MC Monitor Table)

Supported.

Supported.

Changing the operating mode

Supported.

Not supported.

Resetting the Controller

Supported.

Not supported.

Data tracing

Supported.

Supported.

Supported.

Supported.

Setting variables to sample

Supported.

Supported.

Starting and stopping tracing

Supported.

Supported.

Displaying trace results

Supported.

Supported.

Exporting trace results

Supported.

Supported.

Creating 3D equipment models

Supported.

Supported.

Displaying digital and analog charts

Supported.

Supported.

Displaying 3D axis paths

Supported.

Supported.

Monitoring task execution times

Supported.

Supported.

Estimating execution processing times

Not supported.

Supported.

Debugging with program simulations

Not supported.

Supported.

Setting simulation programs

Not supported.

Supported.

Changing the simulation speed

Not supported.

Supported.

Setting breakpoints

Not supported.

Supported.

Step execution

Not supported.

Supported.

Troubleshooting

Supported.

Not supported.

Monitoring error information

Supported.

Supported.

Displaying error logs

Supported.

Supported.

Setting event tables

Supported.

Supported.

Monitoring user memory usage

Supported.

Supported.

Clock Information Settings

Releasing access rights

NJ-series CPU Unit Software Users Manual (W501)

Supported.

Not supported.

Supported.

Not supported.

7
7-2-2 Simulation Execution

Setting triggers

7-2 Offline Debugging

Monitoring

7-5

7 Checking Operation and Actual Operation

7-2-3

Setting Up Simulations
You set the following for simulations.
Setting simulation programs
Setting debug programs
Setting the simulation speed

Setting Simulation Programs

You can set the task or programs to simulate. You can choose to simulate some or all of the programs in
the user program. The following procedure shows how to set the simulation programs.

Display the Simulation Pane.

Check boxes are displayed to the left of the programs that are listed under Tasks in the Multiview Explorer project to designate programs for simulation.

Select the check boxes for the tasks or programs to simulate.

Setting Debug Programs

A debugging program is used to check operation with offline debugging. The debugging program contains instructions to perform virtual input processing on inputs received from outside of the Controller,
force user-defined errors, and perform other such debugging tasks. You can execute debugging programs only on the Simulator.
The following procedure shows how to create debugging programs.

Right-click Programs under Programming POU in the Multiview Explorer and select Add for
Debugging Multipart Ladder or Add for Debugging Structured Text from the menu.
A debug program is created.

2
3

Enter the test program code into the debugging program that you just created.
Assign the debugging program to a task.

You can also change a normal program that is already completed into a debug program in the same
way.

7-6

Right-click a program under Programming POU Programs in the Multiview Explorer and
select SettingsForDebugging Enable.

NJ-series CPU Unit Software Users Manual (W501)

7 Checking Operation and Actual Operation

Setting the Simulation Speed

You can use the Simulation Speed Slider in the Simulation Pane to change the simulation speed from
0.1x to 1x. You can change simulation speed while a simulation is in progress or when it is stopped. Use
this to display the execution of the Simulator more slowly than for actual operation.

7-2 Offline Debugging

7
7-2-3 Setting Up Simulations

NJ-series CPU Unit Software Users Manual (W501)

7-7

7 Checking Operation and Actual Operation

7-3

Checking Operation on the Actual

System and Actual Operation
This section describes the procedures from checking operation on the actual system to starting actual
operation.

7-3-1

Procedures
The procedures from checking operation on the actual system to starting actual operation are given
below.
Step 1. Going Online from the Sysmac Studio and Downloading the Project
1. Turn ON the power supply to the Controller.
2. Place the Sysmac Studio online with the Controller.
3. Download the project (i.e., the user program, Unit configuration, and other
settings) from the Sysmac Studio.

Reference
Sysmac Studio Version 1
Operation Manual (Cat.
No. W504)

Step 2. Checking Operation on the Controller

Reference

1. In PROGRAM mode, check the I/O wiring by performing forced-refreshing

with user-specified values from the I/O Map or Ladder Editor.
2. For motion control, use the MC Test Run operations to perform the following:
check the wiring, jog to check the motor rotation directions, perform relative
positioning to check the travel distances (e.g., for electronic gear settings),
and check homing operation.
3. Change the Controller to RUN mode and check the operation of the user program.

7-3-3 Checking I/O Wiring

Step 3. Starting Actual Controller Operation

Reference

NJ-series CPU Unit Motion

Control Users Manual
(Cat. No. W507)
7-3-5 Checking the Operation of the User Program

1. Confirm that operation is performed as designed and then start actual opera- --tion.

Additional Information
Use the synchronization function to download the project from the Sysmac Studio to the Controller. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on
the synchronization function.

7-3-2

Downloading the Project

Use the following procedure to download the project from the Sysmac Studio to the physical Controller.

Go online with the Controller, and then select Synchronization from the Controller Menu.
The data on the computer and the data in the physical Controller are compared automatically.

7-8

Click the Transfer to Controller Button.

NJ-series CPU Unit Software Users Manual (W501)

7 Checking Operation and Actual Operation

7-3-3

Checking I/O Wiring

Check the I/O wiring by using forced refreshing from the Watch Tab Page of the Sysmac Studio. You
can write values to I/O for Units or slaves to check the results to test the I/O wiring. Refer to 8-5-1
Forced Refreshing for information on forced refreshing.

MC Test Run
The MC Test Run function is used mainly to perform the following operations from the Sysmac Studio
without a user program.
Checking wiring: You can monitor Servo Drive connector I/O signals and Servo Drive status.
Checking the operation and direction of the motor: You can turn ON the Servo and jog axes.
Checking electronic gear settings: You can perform relative positioning, and check and change travel
distances.
Checking homing: You can check the homing operation.
Connect online to the Controller from the Sysmac Studio and perform the MC Test Run on the MC Test
Run Tab Page. For details, refer to the NJ-series CPU Unit Motion Control Users Manual (Cat. No.
W507).
Use the following procedure.

1
2

After you complete the necessary wiring, connect the Sysmac Studio online to the Controller.
Create axes, assign the axes, and set the following axis parameters.
Axis parameter settings required for an MC Test Run: Unit of Display, Command Pulses Per
Motor Rotation, Travel Distance Per Motor Rotation, Maximum Velocity, Maximum Jog Velocity,
Maximum Acceleration Rate, Maximum Deceleration Rate, Software Limit Function Selection,
Software Limits, and Count Mode

7-3 Checking Operation on the Actual System and Actual Operation

7-3-4

Open the MC Test Run Tab Page and perform the following.
Example:

7-3-3 Checking I/O Wiring

Monitoring and checking wiring

Jogging to check the direction of the motor
Check travel distances for relative positioning (electronic gear settings).
Confirming the homing operation

7-3-5

Checking the Operation of the User Program

To check the operation of the user program on the actual system, change the operating mode of the
CPU Unit to RUN mode. You can use the following to check operation.
Checking the operation of the user program
Correcting the user program with online editing
Checking the operation of the user program with data tracing

Checking the Operation of the User Program

You can perform the following to check the operation of the user program.

1
2

Monitor the execution status of the user program.

Check the operation by changing the status of program inputs and program outputs, and the values of variables.

NJ-series CPU Unit Software Users Manual (W501)

7-9

7 Checking Operation and Actual Operation

Monitoring the Execution Status of the User Program

You can monitor the TRUE/FALSE status of program inputs and outputs and the present values of
variables in the Controller. You can monitor the status on the Ladder Editor, Watch Tab Page, or I/O
Map of the Sysmac Studio.

Checking the Operation by Changing the Status of Program Inputs and

Program Outputs, and the Values of Variables
You can change the TRUE/FALSE status of program inputs and outputs and the present values of
variables in the user program to see if the user program operates as designed. Use forced refreshing to change the status of program inputs and program outputs. Use one of the methods to change
the present values of variables. Refer to 8-5-1 Forced Refreshing and 8-5-2 Changing Present Values for details.

Correcting the User Program with Online Editing

You can use online editing to correct a user program that you determined needs to be corrected while
checking operation. You can use online editing to change a user program without stopping the operation of the CPU Unit. Refer to 8-5-3 Online Editing for details.

Checking Operation with Data Tracing

You can use data tracing to check when program inputs and program outputs are changed to TRUE or
FALSE and to check changes in the values of variables. Refer to 8-5-4 Data Tracing for details.

7-3-6

Starting Actual Operation

Change the operating mode to RUN mode to start actual operation. Check the user program, data, and
parameter settings sufficiently for proper execution before you use them for actual operation.

7-10

NJ-series CPU Unit Software Users Manual (W501)

CPU Unit Functions

This section describes the functionality provided by the CPU Unit.

8-1 Data Management, Clock, and Operating Functions . . . . . . . . . . . . . . . . . 8-3

8-1-1
8-1-2
8-1-3

Clearing All Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
RUN Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8-2 Management Functions for CJ-series Units . . . . . . . . . . . . . . . . . . . . . . . . 8-7

8-2-1
8-2-2

Basic I/O Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

Special Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

8-3 SD Memory Card Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10

8-3-1
8-3-2
8-3-3
8-3-4
8-3-5
8-3-6
8-3-7
8-3-8
8-3-9
8-3-10

SD Memory Card Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Specifications of Supported SD Memory Cards, Folders, and Files . . . . . . .
SD Memory Card Operation Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FTP Client Communications Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FTP Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
File Operations from the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SD Memory Card Life Expiration Detection . . . . . . . . . . . . . . . . . . . . . . . . . .
List of System-defined Variables Related to SD Memory Cards . . . . . . . . . .
SD Memory Card Self-diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . .
Exclusive Control of File Access in SD Memory Cards . . . . . . . . . . . . . . . . .

8-10
8-11
8-12
8-13
8-13
8-13
8-13
8-14
8-15
8-17

8-4 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18

8-4-1
8-4-2
8-4-3
8-4-4
8-4-5
8-4-6
8-4-7

Authentication of User Program Execution IDs . . . . . . . . . . . . . . . . . . . . . . .

User Program Transfer with No Restoration Information . . . . . . . . . . . . . . . .
Overall Project File Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation Authority Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPU Unit Write Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPU Unit Names and Serial IDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-19
8-22
8-22
8-23
8-25
8-26
8-28

8-5 Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-30

8-5-1
8-5-2
8-5-3
8-5-4
8-5-5

Forced Refreshing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Changing Present Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Online Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Differential Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

NJ-series CPU Unit Software Users Manual (W501)

8-30
8-34
8-35
8-37
8-42

8-1

8 CPU Unit Functions

8-6 Event Logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48

8-6-1
8-6-2
8-6-3
8-6-4

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48
Detailed Information on Event Logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
Controller Events (Controller Errors and Information) . . . . . . . . . . . . . . . . . . . 8-54
User-defined Events (User-defined Errors and Information) . . . . . . . . . . . . . . 8-55

8-7 Changing Event Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-62

8-7-1
8-7-2
8-7-3

8-2

Applications of Changing Event Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-62

Events for Which the Event Level Can Be Changed . . . . . . . . . . . . . . . . . . . . 8-62
Procedure to Change an Event Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-62

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-1

Data Management, Clock, and

Operating Functions
This section describes the data management, clock, and operating functions.

8-1-1

Clearing All Memory

You can initialize the user program, Controller Configurations and Setup, and variables in the CPU Unit
to the defaults from the Sysmac Studio. This is called the Clear All Memory operation.

The Clear All Memory operation can be performed only in PROGRAM mode.
You cannot execute the Clear All Memory operation when write protection of the CPU Unit is
set in the security functions.
Do not turn OFF the power supply to the Controller during the Clear All Memory operation.
After you clear the memory, the CPU Unit operates in the same way as immediately after you create the
system configuration with the CPU Unit in the factory default condition.
The absolute encoder home offset is not cleared.

Operations from the Sysmac Studio

Connect the Sysmac Studio to the CPU Unit online, and select Clear All Memory from the Controller Menu.

8-1-2

Clock

Introduction

The following functions are supported.

Reading/writing the clock from the Sysmac Studio
Reading/writing the clock with instructions
Reading the clock from system-defined variables (Writing is not possible.)
Correcting the clock from an NTP Server

8-3

8-1-1 Clearing All Memory

A clock (RTC) is built into the CPU Unit. The clock data from this clock is used for timestamps in the
event logs and for the time and date of files that are created on the SD Memory Card.

NJ-series CPU Unit Software Users Manual (W501)

8-1 Data Management, Clock, and Operating Functions

Precautions for Correct Use

8 CPU Unit Functions

Reading/writing the clock from the Sysmac Studio

Reading/writing the clock with instructions
Correcting the clock from an NTP server

CPU Unit
Clock data
Event logs
Time and date of files that are
created on SD Memory Card

Battery backup

Battery
CJ1W-BAT01

Precautions for Correct Use

The clock data is retained by the Battery when the power is turned OFF. The clock data is not
correct when the power is turned ON. You can reset the clock data from an NTP server over an
EtherNet/IP network after the power is turned ON.

Clock Data Range

The range of the clock is 1970-01-01 to 2106-02-06 (January 1, 1970 to February 6, 2106).

Setting the Time Zone and the Local Time

Before you use the CPU Unit for the first time, set the time zone and local time in the clock data. You
can set the time zone and local time from the Sysmac Studio in the Controller Clock Dialog Box.
The clock data that is read by the EtherCAT slaves and CJ-series CPU Units from the CPU Unit and
the clock data that is set are the local times in the time zone.
Additional Information
When a Battery is not mounted or when the Battery voltage is low, the time zone setting is
retained, but the clock data is not retained and will not be correct.

Setting the Clock Data

Use one of the following methods.

Changing Clock Data from the Sysmac Studio

You can use the Sysmac Studio to synchronize the clock data of the built-in clock with the clock on
the computer.

Changing Clock Data with Instructions

You can use the SetTime instruction to set the clock data.

Changing the Clock Data from an NTP Server

You can use an NTP server on EtherNet/IP to set the clock data.

8-4

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Correcting the Clock from an NTP Server

Application
In a network system, the clock data must be shared by the entire system. NTP is supported to
enable easy time synchronization.

Specifications
An NTP client is provided.
Refer to the NJ-series Built-in EtherNet/IP Users Manual (Cat. No. W506) for details.

Reading the Clock Data

Reading the Clock Data from Instructions
You can use the GetTime instruction to read the clock data from the user program.

Reading the Clock from System-defined Variables (Writing Is Not Possible)

You can use the following system-defined variable to read the clock data.
_CurrentTime (System Time)

Sysmac Studio Procedure

You can select Controller Clock from the Controller Menu of the Sysmac Studio to display the clock
data.

Logging
When you change the clock data, an event is recorded in the event log. However, nothing is recorded in
the event log if the time is corrected for the NTP.

Variable name
_CurrentTime

Meaning
System Time

NJ-series CPU Unit Software Users Manual (W501)

Description

Data type

This variable contains the CPU Units inter- DATE_AND_TIME

nal clock data.

R/W
R

8-5

8
8-1-2 Clock

Related System-defined Variables

8-1 Data Management, Clock, and Operating Functions

If the clock data is incorrect, the incorrect value is read.

8 CPU Unit Functions

8-1-3

RUN Output

Introduction
The RUN output on the NJ-P3001 Power Supply Unit is ON while the CPU Unit is operating.
Power Supply Unit
NJ-P3001

CPU Unit

RUN
output

The RUN output operates as shown in the following table.

Status

Operation

During RUN mode

ON

Startup state
(until RUN mode is entered according to the Startup Mode setting).

OFF

During PROGRAM mode

When a major fault level Controller error occurs

The ratings of the RUN output on an NJ-P3001 Power Supply Unit are as follows:
Item
Contact form

Description
SPST-NO
2 A at 250 VAC for resistive load

Switching capacity

0.5 A at 120 VAC for inductive load

2 A at 24 VDC for resistive load

Application
You can use the RUN output for the following purposes:
Obtain a signal to notify the host that the CPU Unit is functioning normally and is currently operating.
Synchronize the completion of startup of more than one CPU Unit
Release interlocks when the CPU Unit starts operation.
Precautions for Safe Use
It takes up to approximately 10 to 20 s to enter RUN mode after the power is turned ON. The outputs during this time behave according to the slave or Unit specifications. Use the RUN output on
the Power Supply Unit, for example, to implement fail-safe circuits so that external devices do not
operate incorrectly.

8-6

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-2

Management Functions for CJ-series

Units
This section describes the management functions used for Units in the Controller.

8-2-1

Basic I/O Units

Introduction
You can increase the input response time to reduce chattering and the effects of external noise. You
can decrease the input response time to enable detection of shorter input pulses. Do not set the ON
response time or OFF response time to less than the refresh time.
8-2 Management Functions for CJ-series Units

Pulses shorter than the input

response time are not detected.

Input from a
proximity sensor
or other device

Input bit

Input response time

Input response time

Setting Methods

You must do either of the following to enable the settings.

Cycle the power supply to the Controller.
Reset the Controller (the entire CPU Unit) from the Sysmac Studio.

NJ-series CPU Unit Software Users Manual (W501)

8-7

8
8-2-1 Basic I/O Units

From the Multiview Explorer of the Sysmac Studio, double-click CPU/Expansion Racks under Configurations and Setup. Then select the input response times in the Unit information for the Basic I/O
Units.

8 CPU Unit Functions

Related System-defined Variables

The set values for the input response times of the Basic Input Units are output to the following systemdefined variable.

8-2-2

Variable name

Meaning

Description

_CJB_InRespTm

Basic Input Unit Input Response

Times

Contains the response times of

the Basic I/O Units in 0.1-ms
increments.

Data type
ARRAY[0..3,
0..9]OF UINT

R/W
R

Special Units

Restarting Special Units

You can restart a Special Unit (Special I/O Unit or CPU Bus Unit) to enable values that are set for it. If
you restart a Special Unit, you do not have to cycle the power supply to the Controller. Execute the following ResetUnit (Restart Unit) instruction to restart Special Units.
Instruction
name
Restart Unit

Instruction
ResetUnit

Description
Restarts the CPU Bus Unit or Special I/O Unit.

ResetUnit
a

b
Execute

Done

UnitNo

Busy

The ResetUnit instruction restarts a Special Unit

across multiple task periods when execution condition
a changes to TRUE. If the restart ends normally, the
output variable Done (normal end) changes to TRUE
and variable b therefore changes to TRUE.

Error
ErrorID

If Special Unit settings are changed in any of the following ways, you must restart the Special Unit or
cycle the power supply to the Controller.
Editing from the Special Unit Setting Pane of the Sysmac Studio
Editing from the I/O Map or Watch Tab Page
Setting the user program

Related System-defined Variables

Variable
name

8-8

Meaning

Description

Data type

R/W

_CJB_CBU00
InitSta
to
_CJB_CBU15
InitSta

CPU Bus Unit

Initializing
Flags

The corresponding variable is TRUE during initialization

of the CPU Bus Unit. The corresponding variable
changes to FALSE when the initialization is completed.
The numbers in the variables indicate the unit numbers
of the applicable Units.

BOOL

_CJB_SIO00I
nitSta
to
_CJB_SIO95I
nitSta

Special I/O
Unit Initializing Flags

The corresponding variable is TRUE during initialization

of the Special I/O Unit. The corresponding variable
changes to FALSE when the initialization is completed.
The numbers in the variables indicate the unit numbers
of the applicable Units.

BOOL

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Variable
name

Meaning

Description

Data type

R/W

_CJB_CBU00
Restart
to
_CJB_CBU15
Restart

CPU Bus Unit

Restart Bits

The CPU Bus Unit is restarted when the corresponding

variable changes to TRUE. (It is changed to FALSE by
the system after the CPU Bus Unit is restarted.) The
numbers in the variables indicate the unit numbers of the
applicable Units. If you change the Restart Bit to TRUE
with an instruction, the restart process begins from
refresh processing in the next task period after the
instruction is executed.

BOOL

RW

_CJB_SIO00
Restart
to
_CJB_SIO95
Restart

Special I/O
Unit Restart
Bits

The Special I/O Unit is restarted when the corresponding

variable changes to TRUE. (It is changed to FALSE by
the system after the Special I/O Unit is restarted.) The
numbers in the variable names indicate the unit numbers
of the applicable Units. If you change the Restart Bit to
TRUE with an instruction, the restart process begins
from refresh processing in the next task period.

BOOL

RW

8-2 Management Functions for CJ-series Units

8
8-2-2 Special Units

NJ-series CPU Unit Software Users Manual (W501)

8-9

8 CPU Unit Functions

8-3

SD Memory Card Operations

This section describes the functions that you can use for SD Memory Cards.

8-3-1

SD Memory Card Operations

The NJ-series CPU Unit supports the following functions for SD Memory Cards.
Sysmac Studio

CPU Unit

Creating/reading files
from Sysmac Studio

Memory Card operation

instructions

SD Memory Card

FTP client communications

instructions

Function

FTP server

Introduction

SD Memory Card operation

instructions

You can access SD Memory Cards from instructions in the user program.

FTP client communications

instructions*1

You can use these instructions to transfer files via FTP from the CPU Unit
to computers or Controllers at Ethernet nodes.

FTP server

You can use FTP commands from an FTP client on the Intranet to read and
write large files in the SD Memory Card through EtherNet/IP.

File operations from the Sysmac

Studio

You can perform file operations from the Sysmac Studio for the SD Memory Card inserted in the CPU Unit.
You can perform file operations for Controller files in the SD Memory Card
and save 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.

SD Memory Card backup and

automatic transfer from SD Memory Card

You use the SD Memory Card inserted in the CPU Unit to backup, restore,
and verify user programs and data in the Controller. Refer to 9-2 SD Memory Card Backups and 9-4 Automatic Transfers from SD Memory Cards for
details.

*1 A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use the
FTP client communications instructions.

8-10

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-3-2

Specifications of Supported SD Memory Cards, Folders, and

Files

SD Memory Card Specifications

The NX-series Controllers support both SD cards and SDHC cards. However, operation was confirmed
only for the OMRON SD Memory Card given in the following table. Correct operation may not be possible if you use any other SD or SDHC card.
Model
HMC-SD291
HMC-SD491

Card type
SD card
SDHC card

Capacity
[GB]
2
4

Formatting
FAT16
FAT32

Number of
overwrites
100,000 overwrites

Write protection
You can write-protect the SD
Memory Card with a hardware
switch on the Card.

The system-defined variable _Card1Err (SD Memory Card Error Flag) changes to TRUE (observation
level) in the following cases.
When there is a format error
If an error occurs, the SD PWR indicator on the front of the CPU Unit goes out, and accessing the SD
Memory Card will not be possible.

Character Restrictions
Object
named by
user

Usable characters
0 to 9, A to Z, and a to z, as
well as % - _ @ ! ( ) ~= # & +
^ [ ] { } , . ; and single-byte
kana*1

Directory
name

0 to 9, A to Z, and a to z, as
well as $ % - _ @ ! ( ) ~= #
& + ^ [ ] { } , . ; and single-byte
kana

File name

CON, PRN,
AUX,
CLOCK$,
NUL, COM0,
COM1,
COM2,
COM3,
COM4,
COM5,
COM6,
COM7,
COM8,
COM9, LPT0,
LPT1, LPT2,
LPT3, LPT4,
LPT5, LPT6,
LPT7, LPT8,
LPT9

Multibyte
character
compatibility

Case sensitivity

Not supported.*2

Case
insensitive

Maximum
size (without
NULL)
11 bytes

65 bytes
65 bytes

*1 You cannot begin volume label names with a space.

*2 Even if the computer supports multibyte characters (e.g., for Japanese), you cannot use them in the CPU Unit.

Subdirectory Levels
You can create up to 5 levels (example: f1/f2/f3/f4/f5/abc.txt)

NJ-series CPU Unit Software Users Manual (W501)

8-11

8-3-2 Specifications of Supported SD Memory Cards, Folders, and Files

Volume label

Reserved
words

8-3 SD Memory Card Operations

Folder and File Specifications

8 CPU Unit Functions

Maximum Number of Stored Files

The number of files that you can store on an SD Memory Card depends on the directory level in
which you store the files. The maximum number of files for each is given in the following table. However, the values in the table assume that 8.3 filename is used. If you use long file names, the maximum number of stored files is less than the value given in the following table.
Directory level
Root directory
Subdirectory

Format
FAT16
FAT32
FAT16, FAT32

Maximum number of
stored files
511
65,533
65,533

Maximum Size of One File

The maximum size of any one file is 2,147,483,647 bytes (2 GB 1 byte).

8-3-3

SD Memory Card Operation Instructions

You can perform various operations on the SD Memory Card by using the following instructions.
Instruction name

Description

FileReadVar

The FileReadVar instruction reads the contents of a binary file on the

SD Memory Card and writes it to the specified variable. You can
specify array and structure variables.

Write Variable to
File

FileWriteVar

The FileWriteVar instruction writes the value of a specified variable to

a binary file in the SD Memory Card. You can specify array and structure variables. If the directory specified for the file name does not
exist, it is created.

Open File

FileOpen

The FileOpen instruction opens the specified file.

Close File

FileClose

The FileClose instruction closes the specified file.

Seek File

FileSeek

The FileSeek instruction sets a file position indicator in the specified

file.

Read File

FileRead

The FileRead instruction reads the data from the specified file.

Write File

FileWrite

The FileWrite instruction writes data to the specified file.

Get Text String

FileGets

The FileGets instruction reads a text string of one line from the specified file.

Put Text String

FilePuts

The FilePuts instruction writes a text string of one line to the specified
file.

Delete File

FileRemove

The FileRemove instruction deletes the specified file from the SD

Memory Card.

Change File
Name

FileRename

The FileRename instruction changes the name of the specified file or

directory.

Copy File

FileCopy

The FileCopy instruction copies the specified file to a different file.

Create Directory

DirCreate

The DirCreate instruction creates a directory in the SD Memory Card.

Delete Directory

DirRemove

The DirRemove instruction deletes a directory from the SD Memory

Card.

Read Variable
from File

8-12

Instruction

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-3-4

FTP Client Communications Instructions

FTP client communications instructions are used to transfer files via FTP from an NJ-series CPU Unit to
computers or Controllers at Ethernet nodes.
The files on the SD Memory Card are read and written when the following instructions are executed.
Instruction name

Instruction

Put File onto FTP Server

FTPPutFile

Get File from FTP Server

FTPGetFile

Description
The FTPPutFile instruction uploads one or more files in the FTP
clients SD Memory Card to the FTP server.
The FTPGetFile instruction downloads one or more files from the
FTP server to the FTP client's SD Memory Card.

Version Information
A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required
to use the FTP client communcations instructions.

8-3-5

FTP Server

CPU Unit
FTP Client

FTP
commands

SD Memory Card

Built-in EtherNet/IP port: FTP server

EtherNet/IP

File Operations from the Sysmac Studio

You can perform file operations from the Sysmac Studio for the SD Memory Card inserted in the CPU Unit.
In addition to Controller files, you can also store document files or other files on the SD Memory Card.

8-3-7

SD Memory Card Life Expiration Detection

You can determine the remaining life of the SD Memory Card before the Card becomes physically deteriorated.
You can determine the remaining life of the SD Memory Card with the following functions.
System-defined variable _Card1Deteriorated (SD Memory Card Life Warning Flag)
SD Memory Card Life Exceeded (Observation) record in the event log
The life of the SD Memory Card is checked when the power is turned ON and periodically while the SD
Memory Card is inserted.

NJ-series CPU Unit Software Users Manual (W501)

8-13

8-3-4 FTP Client Communications Instructions

File transfers

8-3-6

8-3 SD Memory Card Operations

You can read and write files on the SD Memory Card via EtherNet/IP by sending FTP commands to the
built-in EtherNet/IP port from an FTP client.
Refer to the NJ-series CPU Unit Built-in EtherNet/IP Users Manual (Cat. No. W506) for details.

8 CPU Unit Functions

When the end of the life of the SD Memory Card is detected, save the data on the SD Memory Card
and replace the SD Memory Card.

8-3-8

List of System-defined Variables Related to SD Memory Cards

The following system-defined variables show the status of the SD Memory Card.
Variable name
_Card1Ready

Meaning
SD Memory
Card Ready
Flag

Description
TRUE when the SD Memory Card is recognized. It is FALSE when
an SD Memory Card is not recognized.

Data
type
BOOL

TRUE: The Card can be used.

FALSE: The Card cannot be used.

_Card1Protect

_Card1Err

SD Memory
Card Write
Protected
Flag

TRUE when the SD Memory Card is write-protected.

SD Memory
Card Error
Flag

TRUE when an unusable SD Memory Card is inserted or a format

error occurs.

BOOL

TRUE: Write protected.

FALSE: Not write protected.
BOOL

TRUE: There is an error

FALSE: There is no error

_Card1Access

SD Memory
Card Access
Flag*1

TRUE during SD Memory Card access.

BOOL

TRUE: Card is being accessed.

FALSE: Card is not being accessed.

_Card1Deterior SD Memory
ated
Card Life
Warning Flag

TRUE when the end of the life of the SD Memory Card is detected.

_Card1PowerF
ail

TRUE when the power supply to the Controller was interrupted dur- BOOL
ing access to the SD Memory Card.

SD Memory
Card Power
Interruption
Flag*2

BOOL

TRUE: The end of the life of the Card is detected.

FALSE: The end of the life of the Card was not detected.

TRUE: Power was interrupted during SD Memory Card access.

FALSE: Operation is normal.

*1 Precaution When Using SD Memory Card Access Flag (_Card1Access)

The SD Memory Card Access Flag is intended for use in notifying external devices. The status of access to the
SD Memory Card is not updated in realtime. Because of this, do not use the flag in the user program. Because
the status of access to the SD Memory Card is not shown in realtime, it may cause unexpected Controller
operation if you use it in the user program.
*2 Precautions When Using the SD Memory Card Power Interruption Flag ( _Card1PowerFail)
If the SD Memory Card Power Interruption Flag is TRUE, check to see if the correct file is in the SD Memory
Card and to see if the SD Memory Card operates properly. If the correct file is missing or the SD Memory Card
does not operate properly, download the correct file to the SD Memory Card again. Cycle the power supply to
the Controller or reset the Controller, and then see if the SD Memory Card operates properly. When you are
finished, change SD Memory Card Power Interruption Flag to FALSE. (_Card1PowerFail does not change to
FALSE automatically.)
Note Refer to 9-2 SD Memory Card Backups for the system-defined variables that are used with the SD Memory
Card backup function.

8-14

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Additional Information
SD Memory Card Recognition and Unmounting Timing Chart
SD Memory Card inserted.

Card recognized.

Recognition reset

Recognition

System processing

Power supply stopped with power switch.

_Card1Ready
_Card1Err
_Card1Access
SD PWR indicator
SD BUSY indicator

8-3-9

Lit.

Not lit.
Not lit.

Flashing.

Not lit.

Lit.

Not lit.

Not lit.

SD Memory Card Self-diagnostic Functions

You can perform self-diagnosis on the inserted SD Memory Card when the power supply is turned ON.

File system check

Check equivalent to CHKDSK
Restoration attempt when check fails
Access
point

Setting
group

Operation
Settings,
Operation
Settings
Tab, Basic
Settings

SD Memory Card
Settings

Setting
Memory
Card
Diagnosis
at Startup

Description
Sets whether to execute self-diagnosis (file system check
and restoration) on the inserted SD Memory Card when
the power is turned ON.

Set values
Do not
check.
Check.

8-3 SD Memory Card Operations

You can select whether to perform self-diagnosis when the power is turned ON in the Operation Settings of the Controller Setup under the Configurations and Setup from the Sysmac Studio as shown
below.

*1

*1 Self-diagnosis is not executed if write protection is set on the SD Memory Card itself.
8-3-9 SD Memory Card Self-diagnostic Functions

NJ-series CPU Unit Software Users Manual (W501)

8-15

8 CPU Unit Functions

Results of Self-diagnosis
Indicators

Case
Self-diagnosis in
progress

RUN
Flashing.

SD PWR

SD BUSY

Error type

Correction

Remarks

Not lit.

Lit.

---

---

---

1. When self-diag- --nosis found no

problems

Lit.

Not lit.

Normal

None

---

2. The format of
the SD Memory
Card is not correct.

---

Not lit.

Not lit.

Observation

Use the Sysmac

Studio to format
the SD Memory
Card.

---

3. An error was
detected during
the file system
check and the
file system was
automatically
restored.

---

Not lit.

Flashes
during
restore
operation.

Observation

Use file operations

in the Sysmac Studio or insert the SD
Memory Card into
the computer to
check whether any
files were deleted
by the restore
operation.

If a corrupted file
is detected,
an attempt
is made to
restore the
file.

4. The SD Memory Card failed.

---

Observation

Replace the SD
Memory Card.

---

Not lit after

restore
operation is
completed.
Not lit.

Not lit.

Precautions for Correct Use

If the recovery function is activated at startup, time is required to enter RUN mode. During that
time, outputs will be OFF and external communications are not performed. Use the RUN output
on the Power Supply Unit, for example, to implement fail-safe circuits so that external devices do
not operate incorrectly.

Precautions for Safe Use

Never interrupt the power supply to the Controller during SD Memory Card access. That includes
when SD Memory Card self-diagnosis at startup is enabled. An attempt is made by the SD Memory Card restoration function to restore any corrupted files. If the restoration fails, these files may
be deleted automatically at startup.

8-16

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-3-10 Exclusive Control of File Access in SD Memory Cards

Access to files on the SD Memory Card is possible with the following methods.
(1) FTP server
(2) SD Memory Card operation instructions
(3) FTP client communications instructions
(4) File operations from the Sysmac Studio
However, if the same file on the SD Memory Card is accessed from different sources, unintended operations such as reading a file while it is being written or writing a file while it is being read may occur.
It is necessary to perform exclusive controls in order to prevent multiple accesses to the same file.
The following table shows the combinations of operations that require exclusive controls.
When you use a combination of operations that requires exclusive controls, execute the later processing only after checking that the first processing is finished.

First access
Instructions*1

Later access

Instructions

Reading

Writing

Writing

ReadFile
operations ing
from the
Sysmac
WritStudio
ing

Writing

Perform
exclusive
control.

Writing
Perform
exclusive
control.

Perform
exclusive
control.

Reading
Exclusive
control is
not
required.

Writing
Perform
exclusive
control.

Perform
exclusive
control.

---

---

Exclusive
control is
not
required.

Perform exclusive control.

---

---

Perform
exclusive
control.

Exclusive
control is
not
required.

Exclusive
control is
not
required.

Perform
exclusive
control.

---

---

---

---

Perform
exclusive
control.

Perform exclusive control.

*1 The instructions include the SD Memory Card operation instructions and the FTP client communications
instructions.

NJ-series CPU Unit Software Users Manual (W501)

8-17

8-3-10 Exclusive Control of File Access in SD Memory Cards

FTP server

Reading

Exclusive
control is
not
required.

Reading
Exclusive
control is
not
required.

FTP server
8-3 SD Memory Card Operations

Reading

Exclusive control is performed automatically, and

an error occurs for the
instruction that is executed
later.

File Operations from the

Sysmac Studio

8 CPU Unit Functions

8-4

Security
This section describes the security functions that are supported by the NJ-series Controller.
To protect your assets, you can use security functions to protect the user program and data in the Controller. To prevent incorrect operation, you can use security functions to restrict operations on the Sysmac Studio.
The NJ-series Controller supports the following security functions.
Application

Security function

Prevention of the theft

of assets

Authentication of user
program execution
IDs

This ensures that a user program cannot be

operated on another CPU Unit even if the user
program is copied.

8-19

User program transfer with no restoration

information

You can transfer the user program to the CPU

Unit without the source code. This prevents anyone from displaying the user program on another
computer even if they upload it.

8-22

Overall project file

protection

You can place a password on a project file to pro- 8-22

tect your assets.

Data protection*

You can place protection on part of the data in a

project file to protect your assets.

8-23

Operation authority
verification

You can set operation authorities to restrict the

operations that can be performed on the CPU
Unit from the Sysmac Studio.

8-25

CPU Unit write protec- You can prevent rewriting data in the Controller
tion
from the Sysmac Studio.

8-26

CPU Unit names

8-28

Prevention of incorrect operation

Prevention of incorrect connections

Outline of function

You can check to see if the CPU Unit name and

serial ID on the computer and in the Controller
are the same to prevent going online with the
wrong Controller.

Reference

* A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required.

8-18

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-4-1

Authentication of User Program Execution IDs

Introduction
You can set a specific ID (called a user program execution ID) in the CPU Unit in advance. If you do, you
can execute only a user program with the same ID.
Sysmac Studio

A user program execution ID

is registered in the CPU Unit.
CPU Unit

User program execution ID

Download
User program

User program

The CPU Unit can

execute the user
program only when
these two match.

User program
execution ID assigned
to user program.
User program execution ID

User program execution ID

You can therefore prevent different CPU Units (hardware) from executing a user program.

Operating Procedure

8-4 Security

In contrast to the protection function, you can still display and edit the user program even if a user program execution ID is set.

8
Always backup the project files before you assign a user program execution ID.
Assign the user program execution ID to the user program offline from the Sysmac Studio.

Precautions for Correct Use

After you assign a user program execution ID to a user program, you cannot change or delete
the ID. To use a different ID, read the project file without an ID that was backed up in step 1,
above, and assign another user program execution ID. To delete the ID, use the project file without an ID that was backed up in step 1, above.

NJ-series CPU Unit Software Users Manual (W501)

8-19

8-4-1 Authentication of User Program Execution IDs

1
2

8 CPU Unit Functions

Connect the Sysmac Studio online and register the user program execution ID that was set in
step 2 in the CPU Unit.

The registration of the user program execution ID in the CPU Unit is recorded in the event log. At
this time, the user program execution ID in the CPU Unit is overwritten even if it is already registered.

Transfer the user program with the same user program execution ID to the CPU Unit.
If the user program execution ID in the user program does not match the user program execution ID in the CPU Unit or if one of them does not have an ID, an ID Verification Error (major fault
level Controller error) occurs when you attempt to change to RUN mode and the CPU Unit will
not operate.
Precautions for Correct Use
After you assign a user program execution ID to the CPU Unit, you cannot read or delete the ID.
To delete the ID from the CPU Unit, perform the Clear All Memory operation on the CPU Unit.

Operation When an ID Verification Error Occurs

When the User Program Execution ID in the CPU Unit Is Incorrect or Not
Registered:
Connect online to the CPU Unit from the Sysmac Studio and perform the following steps.

1
2

Overwrite or register the correct user program execution ID in the CPU Unit.
Cycle the power supply to the Controller, or reset the CPU Unit from the Sysmac Studio.

When the User Program Execution ID Is Not Assigned to the User Program or
Is Incorrect

1
2
3

Read the backed up project file from the Sysmac Studio, and assign the correct user program
execution ID.
Connect the Sysmac Studio to the CPU Unit online and transfer the user program.
Cycle the power supply to the Controller, or reset the Controller from the Sysmac Studio.

Other Situations
To Delete the User Program Execution ID Assigned to the User Program:
Read the backed up project file in the Sysmac Studio.

To Delete the User Program Execution ID from the CPU Unit:

Connect the Sysmac Studio to the CPU Unit online and perform the Clear All Memory operation.

To Check the User Program Execution ID Assigned to the User Program:

For security, the user program execution ID that is assigned to the user program cannot be checked
from the Sysmac Studio. Read the backed up project file in the Sysmac Studio and set the user program execution ID again.

8-20

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

To Check the User Program Execution ID in the CPU Unit:

For security, the user program execution ID that is set in the CPU Unit cannot be checked from the
Sysmac Studio. Perform the Clear All Memory operation and register the correct user program execution ID.

Specifications
User Program Execution ID Verification Specifications
Timing of Verification
At startup, the CPU Unit compares the user program execution ID that is registered in the CPU Unit
with the user program execution ID that is assigned to the user program.

Verification Conditions
The conditions for verifications are given in the following table.
A and B indicate the IDs.
User program execution
ID that is registered in
the CPU Unit

User program execution

ID that is assigned to the
user program

None

None

None

None

Error

Operation

None

Possible

ID Verification Error

Not possible.

When the IDs do not match, an ID Verification Error (major fault level Controller error) occurs, and
the CPU Unit does not operate. However, to reset the error you must cycle the power supply to the
Controller or reset the Controller from the Sysmac Studio.

User Program Execution ID Character Specifications

0 to 9, A to Z, and a to z

Case sensitivity
Case sensitive

NJ-series CPU Unit Software Users Manual (W501)

Maximum size (without

NULL)

8-4-1 Authentication of User Program Execution IDs

Usable characters

8-4 Security

Operation When the IDs Do Not Match

8 to 32 characters

8-21

8 CPU Unit Functions

8-4-2

User Program Transfer with No Restoration Information

You can transfer the user program to the CPU Unit without the source code. This prevents anyone from
displaying the user program on another computer even if they upload it.

Introduction
Normally, when you transfer the user program from the Sysmac Studio to the CPU Unit, information is
transferred to restore it.
This function does not transfer information for restoration. That makes it impossible to read the user
program.
User Program Transfer with No Restoration Information

Normal Transfer
Sysmac Studio

Sysmac Studio

CPU Unit

CPU Unit

User program
(for execution)

User program
(for execution)

Readable

User program
(restoration
information)

Normally, both
are transferred.

User program
(restoration
information)

Restoration information
is not transferred.

Not readable

This function is used to prevent theft of user program data when on-site maintenance of the user program is not required.

Operating Procedure
When you transfer the user program to the CPU Unit, select the Do not transfer program source Check
Box in the Synchronization Pane of the Sysmac Studio and then click the Transfer to Controller Button.

8-4-3

Overall Project File Protection

You can place a password on a project file to protect your assets.

Operating Procedure
This section describes how to set a password for a project. When you use Save As to save the project file, select the Enable password protection for the project file Check Box to enable setting a password.

8-22

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Use the following procedure to open a project for which a password is set. If you try to open or
import a project file for which a password is set, the Enter a Password Dialog Box is displayed.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

8-4-4

Data Protection
You can place protection on part of the data in a project file to protect your assets.

A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required
to use data protection.

Introduction

Protected Data
Protection can be set for the following data. Only change protection can be set for cam profiles.
Ladder diagrams (applies to programs, functions, and function blocks)
ST (applies to programs, functions, and function blocks)
Cam profiles

Levels of Access Restrictions

You can select one of the following levels of access restrictions.
Prohibiting copying, displaying, and changing the data
Prohibiting displaying and changing the data
Prohibiting changing the data
8-23

8-4-4 Data Protection

You can place protection on part of the data in a project file to restrict access to that data. You can
select any of three levels of access restrictions when you set protection. Protection must be temporarily
cleared to access the restricted data. The length of time for which protection is cleared depends on the
operation that you use.

NJ-series CPU Unit Software Users Manual (W501)

8-4 Security

Infomation

8 CPU Unit Functions

The following table shows the data access methods, restrictions for each restriction level, and the
length of time that protection is cleared.

Data access operation

Displaying the data

Printing the data
Changing the data
Copying the data

Displaying basic comparison

results
Displaying detailed comparison
results
Jumping from an event log or
cross-reference to the data
Registering objects in a library

Levels of access restrictions

Prohibiting
Prohibiting
Prohibiting
copying, disdisplaying
changing the
playing and
and changing
data
changing the
the data
data
Restricted.
Restricted.
Not restricted.
Restricted.
Restricted.
Not restricted.
Restricted.
Restricted.
Restricted.
Restricted.
Not restricted. Not restricted.

Not restricted.

Not restricted.

Not restricted.

Restricted.

Restricted.

Not restricted.

Restricted.

Restricted.

Not restricted.

Restricted.

Not restricted.

Not restricted.

Length of time that protection is cleared

While the project is open

Protection must be temporarily cleared for each

operation
This operation is not
restricted.
While the project is open

Not possible to clear protection temporarily.

Operating Procedure
This function is used when the Sysmac Studio is offline. The settings are saved in the project file. When
you use the synchronization function of the Sysmac Studio to transfer the project, the data protection
settings in the data in the computer or Controller are transferred to Controller or computer.
Select Security Set/Release Data Protection from the Controller Menu of the Sysmac Studio to set
protection.

Select Security Temporarily Change Prohibition of Data Protection from the Controller Menu
of the Sysmac Studio to temporarily clear protection.

Select Security Finish Temporary Change Prohibition of Data Protection from the Controller
Menu of the Sysmac Studio to end temporary change protection.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

8-24

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-4-5

Operation Authority Verification

Introduction
Online operations are restricted by operation rights to prevent damage to equipment or injuries that may
be caused by operating mistakes. Examples are shown below.
I/O Monitor: Writing, forced refreshing, etc.
Controller operations: Changing the operating mode, online editing, MC Test Run, etc.
You can register passwords for operation authority for each CPU Unit in the Sysmac Studio. If a correct
password is entered when an online connection is made to a Controller, the online operations for the
operation authority category for the password that was entered will be allowed.
The Administrator sets a password for each operation authority. Users are notified of the operation
authority name and password according to their skills.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific operating procedures for operation authorities.

Operation
For operation authority verification, select Security Setting of Operation Authority from the Controller Menu on the Sysmac Studio.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

Specifications
You can use the following five operation authorities on the Sysmac Studio. They are given in
descending order of authority.
English name

8-4 Security

Types of Operation Authorities

Password

Required.

Designer*1

Optional*2

Maintainer*1
Operator*1

Whether a password is required is determined by the default operation authority that is set in the
Setting of Operation Authority Dialog Box. The default operation authority is used when a password is not input.

Observer*1

Not required.

*1 A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required.
*2 Whether a password is required is determined by the default operation authority that is set in the Setting of
Operation Authority Dialog Box. A password must be entered to perform operations that require an operation
authority that is higher than the default operation authority. A password is not required to perform operations
that require an operation authority that is equal to or lower than the default operation authority.

Examples of Online Operations for Operation Rights

Examples of the online operations that are allowed for each operation authority are given below.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details.

NJ-series CPU Unit Software Users Manual (W501)

8-25

8-4-5 Operation Authority Verification

Administrator

8 CPU Unit Functions

OK: Operation possible, VR: Verification required for each operation, NP: Operation not possible
Status monitor (example)
Monitoring errors for troubleshooting

I/O monitor operations (examples)

I/O monitor: Reading

Administrator

Designer

OK

OK

Administrator

Designer

OK

OK

Maintainer
OK

Maintainer
OK

Operator
OK

Operator
OK

Observe
OK

Observe
NP

I/O monitor: Writing

OK

OK

OK

VR

NP

Controlling BOOL variables

OK

OK

OK

VR

NP

Forced refreshing

OK

OK

OK

NP

NP

Administrator

Designer

Controller operations (examples)

Maintainer

Operator

Observe

RUN mode/PROGRAM mode

OK

OK

VR

NP

NP

Online editing

OK

OK

VR

NP

NP

Resetting the Controller

OK

OK

NP

NP

NP

Resetting errors (troubleshooting)

OK

OK

OK

VR

NP

Starting or restarting an MC Test Run

OK

OK

VR

NP

NP

User program execution IDs for Controllers

OK

NP

NP

NP

NP

CPU Unit write-protection

OK

OK

OK

NP

NP

Password Specifications
Item

8-4-6

Description

Valid number of characters

8 to 32

Applicable characters

Single-byte alphanumeric characters (case sensitive)

CPU Unit Write Protection

This function disables the ability to write data to CPU Units to protect user program assets and prevent
misuse.

Controller Write Protection at Startup

This setting automatically enables write protection when you turn ON the power supply to the Controller.
Sysmac Studio

CPU Unit

CPU Unit

At startup
Write Protection

Write protection
Writing is not
possible.

8-26

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Set whether to automatically enable write protection when the power supply is turned ON in the
Operation Settings under Configurations and Setup Controller Setup of the Sysmac Studio.
Access point
Operation Settings,
Operation Settings
Tab, Basic Settings

Setting group
Security Settings

Setting

Description

Write Protection at
Startup

Sets whether to
enable write protection.

Set values
Do not use.
Use.

Setting and Removing Write Protection from the Sysmac Studio

In the Sysmac Studio, go online and select Security CPU Unit Write Protection from the Controller Menu to toggle write protection.
Sysmac Studio

CPU Unit

You can turn write

protection ON and
OFF.

None

When power is turned ON

8-4 Security

Write protection
set?

Not
enabled.

Enabled

Writing disabled.

Changed from the

Sysmac Studio.

8
Writing enabled.
8-4-6 CPU Unit Write Protection

NJ-series CPU Unit Software Users Manual (W501)

8-27

8 CPU Unit Functions

8-4-7

CPU Unit Names and Serial IDs

Introduction
Register a CPU Unit name in the CPU Unit. 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. This
helps prevent incorrect connections to the CPU Unit from the Sysmac Studio. It is particularly effective
for operations performed over an EtherNet/IP network.
Sysmac Studio

CPU Unit
name: A

CPU Unit

CPU Unit
name: A

CPU Unit

CPU Unit
name: B

A check is performed
to see if the CPU Unit
name matches for
online connections.

In addition to the CPU Unit name, it is also possible to use serial ID identification based on the CPU
Unit production information (optional).

Setting Methods

Set the CPU Unit name when you create a project on the Sysmac Studio.
The CPU Unit name is displayed as shown below.

To change the name, right-click the Controller icon and select Rename.

2
3

When you first connect to the CPU Unit online, the Sysmac Studio prompts you to store the
CPU Unit name in the CPU Unit.
After that, when you connect to the CPU Unit online, the Sysmac Studio refers to the CPU Unit
name in the project and the CPU Unit name of the CPU Unit you connect to. A warning dialog
box is shown if they do not match, and you are asked whether to continue to connect.
Additional Information
You can name EtherNet/IP ports in the Network Configurator.

8-28

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Serial IDs (Optional Function)

When the Sysmac Studio first connects online, you can obtain the serial ID from the CPU Units production information and store it in the project. After that, when the Sysmac Studio connects online, both the
CPU Unit name and the serial ID are compared. This enables stricter verification of the CPU Unit.
Sysmac Studio

1. When you connect online, the serial ID is

CPU Unit name: A

obtained from the CPU Unit.

Serial ID

CPU Unit

CPU Unit

CPU Unit name:

A

CPU Unit name:

B

Serial ID

Serial ID

2. A check is performed to
see if the CPU Unit name
and serial ID match for
online connections.

8-4 Security

8
8-4-7 CPU Unit Names and Serial IDs

NJ-series CPU Unit Software Users Manual (W501)

8-29

8 CPU Unit Functions

8-5

Debugging
This section describes debugging.
The NJ-series Controller provides the following debugging operations.
Forced refreshing
Changing present values
Online editing
Data tracing
Differential monitoring

8-5-1

Forced Refreshing

Description
Forced refreshing allows the user to refresh external inputs and outputs with user-specified values from
the Sysmac Studio to debug the system. Forced refreshing is executed not for the specified device variables, but for the I/O ports that are assigned to the device variables. The state that is specified with
forced refreshing is retained until forced refreshing is cleared from the Sysmac Studio. (Refer to Holding/Clearing Forced Refreshing on page 8-33 for information how forced refreshing is retained or
cleared according to changes in CPU Unit status. All forced refreshing is cleared when a fatal error
occurs, when a Clear All Memory operation is performed, when the operating mode is changed, when
power is interrupted, or when the project is downloaded.

Inputs
The I/O port and device variable change to the status that is specified with forced refreshing regardless of the status of the external input.
Sysmac Studio

CPU Unit

(1) I/O port changed to

TRUE with forced
refreshing.

I/O port

Device variable

FALSE
TRUE

TRUE

(2) I/O port and device variable change to TRUE.

8-30

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Outputs
The I/O port and the output to the external device change to the status that is specified with forced
refreshing. In the user program, the status of the device variable that is assigned to the I/O port will
not necessarily be the status that was specified with forced refreshing. It will change with the results
of user program execution.
Sysmac Studio

CPU Unit

(1) Output changed to

TRUE with forced
refreshing.

I/O port

Device variable

FALSE

TRUE
TRUE

(2) The I/O port and the output to the external

device change to TRUE. The device variable
changes with the result of user program
execution.

Applicable Areas
You can execute forced refreshing for the following I/O ports and memory used for CJ-series Units.
8-5 Debugging

I/O ports for EtherCAT slaves

I/O ports for CJ-series Basic I/O Units
I/O ports for CJ-series Special Units
I/O bits for DeviceNet or CompoNet slaves that are specified for AT specifications from variables
If you execute forced refreshing from the Ladder Editor or the Watch Tab Page, the status of the I/O port
or memory element for a CJ-series Unit will change via the variable.

The number of variables that you can refresh with forced refreshing is listed below.
CJ-series Units: 64 points total
EtherCAT slaves: 64 points total
The number of external I/O points are given for the above limits. For example, if more than one variable
is assigned the same external I/O point as the AT specifications, it is counted as only one point.

Application
Inputs
To apply a simulated input signal to debug the user program
To create a status that would occur only when a failure occurs (e.g., two exclusive bits turning ON or
OFF at the same time)

NJ-series CPU Unit Software Users Manual (W501)

8-31

8-5-1 Forced Refreshing

Number of Simultaneous I/O for Forced Refreshing

8 CPU Unit Functions

Outputs
To turn outputs ON and OFF to check wiring
To intentionally turn OFF an output you do not want to operate regardless of results of user program
execution

Operating Procedure
Operations can be performed from the following panes.
Program Panes (Ladder diagram language)
I/O Map
Watch Tab Page

Procedure for Forced Refreshing from Ladder Editor

1
2

Select Monitor from the Controller Menu. The monitor turns ON.
Double-click the ladder program, ladder function, or ladder function block under Programming
in the Multiview Explorer.
The rungs are displayed on the Ladder Editor in monitor status.

3
4

Right-click the input or output and select Forced Refreshing TRUE. The input or output is
forced to TRUE. Right-click the input or output and select Forced Refreshing FALSE. The
input or output is forced to FALSE.
The input or output in the Ladder Editor changes to TRUE or FALSE and the execution condition
changes accordingly.
A mark that indicates that the input or output has forced status is displayed as shown below.

Ladder diagram

The TRUE or FALSE mark for forced status indicates the status that was specified for forced
refreshing. It does not indicate the current value of the input or output.
Forced status mark

Operation
TRUE specified with forced refreshing
FALSE specified with forced refreshing

Additional Information
If there are other variables that are assigned the same memory address as one that is specified
as the AT specification of a variable for which forced refreshing is specified, the forced status
mark is displayed for all of the variables with that AT specification.

Affect of Operating Modes and Power Interruptions

Operating Modes for Forced Refreshing
You can execute forced refreshing in either PROGRAM mode or RUN mode. Forced refreshing is
not possible while there is a major fault level Controller error.

8-32

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Status of Forced Refreshing during Operating Mode Changes or Power

Interruptions
By default, the forced refreshing is cleared when the operating mode changes between RUN mode
and PROGRAM mode and when the power is interrupted.

Holding/Clearing Forced Refreshing

Forced refreshing is retained and cleared according to changes in the status of the CPU Unit as shown
below.
Change in status

Forced refreshing status

When power is turned ON

Cleared

When operating
mode changes

Cleared

RUN to PROGRAM mode

PROGRAM to RUN mode

After downloading

Cleared

When a major fault level Controller error occurs

Cleared

During online editing

Retained

Programming Precautions for Forced Refreshing

Example: When a Is Refreshed to TRUE with Forced Refreshing

When FALSE

TRUE for forced refreshing, but

FALSE in the program.
a

x
OFF

a is FALSE in the program.

When the output is refreshed, information from forced
refreshing is reflected and the external output of a is
TRUE.

8
8-5-1 Forced Refreshing

External output
of a: TRUE

When There Is Another Input that is Controlled by the Forced Input

When FALSE

TRUE for forced refreshing, but

FALSE in the program.

x
OFF

a
OFF

a
OFF

a is FALSE in the program. Because of this, b is FALSE.

When the output is refreshed, information from forced
refreshing is reflected and the external output of a is
TRUE.

b
OFF

a is FALSE in the program.

External output
of a: TRUE

As a result, b is FALSE.

NJ-series CPU Unit Software Users Manual (W501)

8-5 Debugging

If forced refreshing is set in the user program, the status of variables for which forced refreshing is specified are overwritten by the user program. Therefore, the status that is specified for forced refreshing is
not maintained in the user program. However, refreshing to external devices uses the values that were
specified for forced refreshing, and not the status of the variables in the user program. If forced refreshing is used in a program, the values of variables in the program may be different from the status of the
external outputs.

8-33

8 CPU Unit Functions

Precautions for Safe Use

Confirm that no adverse effect will occur in the system before you use forced refreshing.
Forced refreshing ignores the results of user program execution and refreshes I/O with the
specified values. If forced refreshing is used for inputs for which I/O refreshing is not supported, the inputs will first take the specified values, but they will then be overwritten by the
user program.
Depending on the difference in the forced status, the control system may operate unexpectedly.

8-5-2

Changing Present Values

Description
You can change the present values of variables that are used in the user program and settings and you
can change program inputs and outputs to TRUE or FALSE. This allows you to check the operation of
the user program and settings.
Sysmac Studio

CPU Unit

You can change the

values of variables
as required.

Precautions for Safe Use

Always confirm the safety of the system before you change the present value of a variable.

Application
Changing Program Inputs and Outputs to TRUE or FALSE
You can change the value of any BOOL variable to TRUE or FALSE. The specified value is then
overwritten by the execution results of the user program. If the operating mode is changed or the
power supply is cycled, the initial value is restored. You can control BOOL variables in the Ladder
Editor, Watch Tab Page, or I/O Map.

Changing the Values of Other Variables

You can change the present values of user-defined variables, system-defined variables, and device
variables as required. You can do this on a Watch Tab Page.
Precautions for Safe Use
Always confirm the safety of the system before you change the present value of a variable.

8-34

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Operating Procedure
Operations can be performed from the following panes to change the present values. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on the operating procedures on the
panes.
Program panes (ladder diagrams and ST)
I/O Map
Watch Tab Page

Precautions on Changing the Status of Outputs Assigned to

External Devices by Changing Present Values
Observe the following precautions when you change the status of an output that is assigned to an I/O
port of a CJ-series Basic Output Unit or EtherCAT output slave by changing a present value.

Changing Present Values in the I/O Map in RUN Mode

Any value of an I/O port that is changed in the I/O Map is then overwritten by the execution results of
the user program. The value that was specified by changing the present value is not output to the
external device. To change the value of an I/O port and output that value to an external device, use
forced refreshing.

Changing Present Values in a Watch Tab Page in PROGRAM Mode

Use forced refreshing.

Change the present value in a Watch Tab Page of a device variable* that is defined as a global
variable.
* The devices variables must be assigned to an I/O port of a CJ-series Basic Output Unit or EtherCAT output
slave. This also applies to a global variable with an AT specification to an output bit that is assigned to a CJseries Basic Output Unit.

Any value that is written to an I/O memory address that corresponds to an output bit that is assigned
to a CJ-series Basic Output Unit through a tag data link will be overwritten by the execution results of
the user program. The value that is written directly to the I/O memory address from the tag data link
will therefore not be output to the external device.

8-5-3

Online Editing
This section introduces online editing. Refer to the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504) for details.

Introduction
The online editing function is used to add to or change part of a program in the CPU Unit directly from
the Sysmac Studio.
You can select any of the following to perform online editing.
POUs (programs, functions, and function blocks)
For a ladder diagram program, select a section.

NJ-series CPU Unit Software Users Manual (W501)

8-35

8
8-5-3 Online Editing

Precaution When Directly Writing to I/O Memory Addresses Assigned to

Output Bits for CJ-series Basic Output Units

8-5 Debugging

The value that was specified in a Watch Tab Page by changing the present value of a device variable* that is defined as an external or local variable is not output to the external device. To output a
specified value to an external device, do one of the following:

8 CPU Unit Functions

Global variables

Application
You can use online editing to change a user program without stopping the operation of the CPU Unit.

Sysmac Studio Operations

Performing Online Editing

1
2
3
4
5
6

Select the item to edit online.

Select Online Edit from the Project Menu.
Make the required changes.
Select Online Edit Transfer from the Project Menu.
Check the results.
The user program will begin operation after online editing.

Caution
Execute online editing only after confirming that no adverse effects will occur
if the I/O timing is disrupted. If you perform online editing, the task execution
time may exceed the task period, I/O may not be refreshed with external
devices, input signals may not be read, and output timing may be changed.

Precautions for Correct Use

The differentiation status of differentiated instructions in a program that is edited online is initialized.
When online editing changes are applied, the execution times of the affected tasks are
extended. Set the task period appropriately so that you do not cause a Task Period Exceeded
error due to online editing.
If the power supply to the Controller is interrupted when online edits are being saved,* a major
fault level Controller error (User Program/Controller Configurations and Setup Transfer Error,
Incorrect User Program/Controller Configurations and Setup, or Non-volatile Memory
Restored or Formatted) occurs. If one of these errors occurs, download the user program
again.
Do not execute the MC_SaveCamTable instruction while online edits are being saved.* Otherwise the online edits may not be saved correctly.
* Online edits are saved from when you click the Yes Button in the confirmation dialog box until the Online
Editing Pane closes. However, with a CPU Unit with a unit version of 1.04 or later and Sysmac Studio version 1.05 or higher, saving continues until the dialog box that indicates saving data to built-in non-volatile
memory (which is displayed after the confirmation dialog box) closes.

8-36

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-5-4

Data Tracing
You can use data tracing to sample variables without any additional programming. You can read and
check the data from the Sysmac Studio, and save the data to a file. This is used to start up, operate,
and maintain devices.
This section introduces data tracing. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No.
W504) for specific operating procedures.
The two tracing methods are described below.

Triggered Tracing
Trigger conditions are set to record data before and after an event. Sampling stops automatically
when the maximum number of sampled variables is reached. Even if the Sysmac Studio is not
online, you can trace data when trigger conditions are met and then upload the data after placing the
Sysmac Studio online.
You can check the flow of the program based on the status of changes in the present values of
variables.
You can use the data to investigate the cause of unexpected changes in the values of variables.
Sysmac Studio
NJ-series CPU Unit
Data to trace
Sampling
8-5 Debugging

Sampled data
Uploaded once.
When the maximum number of sampled
variables is reached, the trace stops
and the trace data is sent to the
Sysmac Studio and displayed.

Continuous Tracing

Sysmac Studio

NJ-series CPU Unit

Data to trace
Sampling
Sampled data
Continues.

NJ-series CPU Unit Software Users Manual (W501)

8-37

8-5-4 Data Tracing

Sampling starts without any trigger and continues on even after 10,000 samples are collected. Sample data is transferred to the computer as it is collected and saved to a file. When the display buffer
is full, the data is automatically saved to a CSV file. You can use this to store trace results data for a
long tracing period in multiple CSV files.

8 CPU Unit Functions

Data Tracing Specifications

The following table gives the specifications of data tracing.
Item
Single triggered trace
Continuous tracing

Sample data is transferred to a computer as it is collected and saved to a file.

Period of specified task

Specify a task. The period of that task is set as the sampling period.

Specified fixed interval

The time you enter is set as the sampling period. However, the time you enter is rounded off to an integer multiple of the primary periodic task.

Trace sampling instruction

With this method, sampling is performed whenever the

TraceSamp instruction is executed in the user program.

Maximum number of
targets

NJ501-: 192 variables, NJ301-: 48 variables

Types of data traces

Setting of timing of
sampling

Description
Set a trigger condition to start sampling. Data from
before and after the condition is met is saved.

Basic data types except for text strings

Setting sampled data*1

Data types

Arrays (specify the element)

Enumerations
Members of structures and unions

Maximum number of records

10,000 samples per variable

Setting trigger positions

The trigger position is set in respect to the overall trace

time or quantity.

Condition data types

Basic data types except for times, durations, dates, and

text strings
Arrays (specify the element), structures (specify the
member), and unions (specify the member)
Tracing is started when one of the following conditions is
met.

Condition expression*2

Setting triggers

Starting a trace

8-38

BOOL: TRUE or FALSE

Non-BOOL: Equals (=), Greater than (>), Greater than or
equal (), Less Than (<), Less than or equal (), Not
equal ()*3

Commands from Sysmac Studio

Tracing starts when the Trigger TRUE Button is clicked.

Data Trace Trigger

instruction

Tracing starts when the TraceTrig instruction is executed.

Evaluation timing

If something other than the TraceSamp instruction is

used to set the timing of sampling, the trigger is evaluated only once in the specified task period.
If the TraceSamp instruction is used to set the timing of
sampling, the trigger is evaluated whenever the
instruction is executed.

Delay

A slider is used to set the percentage of sampling before

and after the trigger condition is met.
(Example: 20%/80%)

Commands from Sysmac Studio

Tracing is started when the Execute Button is clicked on

the Sysmac Studio.

Starting tracing at start

of operation

Tracing can be started when operation of the Controller

starts (i.e., when the operating mode is changed from
PROGRAM mode to RUN mode).

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Item

Triggered traces

Tracing stops when the maximum value of 10,000

samples is reached.
Tracing is stopped when the Stop Button is clicked on
the Sysmac Studio.

Continuous traces

If stopping tracing is set as the operation to perform

when the maximum number of samples is reached,
tracing stops when the maximum number of samples
or maximum amount of time is reached.
Tracing is stopped when the Stop Button is clicked on
the Sysmac Studio.

Maximum data storage

period

You can set the maximum amount of time to save continuous trace data.

Maximum data storage

size

You can set the maximum total size of all files saved during continuous tracing.

Data items per file

You can set the number of samples to save in each file

during a continuous trace.

File save location

You can specify the location to create files to save data

during a continuous trace.

File name prefix

You can specify a prefix to automatically add to the

beginning of the file names.

Stopping a trace

Setting continuous
tracing

Setting of operation
when limit is reached

Stopping the trace

Deleting the oldest files and continuing

Graph display

You can display a graph where the X axis represents

time and the Y axis represents the value of the variable.
You can display both BOOL variables and other variables
on the same graph.

Table display

You can display the maximum value, minimum value,

average value, and value at the specified time for each
variable in a table.

3D Motion Trace Display Mode

You can position a virtual composition model in 3D space

and display the composition motion based on the command positions and actual positions of the motion axes.

Exporting to CSV files

You can save the trace results and all settings other than
the trace number to a CSV file.

Number of data traces that can be executed

simultaneously*4

NJ501-: 4 traces, NJ301-: 2 traces

Importing trace data

You can display CSV format trace results on top of the

current graph.

Saving

You can save the trace results in the project along with
the trace settings.

Printing

You can print graphs. The Sysmac Studios printing functionality is used.

*1 You cannot perform data traces for the EN, ENO, P_off, P_on, P_CY, P_First_RunMode, P_First_Run and
P_PRGER system-defined variables, in-out variables that are used in function block instances, and variables in
functions.
*2 Data tracing will not start at the data trace starting point even if the trigger condition is met.
*3 Combinations of multiple condition expressions are not permitted. Also, the valid range for comparison constants is determined by the valid range of the literal expressions for the variable type on the left side of the condition expression.
*4 Trace numbers 0 to 3 are set for the NJ501. Trace numbers 0 and 1 are set for the NJ301. These numbers are
used to execute instructions and to access system-defined variables.

NJ-series CPU Unit Software Users Manual (W501)

8-39

8
8-5-4 Data Tracing

Exporting trace data

You can specify the operation to perform when the storage time period or size limit is reached.

8-5 Debugging

Displaying trace results

Description

8 CPU Unit Functions

Data Trace Operation

Processing for data traces (sampling and trigger detection) are performed in System Common Processing 1, between I/O refreshing and user program execution.
Example: If sampling is specified in the primary periodic task, data tracing is executed in System Common Processing 1, as shown in the following diagram.

User program
execution

System
common
processing 2

I/O
refreshing

Motion
control

Primary period

System
common
processing 1

User program
execution

System
common
processing 2

I/O
refreshing

Motion
control

Primary periodic
task

System
common
processing 1

Primary period

Display examples for data trace operations and execution results is given below for sampling in a specified task period.
Additional Information
I/O refreshing, user program execution, and motion control processing are all executed in the
same task period. For data tracing, user program execution and motion control processing for
the current task period and I/O refreshing for the next task period are displayed at the same time.
The timing charts in the NJ-series Motion Control Instructions Reference Manual (Cat. No.
W508) are based on the task periods, so the display are not the same as those for data tracing.
Example 1:
In this example, the SysRun variable is changed to TRUE in the user program when the Sensor1 variable (assigned to the sensor input signal) changes to TRUE.

The data trace operations and display of the execution results are given below.
1. In data trace processing in System Common Processing 1, TRUE is obtained for Sensor1.
2. SysRun is changed to TRUE in the user program.
3. In data trace processing in System Common Processing 1 in the next primary period, TRUE is
obtained for SysRun.
Therefore, in the data trace display, SysRun is shown as TRUE one task period after Sensor1.
Data Trace Display
TRUE

Sensor1
TRUE

Delayed.

SysRun
1 task period

Additional Information
If the values of variables change during user program execution, the changes in the values and
changes for output processing for I/O refreshing are changed in the same task period.

8-40

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Example 2:
When the Button2 variable (assigned to an input signal from a pushbutton) changes to TRUE during
velocity control, the user program in this example decelerates axis 0 (MC_Axis000) to a stop.

The data trace operations and display of the execution results are given below.
1. In data trace processing in System Common Processing 1, TRUE is obtained for Button2.
2. STP_BSY is changed to TRUE in the user program and the Motion Control Function Module performs deceleration processing.
3. In data trace processing in System Common Processing 1 in the next primary period, TRUE is
obtained for STP_BSY and the status of the motion variable is obtained.
4. STP_ACT is changed to TRUE in the user program.
5. In data trace processing in System Common Processing 1 in the next primary period, TRUE is
obtained for STP_ACT.

8-5 Debugging

The command value in the MC Function Module starts changing (B in the following diagram) when
STP_BSY changes to TRUE in the user program and the Motion Control Function Module starts to perform deceleration processing. The command value changes stepwise in synchronization with the primary periodic task. The data trace, however, interpolates the values to connect the values for the
previous and current periods. Therefore, the display shows that the command value for the Command
Velocity motion control variable (MC_Axis000.Cmd.Vel) changes one period early, i.e., when Button2
changes to TRUE (A in the following figure). The display also shows that STP_BSY changes to TRUE
one period after deceleration starts and then STP_ACT changes to TRUE after another period.

Button2

8
STP_D
8-5-4 Data Tracing

STP_BSY

STP_ACT
Dotted lines: Command value in MC Function Module

MC_Axis000.Cmd.Vel
Task period
A B

NJ-series CPU Unit Software Users Manual (W501)

8-41

8 CPU Unit Functions

Additional Information
For function blocks that contain motion control instructions, the values of input parameters are
passed to the input variables when execution of the function block starts, and the values of the
output variables are passed to the output parameters when execution of the function block ends.
(Refer to Variable Designations for Function Blocks on page 6-11.) On the data trace displays,
input parameters and input variable, and output parameters and output variables, change in the
same task period.

Related System-defined Variables

Variable name
Member

Meaning

Description

_PLC_TraceSta[0..3] *

Data type

R/W

_sTRACE_STA

.IsStart

Trace Busy Flag

TRUE when a trace starts.

BOOL

.IsComplete

Trace Completed
Flag

TRUE when a trace is completed.

BOOL

.IsTrigger

Trace Trigger
Monitor Flag

TRUE when the trigger condition is met.

Changes to FALSE when the next trace
starts.

BOOL

.ParamErr

Trace Parameter
Error Flag

Changes to TRUE when a trace starts if

there is an error in the trace settings.
FALSE when the settings are normal.

BOOL

Changes to FALSE when the next trace

starts.

* These numbers correspond to the data trace numbers 0 to 3.

Note You cannot use these system-defined variables in the user program. Use the GetTraceStatus instruction to
read the status of data tracing from the user program.

8-5-5

Differential Monitoring
Differential monitoring reports the number of times the value of the specified BOOL variable matches
the specified condition. The specified condition is evaluated for a match in every task period of the primary periodic task (called the primary period). Differential monitoring provides a running total of the
number of times the condition is matched.
Sysmac Studio

CPU Unit

The number of times the

value of the BOOL variable
changes is reported.

8-42

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Infomation
Version Information
A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required
to use differential monitoring.

Application
You can use differential monitoring to check or count the number of times an external input signal turns
ON or OFF or a input in the user program changes to TRUE or FALSE. This is useful during system
commissioning and for troubleshooting operation failures during production.

Specifications of Differential Monitoring

The specifications of differential monitoring are given in the following table.

Item
Differential monitoring
condition

Specification
BOOL
Element of BOOL array
BOOL member of structure or union

Condition expression

Change to TRUE
Change to FALSE

Conditional match
evaluation

Timing

Once every primary period

Match count

The number of times the specified variable matches the

condition is counted.

Starting and stopping

Start condition

Command from Sysmac Studio

Stop condition

Operating modes

Command from Sysmac Studio

Occurrence of a major fault level Controller error
User program download
Clear All Memory operation
Disconnecting online connection to Sysmac Studio

RUN mode
PROGRAM mode

Differential Monitoring Conditions

The variables and the changes that you can monitor with differential monitoring are called differential
monitoring conditions. The specifications for the differential monitoring conditions are described below.

Number of Variables
You can specify a maximum of eight variables. This means differential monitoring can detect the
numbers of times conditions are met for eight variables in parallel.

Specified Variables
The data types of the variables that you can specify for differential monitoring are given below.
BOOL
Elements of BOOL arrays
BOOL members of structures or unions
NJ-series CPU Unit Software Users Manual (W501)

8-43

8-5-5 Differential Monitoring

8 max.

Specified variables

8-5 Debugging

Number of variables

8 CPU Unit Functions

You cannot specify an array, structure, or union.

The types of variables that you can specify are listed below.
Type of variables

Specification

System-defined variables

Possible.*1

Semi-user-defined variables

Possible.

User-defined variables

Global variables

Possible.

Variables used in a program

Possible.

Variables used in a function block

Possible.*2

Variables used in a function

Not possible.

*1 The following variables cannot be used:

EN, ENO, P_Off, P_CY, P_First_RunMode, P_First_Run, and P_PRGER.
*2 In-out variables cannot be used.

Condition Expressions
The condition of the change in the variable to detect is called the condition expression. There are
two types of condition expressions that you can select from. You specify a condition expression for
each variable.
Change to TRUE
Change to FALSE
Precautions for Correct Use
For example, we will assume the condition expression was set to a change to TRUE. Even if the
value of the specified variable is TRUE when differential monitoring is started, the status of the
value of the variable is not detected as a change to TRUE. The value of the variable must first
change to FALSE and then to TRUE to be considered as a change to TRUE.

When Conditions Are Evaluated and the Match Count

The condition for the specified variable is evaluated every primary period. The value of the variable
from the previous evaluation is compared with the value of the variable for the current evaluation. If
the value of the variable that matches the specified condition has changed, the count is incremented.
The number of times a condition match occurs is counted separately for each variable.
The count values are reset to zero when differential monitoring is started.
The count value for just one variable cannot be reset to zero.
Precautions for Correct Use
Even if the value changes to match the condition expression more than one time within the
same primary period, the count will be incremented only once in each primary period.
If the values of the variable are the same at the time of the previous and current evaluations,
the condition is not considered to be a match, even if the value changed between evaluations.

8-44

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Start Condition and Stop Condition

Use the Sysmac Studio to start differential monitoring.
Normally, use the Sysmac Studio to stop differential monitoring. Differential monitoring will stop
automatically at the following times.
When a major fault level Controller error occurs
When the user program is downloaded
When the Clear All Memory operation is performed
When an online connection to the Sysmac Studio is broken

Procedure
Use the following procedures to control differential monitoring. Refer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504) for details.

1
2
3

Select Differential Monitor from the View Menu on the Sysmac Studio.
Right-click a variable that can be specified for differential monitoring and select Add Differential
Monitor.
Set the differential monitoring condition expression for each variable in the Differential Monitor
Window.

8-5 Debugging

Execute the user program.

NJ-series CPU Unit Software Users Manual (W501)

8-45

8-5-5 Differential Monitoring

The number of times that the condition is met for each variable is displayed in the Differential
Monitor Window.

8 CPU Unit Functions

Precautions for Differential Monitoring

Observe the following precautions when you use differential monitoring.

Loss of Communications with Sysmac Studio While Differential Monitoring Is

in Progress
Lets assume that communications with the Sysmac Studio were cut off during differential monitoring
because the communications cable was disconnected or because the Sysmac Studio ended due to
an error. In such cases, the CPU Unit will continue execution of differential monitoring. To restart
execution of differential monitoring, you must resume communications with the Sysmac Studio and
stop differential monitoring.

Simultaneous Execution of Differential Monitoring

You cannot run differential monitoring from more than one copy of the Sysmac Studio running on the
same computer or from the Sysmac Studio running on different computers.

Specifying Global Variables and External Variables

You can specify global variables or external variables (which specify global variables in POUs) for
differential monitoring. Keep in mind that the values of global variables and external variables are
updated at different times. A global variable is updated as soon as the value is written. An external
variable, however, is updated only when the CPU Unit executes the POU in which that external
variable is declared. The following figure shows this. In this example, the following two variables are
monitored.
Variable

Type of variable

POU that executes the read/write

GVar1

Global variable

The P1 program that is assigned to the primary periodic task

P2.GVar1

This is an external variable that is

declared in the P2 program and points
to GVar1.

The P2 program that is assigned to the periodic task

The GVar1 global variable is read and written by the P1 program that is assigned to the primary periodic task. Therefore, it will be updated in the primary period as long as the program writes to it every
period. The P2.GVar1 external variable, however, is updated only when the CPU Unit executes the
P2 program that is assigned to the periodic task. This means the external variable is updated only in
the task period of the periodic task. Because the task period of the periodic task is longer than the
primary period, the count for P2.GVar1 is updated fewer times than the count for GVar1.

8-46

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Refreshing task
Program P1

Accessing task
Read/write

Program P2

Reading

External variable GVar1

External variable GVar1

Global variable GVar1

The GVar1 global variable is updated as soon as P1 writes a value to the

P1.GVar1 external variable.
GVar 1
(global
variable)

TRUE
FALSE

Timing for condition evaluation by differential monitoring

Primary period

Primary periodic task

(refreshing task)

P1

P1
TRUE is
written.

P1.GVar1
(external
variable)

TRUE is
written.

P1

P1
FALSE is
written.

TRUE is
written.

P1

P1
FALSE is
written.

TRUE is
written.

FALSE is
written.

TRUE
FALSE

Number of times
condition for GVar1 is
met (change to TRUE)

Task period

Periodic task
(accessing task)
P2

P2

P2

TRUE
FALSE

Number of times
condition for P2.GVar1 is
met (change to TRUE)

8-5 Debugging

P2.GVar1
(external
variable)

P1

P1
FALSE is
written.

The value of the P2.GVar1 external variable is updated only when

P2 is executed.
0

8
8-5-5 Differential Monitoring

NJ-series CPU Unit Software Users Manual (W501)

8-47

8 CPU Unit Functions

8-6

Event Logs
This section describes the event logs.

8-6-1

Introduction
The event logs contain records of events,* such as errors, status changes, and user-defined events,
that occurred in the NJ-series Controller.
You can check the current
Controller events and the event
log of past events.

NJ-series CPU Unit

Event
sources

PLC Function
Module

Motion Control
Function Module

CJ-series
Units

EtherCAT Master
Function Module

EtherNet/IP
Function Module

Errors in
Special Units

Sysmac Studio
User program

Or

Create User-defined
Error (SetAlarm)
instruction

Event logs

Create User-defined
Information (SetInfo)
instruction

NS-series PT

Battery backup
You can check the current
Controller events and the event
log of past events.

EtherCAT
slave

* Here, events are unscheduled events that occur on the Controller, such as errors. Event refers to an error or to
information that does not indicate an error but for which the user must be notified by the Controller or for a user
definition. There are two types and four classifications of events.
Controller events
Controller errors
Controller information
User-defined events
User-defined errors
User-defined Information

To use an NS-series PT to check events, connect the PT to the built-in EtherNet/IP port on the CPU
Unit.

Features
Event logs have the following features.
In addition to error records, various records are recorded for events such as the time the power supply is turned ON or OFF, and the time when operation is started.
You can check these records based on the time. You can therefore use them to isolate the causes of
errors when problems occur.

8-48

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Types of Events
Events are classified as shown below.

System-defined Events (Controller Events)

The Controller automatically detects these events. Controller events include events for the function
modules in the CPU Unit, CJ-series Units, and EtherCAT slaves. The different types of systemdefined events are as follows:
Controller errors
Controller information

User-defined Events
These are events that occur in applications that the user developed. You can execute instructions to
create the following types of events.
User-defined errors
User-defined information
You can read the event logs from the Sysmac Studio or from an NJ-series-compatible NS-series PT.

8-6-2

Detailed Information on Event Logs

Event Sources

Sources of Controller Events

Controller events occur in the function modules in the CPU Unit.
For some function modules, there is more detailed information about the event source. This information is called the detailed event source.
The following are Controller events.
Source details

PLC Function Module

I/O bus master or CJ-series Unit *

Motion Control Function Module

Common, axis, or axes group

EtherCAT Master Function Module

Communications port, EtherCAT master, or EtherCAT

slave

EtherNet/IP Function Module

Communications port, CIP, FTP, NTP, or SNMP

* The source details information does not show information from the error histories from within CJ-series CPU
Special Units or EtherCAT slaves. Read the error histories from the appropriate Support Software.

Sources of User-defined Events

User-defined events occur in the PLC Function Module.

NJ-series CPU Unit Software Users Manual (W501)

8-49

8
8-6-2 Detailed Information on Event Logs

Event source

8-6 Event Logs

This information identifies where an event occurred in the Controller. The event sources are given
below for Controller events and user-defined events.

8 CPU Unit Functions

Category
This information displays the category of event log. It is used to access error logs from the Sysmac Studio or an HMI.
Event type
Controller events

User-defined events

Event log category

Description

System log

The Controller automatically detects

and records these events. CJ-series
Unit errors are also included.

Access log

This is a record of events that have

affect Controller operation due to
user actions.

User event log

This is a log of events that are

defined by the user.

Number of Records
Each event log can contain the following number of records. If the number of events exceeds the number of records permitted, the CPU Unit overwrites the oldest events.
Event type
Controller events

Event log category

System log

NJ501-: 1,024 events,

NJ301-: 512 events

Access log
User-defined events

Maximum number of records

User event log

Retaining Events during Power Interruptions

The NJ-series CPU Unit uses a Battery to retain the event logs when the power is interrupted.
Precautions for Correct Use
The event logs are retained by Battery. They are not retained when there is no Battery.
Periodically export event logs as required.

Event Codes
Event codes are assigned to Controller events by the system in advance according to the type of event.
Event codes are assigned to user-defined events by the user. Controller event codes are 8-digit hexadecimal values. You can use the Get Error Status instruction to read the error codes of current errors.
You can assign a decimal number from 1 to 60,000 as the event code for a user-defined event.

8-50

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Event Levels
Each event has an event level that indicates its level. The event level depends on the type of event. Levels are defined separately for Controller events and user-defined events.

Controller Events
Controller events are classified into five levels according to the degree of the effect that the events
have on control, as shown in the following table.
No.
1

Level
High

Classification
Controller errors

Major fault level

Partial fault level

Minor fault level

Observation level

Low

Controller information

Information level

Errors with a higher level have a greater affect on the functions that the NJ-series System provides,
and it is more important to recover from them. When an event in one of these levels occurs, the Sysmac Studio or NJ-series-compatible NS-series PT will display the error.

User-defined Events
User-defined events are classified into the following levels. These levels are defined by the NJ-series
System. The event levels are defined for user-defined events.
No.
1

Level
High

Type
User fault Level 1
User fault Level 2

User fault Level 3

User fault Level 4

User fault Level 5

User fault Level 6

User fault Level 7

User fault Level 8

Low

User Information

NJ-series CPU Unit Software Users Manual (W501)

8
These event levels indicate user-defined information
in an application. The user executes the SetInfo
(Create User-defined Information) instruction to create the event.

8-51

8-6-2 Detailed Information on Event Logs

These event levels indicate a user-defined error in an

application. The user executes the SetAlarm (Create
User-defined Error) instruction to create the event.

8-6 Event Logs

Meaning

8 CPU Unit Functions

Displaying Event Logs

The Sysmac Studio or an NJ-series-compatible NS-series PT displays two event logs: the Controller
event log and the user-defined event log. The Controller logs include both the access log and the system log. You can also display the error logs that are recorded in the CJ-series Units and EtherCAT
slaves.
The events in these logs are displayed in tables on the Sysmac Studio. Select an event from the table to
display detailed information.

Additional Information
If an event occurs in the Controller that is not supported by the version of the Sysmac Studio or
an NJ-series-compatible NS-series PT, the source is displayed as Unknown and the event
name is displayed as Unknown Event. The event code and attached information are displayed
correctly.

8-52

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Clearing Event Logs

Clearing Event Logs from the Sysmac Studio or an HMI
You can clear the event logs from the Sysmac Studio or from an NJ-series-compatible NS-series PT.
You can clear the Controller event log and user-defined event log separately.
Precautions for Correct Use
If you need to delete event log in the CPU Unit from the Sysmac Studio or HMI, make sure you
do not need any of the event information before you delete the event log. You may have overlooked some important information and observation level Controller events or user-defined
events. Always check for these before you delete an event log.

Clearing Event Logs with the Clear All Memory Operation

When you perform the Clear All Memory operation for an NJ-series CPU Unit from the Sysmac Studio, you can select whether to clear the event logs.

Exporting Event Logs

You can use the Sysmac Studio or an NJ-series-compatible NS-series PT to export the displayed event
log to a CSV file.

8-6 Event Logs

8
8-6-2 Detailed Information on Event Logs

NJ-series CPU Unit Software Users Manual (W501)

8-53

8 CPU Unit Functions

8-6-3

Controller Events (Controller Errors and Information)

Introduction
Controller errors and information are defined by the NJ-series System. These events occur when the
NJ-series System detects an error or information factor.

Controller Errors
These are system-defined errors. Controller error is a collective term for major fault level, partial
fault level, minor fault level, and observation level Controller events. Errors in the function modules of
the CPU Unit, CJ-series Units, and EtherCAT slaves are detected. When one of these events
occurs, a Controller error is recorded in the event log. To check the status of a Controller error on the
user program, you execute the Get Error Status instruction to access the status of the Error Status
variable, which is a system-defined variable. Controller errors are not reset when the operating
mode changes. Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for details on Controller Errors.

Controller Information
Controller information is system-defined notification information. This information does not indicate
errors. It represents information level Controller events. Examples include events other than errors,
such as turning the power ON and OFF, starting and stopping operation, connecting the Sysmac
Studio online, and downloading user programs.
Function Modules
PLC Function
Module
Event logs
Motion Control
Function Module
An error or information occurs.
EtherCAT
Master Function
Module

Controller events

EtherNet/IP
Function Module

System-defined variables
Errors in Special
Units

Error status
Detected Controller errors

Errors in EtherCAT
slaves

8-54

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

8-6-4

User-defined Events (User-defined Errors and Information)

Introduction
These errors and information are defined by the user. You can use instructions to create them.

User-defined Errors
These errors are defined by the user. Use the Create User-defined Error (SetAlarm) instruction to
create user-defined errors. When this instruction is executed, a user-defined error is recorded in the
event log.
The corresponding system-defined variable changes to TRUE. User-defined errors are not reset
when the operating mode changes.

User-defined Information
User-defined information is user-defined notification information. This information does not indicate
errors. Use the Create User-defined Information (SetInfo) instruction to create user-defined information. When this instruction is executed, user-defined information is recorded in the event log.
Event Setting Tables
Event code

Event name

100

Failure X

Group
User fault level 1 Control A (001)
Level

8-6 Event Logs

Instruction

Details

Event logs
Program
SetAlarm

An event occurs.

User-defined events

8
8-6-4 User-defined Events (User-defined Errors and Information)

System-defined Variables
User-defined error status

NJ-series CPU Unit Software Users Manual (W501)

8-55

8 CPU Unit Functions

Application Procedures
Use the following procedures.

User-defined Errors
1. Register a user-defined error in the Event Setting Table.

2. Execute the Create User-defined Error (SetAlarm) instruction.

(Specify an event code that is defined in the Event Setting Table.)

3. A user-defined error occurs.

4. The corresponding system-defined variable _AlarmFlag (User-defined Error

Status) changes to TRUE. Execute any process for that condition.

5. Check the user-defined error in the event log with the Sysmac Studio, an
instruction, or an HMI.

User-defined information
1. Register user-defined information in the Event Setting Table.

2. Execute the Create User-defined Information (SetInfo) instruction.

3. Check the record in the event log.

8-56

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Setting the Event Setting Table

To create a user-defined error or user-defined information, register the user-defined error or userdefined information in the Event Setting Table in the Sysmac Studio in advance. The user events that
you set here can be displayed on the Sysmac Studio or NJ-series-compatible NS-series PT with the
same information. You can register up to 5,120 events in the Event Setting Table.

Event Setting Table Tab Page

Event Setting Table
Event code

10001

Event name
Failure X

Level

Group

Details

User fault Level3 Control A (001)

Details
Description
Failure X occurred.
Correction
Perform safety checks and handle the problem
according to the cause code.

Programming Example
Failure

Detection condition

SetAlarm
EN
UINT#102

Code

Var1

Info1

Var2

Info2

Normal end

ENO
OutVal

8-6 Event Logs

The following items are set in the Event Setting Table.

8
8-6-4 User-defined Events (User-defined Errors and Information)

NJ-series CPU Unit Software Users Manual (W501)

8-57

8 CPU Unit Functions

Contents of the Event Setting Table

Item
Event Code

Description

Values

You can specify a number to identify the

event according to the event level.

User-defined error: 1 to 40,000

Event Name

You can include a title for the event.

128 characters max.

Event Level

You can specify the level of the event.

The level is indicated with a number.
The lower the number is, the higher the
level is.

User-defined error: User fault levels: 1 to

8

You can specify a group name to represent the location or type of the event.
You can use user-defined groupings for
the events.

32 characters max.

You can include a message that

describes the event. The user can enter
any text string. The message is used
when the event is displayed on the Sysmac Studio or an HMI.

1,024 characters max.

Error details that are

displayed on the HMI
when a major fault level
Controller error occurs

Refer to the additional information that is

given below on displaying user messages on an NJ-series-compatible NSseries PT when a major fault level Controller error occurs for more details.

128 characters max.

Comment

The comment is attached for each set of

table entries.

Group

Details

User-defined information: 40,001 to

60,000

User-defined information: User information

There are no restrictions on the characters that can be used. Case sensitive.
Reserved words: None
There are no restrictions on the characters that can be used. Case sensitive.
Reserved words: None

There are no restrictions on the characters that can be used.

Case sensitive. Reserved words: None

Additional Information
You can set up to nine different languages for the same event code for different regions and
users. On the Sysmac Studio, you can import an Event Setting Table from a Microsoft Excel file
via the clipboard.

Additional Information
Displaying User Messages on an NJ-series-compatible NS-series PT When a Major Fault
Level Controller Error Occurs:
When a major fault level Controller error occurs, the user program execution stops. The NJseries Controllers can display user messages on an NJ-series-compatible NS-series PT when a
major fault level Controller error occurs. You can set the display messages under the list of userdefined events in the Event Setting Table on the Sysmac Studio.

8-58

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Event Levels and Event Codes

Event classification
User-defined
errors

Event level category*

Level
High

Range of corresponding event

code

User fault Level1

1 to 5000

User fault Level2

5001 to 10000

User fault Level3

10001 to 15000

User fault Level4

15001 to 20000

User fault Level5

20001 to 25000

User fault Level6

25001 to 30000

User fault Level7

30001 to 35000

User fault Level8

35001 to 40000

User Information

40001 to 60000

Description
Select from eight levels.

Low
User-defined
Information

Lowest

The event type is user-defined

information.

* User-defined error levels are separate from Controller error levels.

Precautions for Correct Use

If you update the Event Setting Table and transfer it to the CPU Unit, the event logs for userdefined events still contain old information. This can result in inconsistencies with the new Event
Setting Table. Program operations with caution.

There are instructions that you can use to create and check user-defined errors and to clear existing
user-defined errors.

8-6 Event Logs

Related Instructions

Creating and Clearing User-defined Errors

Use the following instructions to create and reset user-defined errors and to create user-defined information. Up to 32 events per level can occur simultaneously, for a total of 256 possible simultaneous
events.
Instruction

Description

SetAlarm

The SetAlarm instruction creates a user-defined error.

Reset User-defined
Error

ResetAlarm

The ResetAlarm instruction resets a user-defined error.

Create User-defined
Information

SetInfo

The SetInfo instruction records the specified user-defined information in the event log.

Checking for User-defined Errors

You can use the Get User-defined Error Status (GetAlarm) instruction to obtain the status of the current user-defined errors and the highest priority event level and code of the current user-defined
errors.

NJ-series CPU Unit Software Users Manual (W501)

8-59

8-6-4 User-defined Events (User-defined Errors and Information)

Instruction name
Create User-defined
Error

8 CPU Unit Functions

Example:
Event Setting Table
Event code
10001

Failure X

Details

Level

Group

User fault Level3

Control A (001)

Event name

Details
Description
Failure X occurred.
Correction
Perform safety checks and handle the problem
according to the cause code.

Actual Programming
Detection condition

Error

GetAlarm
EN
Level
Code

Additional Information
You can use user-defined errors to add a message on possible corrections or other information
when a Controller error occurs. Use instructions such as the GetPLCError instruction to obtain
information about the error status or event code when a Controller error occurs. You can then
use the information to trigger a user-defined error.
Example 1
When a Low Battery Voltage error occurs, the event code (16#000B0000) is obtained and the following message is displayed.
Battery is dead.
Apply power for at least five minutes before changing the
Battery.
Install a new Battery within five minutes of turning OFF the
power supply.

Example 2
When a partial fault level Controller error occurs, the event error level is obtained (highest level
status: 2) and the following message is displayed.
A device failed. Call the following number for support.
Repair Contact
Hours: 8:00 AM to 9:00 PM
TEL: xxx-xxxx-xxxx

8-60

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

System-defined Variables Related to User-defined Errors

Variable
name
_AlarmFlag

Meaning

Description

User-defined
Error Status

The bit corresponding to the event level is TRUE while there

is a user-defined error. Bits 00 to 07 correspond to user
fault levels 1 to 8.

Data
type
WORD

R/W
R

Records in Event Log

An event is recorded in the event log when you create user-defined information or a user-defined error,
or when you use the ResetAlarm instruction to reset an error. When this happens, the time, event code,
event level, and attached information 1 and 2 are recorded in the user-defined event log in the event
logs.

Reset User-defined Errors

User-defined errors are cleared when the power supply to the NJ-series Controller is turned ON. You
can also clear errors with the Sysmac Studio, the Reset User-defined Error instruction (ResetAlarm)
and an HMI.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details.

8-6 Event Logs

8
8-6-4 User-defined Events (User-defined Errors and Information)

NJ-series CPU Unit Software Users Manual (W501)

8-61

8 CPU Unit Functions

8-7

Changing Event Levels

Errors, status changes, and user-defined events that occur in the NJ-series Controller are all called
events. You can tell what type of event has occurred by viewing the display in Sysmac Studio, or by
checking the indicators on the front panel of the CPU Unit.
There are two types of events: Controller events that are defined in the system and user-defined events.
The Controller events are further classified into five event levels. Refer to Event Levels on page 8-51 for
details on event levels.
You can change the event levels that are assigned to some of the Controller events.

Infomation
A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required
to change event levels.

8-7-1

Applications of Changing Event Levels

The lighting pattern for the indicators on the front panel of the CPU Unit is predefined according to the
event level that is assigned to each Controller event. You can change the event level for some events to
change how the Controller operates when that event occurs.
For example, the ERROR indicator flashes for minor fault level events and stays unlit for observation
level events. You can change the lighting pattern of the ERROR indicator so that it goes out or flashes
for a given event.
Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for details on how the Controller operates for different event levels.

8-7-2

Events for Which the Event Level Can Be Changed

Whether an event level can be changed depends on the specific event.
Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for details on the types and levels of the
Controller events, and whether the event levels can be changed.

8-7-3

Procedure to Change an Event Level

Double-click Operation Settings under Configurations and Setup Controller Setup in the
Sysmac Studio. Or right-click Operation Settings and select Edit from the menu.
The Basic Settings Display is displayed on the Operation Setting Tab Page in the Edit Pane.

8-62

NJ-series CPU Unit Software Users Manual (W501)

8 CPU Unit Functions

Click the Event Level Settings Button.

8-7 Changing Event Levels

A list of the events for which you can change the event level is displayed.

8
8-7-3 Procedure to Change an Event Level

Change the levels of the required events in the Level column.

Precautions for Correct Use

If you change an event level on the Sysmac Studio and download the event level setting to the
Controller when the event already exists on the Controller, the event will be reset when the download is started. If the same event occurs again while the download is in progress, the Controller
will operate according to the previous event level. If the same event occurs after the download is
completed, the Controller will operate according to the new level.

NJ-series CPU Unit Software Users Manual (W501)

8-63

8 CPU Unit Functions

8-64

NJ-series CPU Unit Software Users Manual (W501)

Backup Functions
This section describes the backup functions for the settings in an NJ-series Controller.
There are different types of backup functions that handle different data or different storage locations. First an overall description of the backup functions is provided followed
by descriptions of the individual functions.

9-1 The Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9-1-1
9-1-2
9-1-3
9-1-4
9-1-5
9-1-6

Applications of Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

Examples of Operating Procedures for the Backup Functions . . . . . . . . . . . . 9-3
Data That Is Backed Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Types of Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Relation Between the Different Types of Backup Functions
and Data Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
Applicable Range of the Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10

9-2 SD Memory Card Backups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12

9-2-1
9-2-2
9-2-3

Backup (Controller to SD Memory Card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13

Restore (SD Memory Card to Controller) . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
Verify (between Controller and SD Memory Card) . . . . . . . . . . . . . . . . . . . . 9-20

9-3 Disabling Backups to SD Memory Cards . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25

9-4 Automatic Transfers from SD Memory Cards . . . . . . . . . . . . . . . . . . . . . . 9-26
9-5 Sysmac Studio Controller Backups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-28
9-5-1
9-5-2
9-5-3

Backup (Controller to Computer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29

Restore (Computer to Controller) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30
Verify (between Controller and Computer) . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31

9-6 Importing and Exporting Sysmac Studio Backup File Data . . . . . . . . . . . 9-32
9-7 Sysmac Studio Variable and Memory Backup Functions . . . . . . . . . . . . 9-33
9-7-1
9-7-2
9-7-3

Applicable Data for Sysmac Studio Variable and Memory

Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-33
Using Sysmac Studio Variable and Memory Backup Functions . . . . . . . . . . 9-33
Compatibility between CPU Unit Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-34

9-8 Backup Functions When EtherCAT Slaves Are Connected . . . . . . . . . . . 9-36

9-8-1
9-8-2
9-8-3
9-8-4

Backed Up EtherCAT Slave Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Backup Support Depending on the Controller Status . . . . . . . . . . . . . . . . . .
Conditions for Restoring EtherCAT Slave Data . . . . . . . . . . . . . . . . . . . . . . .
EtherCAT Slaves for Which You Can Back Up Data . . . . . . . . . . . . . . . . . . .

NJ-series CPU Unit Software Users Manual (W501)

9-36
9-36
9-37
9-38

9-1

9 Backup Functions

9-9 Backup Functions When EtherCAT Slave Terminals Are Connected . . . 9-40
9-9-1
9-9-2
9-9-3

Backing Up Data in an EtherCAT Slave Terminal . . . . . . . . . . . . . . . . . . . . . . 9-40

Backup Support Depending on the EtherCAT Slave Terminal Status . . . . . . . 9-41
Conditions for Restoring EtherCAT Slave Terminal Data . . . . . . . . . . . . . . . . 9-41

9-10 Backup Functions When CJ-series Units Are Connected . . . . . . . . . . . . . 9-42

9-10-1
9-10-2
9-10-3

Backed Up CJ-series Unit Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-42

Backup Support Depending on the Controller Status . . . . . . . . . . . . . . . . . . . 9-42
Conditions for Restoring CJ-series Unit Data . . . . . . . . . . . . . . . . . . . . . . . . . 9-42

9-11 Backup-related Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-44

9-11-1
9-11-2
9-11-3
9-11-4
9-11-5
9-11-6
9-11-8

Types of Backup-related Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-44

Specifications of a Backup File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-45
Specifications of a Restore Command File . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-45
Specifications of an Automatic Transfer Command File . . . . . . . . . . . . . . . . . 9-47
Specifications of a Controller Verification Results File . . . . . . . . . . . . . . . . . . 9-49
Specifications of an EtherCAT Verification Results File . . . . . . . . . . . . . . . . . 9-49
Specifications of CJ-series Unit Verification Results File . . . . . . . . . . . . . . . . 9-52

9-12 Compatibility between Backup-related Files . . . . . . . . . . . . . . . . . . . . . . . 9-54

9-12-1
9-12-2
9-12-3

Compatibility between Backup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-54

Compatibility between CPU Unit Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-55
Compatibility between Unit Versions of CPU Units . . . . . . . . . . . . . . . . . . . . . 9-56

9-13 Functions That Cannot Be Executed during Backup Functions . . . . . . . 9-57

9-2

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-1

The Backup Functions

The following three functions are supported for data backup for an NJ-series Controller.
Function
Backing up
data
Restoring data

Verifying data

Description
You can back up all of the data in the Controller to an SD Memory Card or to a computer. The
file that is saved is called a backup file.
You can transfer the contents of a backup file on the SD Memory Card or computer to the
Controller. The data in the Controller is restored to the data at the time the backup file was
made.
You can compare the contents of a backup file on the SD Memory Card or computer with the
data in the Controller to see if they are the same.

The following items are described for the backup functions.

Item
Applications of backup functions
Examples of operating procedures for the
backup functions
Data that is backed up
Types of backup functions

Applicable range of the backup functions

9-1-1

Applications of Backup Functions

You can use the backup functions in the following instances.
Item
Program and setting changes

When you change the user program and settings for equipment that is currently in operation.

Hardware replacements

When you replace the hardware for the CPU Unit, other Units, or slaves.

Troubleshooting equipment failures

When you want to save data in the Controller to analyze the cause of an
error that occurs in the equipment.

Equipment backup and recovery

When an error occurs in the equipment, and when you want to restore the
equipment with data from an normal operating status. When you want to
backup the data in the equipment while it is in operation.

Manufacture of equipment

When you want to manufacture the same equipment and need to transfer the
data from the existing equipment to new equipment in its initial state.

Examples of Operating Procedures for the Backup Functions

You can use the backup functions to easily back up, restore, and verify Controller data.
This section provides the procedures to back up, restore, and verify data with an SD Memory Card by
using the DIP switch on the front panel of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

9-3

9-1-1 Applications of Backup Functions

9-1-2

Application

9-1 The Backup Functions

Relation between the different types of backup

functions and data groups

Description
Effective usage of the backup functions is described.
The backup functions are executed with simple procedures.
Examples are provided.
The data that can be saved with the backup functions from the
connected Units and slaves is described.
There are different types of backup functions that differ in
where the data is saved. The types of backup functions and
the difference between them are described.
Different types of backup functions handle different data
groups. The relation between the different types of backup
functions and data groups is described.
The connected Units and slaves for which you can save data
with the backup functions are described.

9 Backup Functions

Backup Procedure
Preparations

1
2

Insert the SD Memory Card into the CPU Unit.

Set pins 1 to 4 on the DIP switch on the CPU Unit as follows: 1: OFF, 2: OFF, 3: ON, and 4: OFF.

Executing the Backup

Press the SD Memory Card power supply switch for 3 seconds.

The backup is started. The SD PWR indicator will flash, lighting for 3 seconds and going out for
0.5 seconds.
When the backup operation is completed, the SD PWR indicator will stop flashing and remain lit.

Ending the Backup Procedure

4
5
6

Set all of pins 1 to 4 on the DIP switch on the CPU Unit to OFF.
Press the SD Memory Card power supply switch to turn OFF the SD PWR indicator.
Remove the SD Memory Card.

Restoration Procedure
Preparations

1
2
3

Turn OFF the power supply to the NJ-series Controller and to the EtherCAT slaves.
Insert the SD Memory Card that contains the backup file into the CPU Unit.
Set pins 1 to 4 on the DIP switch on the CPU Unit as follows: 1: OFF, 2: OFF, 3: ON, and 4: ON.

Restoring Data

Turn ON the power supply to the NJ-series Controller and to the EtherCAT slaves.
The restoration operation is started. The SD PWR indicator will flash, lighting for 3 seconds and
going out for 0.5 seconds.
When the restoration operation is completed, the SD PWR indicator will stop flashing and
remain lit.

Ending the Restoration Procedure

5
6

Press the SD Memory Card power supply switch to turn OFF the SD PWR indicator.
Turn OFF the power supply to the NJ-series Controller and to the EtherCAT slaves.

Starting Normal Operation

7
8
9

9-4

Remove the SD Memory Card.

Set all of pins 1 to 4 on the DIP switch on the CPU Unit to OFF.
Turn ON the power supply to the NJ-series Controller and to the EtherCAT slaves.

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Precautions for Correct Use

Restoring Data When EtherCAT Slaves Are Connected
Always cycle the power supply to the NJ-series Controller and the EtherCAT slaves after you
restore data when EtherCAT slaves are connected. If you start operation without cycling the
power supply, the Controller may perform unexpected operation.
To verify the data after you restore data with EtherCAT slaves connected, first turn OFF the
power supply to the NJ-series Controller and EtherCAT slaves, and then start in Safe Mode
before you perform the verification procedure. If you cycle the power supply normally, the Controller will start operation before you can perform the verification procedure. That means that
operation could be started with data that is not correct. For information on Safe Mode, refer to
the NJ-series Troubleshooting Manual (Cat. No. W503).

Verification Procedure
Preparations

1
2

Insert the SD Memory Card that contains the backup file into the CPU Unit.
Set all of pins 1 to 4 on the DIP switch on the CPU Unit to OFF.

Verifying the Data

Press the SD Memory Card power supply switch for 3 seconds.

If the verification operation is completed and the data is the same, the SD PWR indicator will
stop flashing and remain lit.
If the verification operation is completed and differences were found in the data, the SD PWR
indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.

Ending the Verification Procedure

4
5

9-1 The Backup Functions

Data comparison is started. The SD PWR indicator will flash, lighting for 3 seconds and going
out for 0.5 seconds.

Press the SD Memory Card power supply switch to turn OFF the SD PWR indicator.

Remove the SD Memory Card.

9-1-2 Examples of Operating Procedures for the Backup

Functions

NJ-series CPU Unit Software Users Manual (W501)

9-5

9 Backup Functions

9-1-3

Data That Is Backed Up

The following data is backed up. This section describes the backup functions based on the following
data groups for the backup data.
Data group
User program and settings

Data items
EtherCAT configuration (EtherCAT slave configuration and EtherCAT master
settings)
Unit Configuration and Unit Setup
I/O Map
Controller Setup (Operation Settings and Built-in EtherNet/IP Port Settings)
Motion Control Setup
Cam Data Settings
Event Setup
Task Setup
Data Trace Settings
Tag Data Link Tables
Controller name
Operation authority verification
Built-in clock (time zone setting)
POUs
Data (data types and global variables)

Present values of variables

Values of variables with a Retain attribute*1

Present values of memory used

for CJ-series Units

Values of the Holding, DM, and EM Areas in the memory for CJ-series Units

Units and slaves settings

Backup parameters for EtherCAT slaves*2, Parameters in the CJ-series Units

Absolute encoder home offset

The set value to restore the actual position of a Servo Drive with an absolute
encoder

*1 The system-defined variables are not included.

*2 A part or all of the set parameters are not backed up for some EtherCAT slave models. For the details on the
target EtherCAT slaves for the data backup function, refer to 9-8-4 EtherCAT Slaves for Which You Can Back
Up Data on page 9-38.

Precautions for Safe Use

Precautions on the Absolute Encoder Home Offset
The absolute encoder home offsets are backed up with a Battery in the CPU Unit as absolute
encoder information. If any of the following conditions is met, clear the absolute encoder home
offsets from the list of data items to restore, and then restore the data. Then, define the absolute
encoder home again. If you do not define home, unintended operation of the controlled system
may occur.
The Servomotor or Servo Drive was changed since the data was backed up.
The absolute encoder was set up after the data was backed up.
The absolute data for the absolute encoder was lost.

9-6

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-1-4

Types of Backup Functions

There are backup functions for the NJ-series Controllers that save data to SD Memory Cards and others that save data to a computer. Also, there are three methods used to execute the backup functions:
the CPU Unit front-panel DIP switches, system-defined variables, and the Sysmac Studio.

Functions That Save Data to SD Memory Cards

The SD Memory Card backup functions are used to back up, restore, and compare data on SD Memory
Cards. Related functions include disabling backups to SD Memory Cards and automatic transfers from
SD Memory Cards.
Operating method
Function name

Description

CPU Unit
front-panel
DIP switch

Restoring data

The data in a backup

file on the SD Memory
Card is transferred to
the Controller.

Verifying
data

The Controller data and

the data in a backup file
on the SD Memory
Card are compared.

Disabling backups to SD
Memory Cards

You can disable backing up data to SD Memory Cards.

Automatic transfers from

SD Memory Cards

When the power supply

is turned ON, the data
in a backup file on the
SD Memory Card is
automatically transferred to the Controller.
After the data transfer,
the operating mode of
the CPU Unit will
change to the mode
that is specified in
Startup Mode setting.

NJ-series CPU Unit Software Users Manual (W501)

Reference

9-2-1 Backup
(Controller to
SD Memory
Card)
9-2-2 Restore
(SD Memory
Card to Controller)

9-2-3 Verify
(between Controller and SD
Memory Card)

9-3 Disabling
Backups to SD
Memory Cards
9-4 Automatic
Transfers from
SD Memory
Cards

9
9-1-4 Types of Backup Functions

The Controller data is

saved in a backup file
on the SD Memory
Card.

Sysmac
Studio

9-1 The Backup Functions

Backing
up data

SD Memory
Card backups

Systemdefined
variables

9-7

9 Backup Functions

Functions That Save Data to the Computer

The Sysmac Studio Controller backup functions are used to back up, restore, and compare data on the
computer. Importing and exporting Sysmac Studio backup file data are used to save and read different
types of data between the Sysmac Studio projects and backup files on the computer without using a
Controller. The Sysmac Studio variable and memory backup functions are used to back up batterybackup present values to the computer and restore them from the computer.
Operating method
Function name

Description

CPU Unit
front-panel
DIP switch

Systemdefined
variables

Sysmac
Studio

Reference

Backing
up data

The Controller data is

saved in a backup file on
the computer.

9-5-1
Backup
(Controller to
Computer)

Restoring data

The data in a backup file

on the computer is transferred to the Controller.

9-5-2
Restore
(Computer
to Controller)

Verifying
data

The Controller data and

the data in a backup file on
the computer are compared.

9-5-3 Verify
(between
Controller
and Computer)

Importing
and exporting
Sysmac Studio backup
file data

Exporting data

The data is exported from

the project on the Sysmac
Studio to a backup file
without using a Controller.

Importing data

The data in the backup file

is imported into the Sysmac Studio project without
using a Controller.

9-6 Importing and

Exporting
Sysmac Studio Backup
File Data

Sysmac Studio variable

and memory
backup functions

Backing
up data

You can back up the present values of data that is

backed up by a battery to
an XML file on the computer.

Restoring data

You can restore the present values of data that is

backed up by a battery
from the computer to the
CPU Unit.

Sysmac Studio Controller backups

9-7 Sysmac
Studio Variable and
Memory
Backup
Functions

Version Information
A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required
to use the following backup functions: SD Memory Card backups, automatic transfers from SD
Memory Cards, Sysmac Studio Controller backups, and importing and exporting Sysmac Studio
backup file data.

9-8

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Additional Information
The backup functions are executed as a system service. This means that if you perform a
backup or verification operation in RUN mode, it may take time for the operation to be completed.
If you perform a backup or verification operation in RUN mode, make sure that the sufficient execution time is allocated for the system service. You can reduce the processing time by performing the system service in PROGRAM mode.

9-1-5

Relation Between the Different Types of Backup Functions and

Data Groups
Different types of backup functions handle data for different data groups. The relation between the different types of backup functions and data groups is given in the following table.
(OK: Applicable, NA: Not applicable)
Data group
User program and
settings

Present values of variables

Present values of memory used for

CJ-series
Units

Backing up
data

OK

OK*1

OK*2

OK

OK

Restoring
data*3

OK

OK*1

OK*2

OK

OK

OK*4

NA

NA

OK

NA

Automatic transfers from SD

Memory Cards*5

OK

OK*1

OK*2

NA

NA

Sysmac Studio Backing up

Controller back- data
ups
Restoring data

OK

OK*1

OK*2

OK*6

OK

OK

OK*1

OK*2

OK*6

OK

Verifying data

OK*4

NA

NA

OK*6

NA

Exporting
backup file
data

OK*7

NA

NA

NA

NA

Importing
backup file
data

OK*7

NA

NA

OK

NA

NA

OK*1

OK*2

NA

OK

Type of backup function

SD Memory
Card backups

Importing and
exporting
Sysmac Studio
backup file data

Backing up and
restoring data

*1 The backup data is processed only for the present values of variables that are specified for retention with the
Retain attribute.
*2 The backup data is processed only for the present values of addresses that are specified for retention with the
Retain attribute in the memory for CJ-series Units.
*3 For all of the data groups except for the user program and setting group, only the items that are specified to be
restored in the restore command file are restored.
*4 Of the user program and setting data groups, the Data Trace Settings are not compared.
*5 For all of the data groups except for the user program and setting group, only the items that are specified to be
transferred in the automatic transfer command file are transferred.
*6 If the CJ-series Units are specified for backup, the parameters in the CJ-series Units are backed up. If the
EtherCAT slaves are specified for the backup, parameters for the EtherCAT slaves are backed up.
NJ-series CPU Unit Software Users Manual (W501)

9-9

9-1-5 Relation Between the Different Types of Backup

Functions and Data Groups

Sysmac Studio
variable and
memory backup
functions

Absolute
encoder
home offsets

9-1 The Backup Functions

Verifying data*3

Units and
slaves settings

9 Backup Functions

*7 The following data is not processed: Tag data link settings for the built-in EtherNet/IP port, operation authority
verification, and the Data Trace Settings.

Additional Information
The files that are handled for backing up variables and memory from the Sysmac Studio are not
compatible with other backup files. Refer to 9-7 Sysmac Studio Variable and Memory Backup
Functions for details on the Sysmac Studio variable and memory backup functions.

9-1-6

Applicable Range of the Backup Functions

Different types of backup functions handle data for different Units or slaves. The applicable Units and
slaves for each backup function are given in the following table.
(OK: Applicable, NA: Not applicable)

Type of backup function

NJ-series
CPU Unit

EtherCAT
slaves*1

SD Memory Card backups

OK

Automatic transfers from SD

Memory Cards
Sysmac Studio Controller
backups
Importing and exporting Sysmac Studio backup file data
Sysmac Studio variable and
memory backup functions

OK

OK*2
NA

OK

Units/slaves
CJ-series Units
Units and
Slaves
Master Units
OK
NA

EtherNet/IP
slaves

Computer
and HMIs

NA

NA

NA

NA

NA

NA

OK*2

OK

NA

NA

NA

OK

OK*3

NA

NA

NA

NA

OK

NA

NA

NA

NA

NA

*1 EtherCAT Slave Terminals are included. If EtherCAT Slave Terminals are set for backup, the backup function
applies to both the EtherCAT Coupler Unit and the NX Units.
*2 This does not apply to Safety Control Units. Refer to the NX-series Safety Control Unit Users Manual (Cat. No.
Z930) for information on importing and exporting settings for a Safety Control Unit.
*3 Only importing data is possible. Exporting is not possible.

The Units and slaves that are shown in the following figure are covered by the SD Memory Card backup
functions and Sysmac Studio Controller backup functions.

9-10

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Computer

NJ-series
CPU Unit

CJ-series Units

HMI

NJ-series
Expansion Rack

NJ-series
CPU Unit

CJ-series Units

Slaves
EtherCAT slaves

EtherCAT
Coupler Unit

NX Units

EtherNet/IP slaves

EtherCAT Slave Terminal

Applicable range for the SD Memory Card backup

functions and Sysmac Studio Controller backup functions.

A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required
to connect EtherCAT Slave Terminals.

9-1 The Backup Functions

Version Information

9
9-1-6 Applicable Range of the Backup Functions

NJ-series CPU Unit Software Users Manual (W501)

9-11

9 Backup Functions

9-2

SD Memory Card Backups

You can use SD Memory Cards to back up, restore, and verify Controller data.

SD Memory Card

Controller

Backing up data
Restoring data
Verifying data

Data that is
backed up

Backup file
Restore command file
Automatic transfer command file
Verification results files

When you back up data, the backup file, restore command file, and automatic transfer command file are
created in the specified directory on the SD Memory Card. When you verify data, the verification results
files are created in the specified directory. All of these files are collectively referred to as backup-related
files. The functions of the backup-related files are given in the following table.
Function
File

Backing
up data

Contents

Restoring data

Verifying
data

Backup files

This file contains the Controller data that is handled

by the functions that are related to data backup.

Created.

Accessed. Accessed.

Restore command
file

This file specifies the data groups to restore when

restoring data. You can edit this file with a text editor
on a computer to specify the data groups to restore.

Created.

Accessed. Accessed.

Automatic transfer
command file

This file specifies the data groups to transfer when

automatically transferring data from a SD Memory
Card. You can edit this file with a text editor on a
computer to specify the data groups to transfer.

Created.

Nothing is
done.

Nothing is
done.

Verification results
files

These files contain the verification results after data

is verified.

Nothing is
done.

Nothing is
done.

Created.

The execution method for the functions, applicable directory, and applicable operating modes are given
in the following table.
Procedure

Directory*1

Applicable operating modes

Backing up data

Restoring data

Verifying data

CPU Unit front-panel

DIP switch*2

The root directory

RUN mode and

PROGRAM mode

At startup

RUN mode and

PROGRAM mode

System-defined variables*3*4

The directory that you

specified in the systemdefined variable

RUN mode and

PROGRAM mode

Execution is not
possible.

RUN mode and

PROGRAM mode

SD Memory Card
Dialog Box in Sysmac Studio

The directory that you

specified on the SD Memory Card Dialog Box

RUN mode and

PROGRAM mode

Execution is not
possible.

RUN mode and

PROGRAM mode

*1 You can specify a directory only on the SD Memory Card.

*2 Before you restore or verify data, save the backup file and restore command file in the root directory.
*3 This method is used to control the backup functions from an HMI. You cannot access these system-defined
variables from the user program.

9-12

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

*4 Make arrangements to prevent backup or verification operations from being performed on HMIs while a backup
or verification operation is in progress. Otherwise, the intended operation may not occur.

9-2-1

Backup (Controller to SD Memory Card)

This operation is used to save data in the Controller to the SD Memory Card in the CPU Unit.

Processing Contents
This backup operation processes all data groups.
When you back up data, the backup file, restore command file, and automatic transfer command file
are created in the specified directory on the SD Memory Card.
If the backup-related files are already in the specified directory, they are overwritten.
If an error occurs while writing the backup-related files to the SD Memory Card, the previous backuprelated files will be deleted. Also, the new backup-related files will not be created.
If an error occurs before the new backup-related files are created, the previous files are retained and
the new files are not created.
The SD Memory Card power supply switch is disabled when a backup is in progress.
The SD Memory Card will remain mounted after completion of the backup.

Procedure

Processing stage

Procedure

Start command

The backup starts when the SD Memory Card power supply switch is pressed for 3 seconds with the DIP switch pins set as follows: 1: OFF, 2: OFF, 3: ON, and 4: OFF.

Executing

Immediately after Starting Backup*1

The SD PWR indicator will light, go out for 0.5 seconds, and then light again.
While Backing Up Data

9-2 SD Memory Card Backups

Backing Up Data with the CPU Unit Front-panel DIP Switch

The SD PWR indicator will flash, lighting for 3 seconds and going out for 0.5 seconds.
The SD BUSY indicator will flash irregularly.
The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will
change to TRUE.
Normal End:
The SD PWR indicator will light.
Error End:
The SD PWR indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.
The indicator stop flashing and stay lit when the SD Memory Card power supply switch is
pressed.*1
*1 If an SD Memory Card is not inserted, the SD PWR indicator will not light.

NJ-series CPU Unit Software Users Manual (W501)

9-13

9-2-1 Backup (Controller to SD Memory Card)

Execution results

9 Backup Functions

Backing Up Data with the _Card1BkupCmd (SD Memory Card Backup

Command) System-defined Variable
Processing stage
Start command

Procedure
The name of the directory where the files are saved is stored in the
_Card1BkupCmd.DirName (Directory Name) system-defined variable.
Example: dirA/dirB specifies the dirB directory inside the dirA directory.
The backup operation starts when you change the _Card1BkupCmd.ExecBkup (Execute
Backup Flag) system-defined variable to TRUE.

Cancel command

You can cancel the backup operation.

The backup operation ends in an error if you change the _Card1BkupCmd.CancelBkup
(Cancel Backup Flag) system-defined variable to TRUE.

Executing

The _Card1BkupSta.Active (Active Flag) system-defined variable changes to TRUE.

The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will
change to TRUE.

Execution results

Normal End:
The _Card1BkupSta.Done (Done Flag) system-defined variable changes to TRUE.
Error End:
The _Card1BkupSta.Err (Error Flag) system-defined variable changes to TRUE.

Note You cannot access these system-defined variables from the user program.

Backing Up Data from the SD Memory Card Dialog Box on the Sysmac Studio
Processing stage

Procedure

Start command

Click the SD Memory Card Backup Button on the SD Memory Card Dialog Box in the Sysmac Studio, specify the directory to save the backup file in, and execute the backup.

Executing

The progress of the backup is displayed in the dialog box. The value of the _BackupBusy
(Backup Function Busy Flag) system-defined variable will change to TRUE.

Execution results

A message will appear when the backup is completed. You will then be asked to confirm
whether to verify the backup data.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

9-14

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Backing Up Data with Special Instruction

Processing stage

Procedure

Start command

Execute the BackupToMemoryCard instruction in the user program.

Executing

The value of the Busy output variable from the BackupToMemoryCard instruction will
change to TRUE.
The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will
change to TRUE.

Execution results

Normal End:
The value of the Done output variable from the BackupToMemoryCard instruction changes
to TRUE.
Error End:
The value of the Error output variable from the BackupToMemoryCard instruction changes
to TRUE.
The error code is stored in the ErrorID output variable from the BackupToMemoryCard
instruction.

Version Information
A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required
to use the BackupToMemoryCard instruction.

Related System-defined Variables

Variable
Member name
_Card1BkupCmd*

Function

SD Memory Card
Backup Commands

Data type

R/W

_sBKUP_CMD

RW

ExecBkup*

Execute Backup Flag

Change this variable to TRUE to back up

Controller data to an SD Memory Card.

BOOL

RW

CancelBkup*

Cancel Backup Flag

Change this variable to TRUE to cancel

backing up data to an SD Memory Card.

BOOL

RW

DirName*

Directory Name

Use this variable to specify the directory

name in the SD Memory Card for which to
back up data.

STRING(64)

RW

_sBKUP_STA

SD Memory Card
Backup Status

Done*

Done Flag

TRUE when a backup is completed.

BOOL

Active*

Active Flag

TRUE when a backup is in progress.

BOOL

Err*

Error Flag

TRUE when processing a backup ended in

an error.

BOOL

Backup Function
Busy Flag

TRUE when a backup, restoration, or verification is in progress.

BOOL

_BackupBusy

9-2-1 Backup (Controller to SD Memory Card)

_Card1BkupSta*

Meaning

You cannot access these system-defined variables from the user program.

NJ-series CPU Unit Software Users Manual (W501)

9-2 SD Memory Card Backups

The system-defined variables that are related to the operation when system-defined variables are used
to back up data are shown below. Refer to A-4 Specifications for Individual System-defined Variables
for details on system-defined variables.

9-15

9 Backup Functions

Additional Information
Refer to A-8 Registering a Symbol Table on the CX-Designer for the procedure to register these
system-defined variables in the variable table of the CX-Designer when you connect an NSseries PT to the NJ-series Controller.

Timing Charts
The operation of the system-defined variables when they are used to backup data is shown below. In
the charts, pre-execution checks indicates processing to check whether there is a SD Memory Card in
the CPU Unit and other items before the backup starts. The value of _Card1BkupSta.Active (Active
Flag) changes to TRUE only after all of the pre-execution checks are cleared and the actual backup is
started.

Normal Operation
Backup start Pre-execution
command checks cleared.

Normal end

_Card1BkupCmd.ExecBkup TRUE
FALSE
_Card1BkupCmd.CancelBkup TRUE
FALSE
_Card1BkupSta.Done TRUE
FALSE
_Card1BkupSta.Active TRUE
FALSE
_Card1BkupSta.Err TRUE
FALSE
_BackupBusy TRUE
FALSE

Operation When the Backup Cannot Start Because Another Backup Function
Is in Progress
Backup start
Pre-execution
command checks not cleared.
TRUE
FALSE
_Card1BkupCmd.CancelBkup TRUE
FALSE
_Card1BkupCmd.ExecBkup

_Card1BkupSta.Done TRUE
FALSE
TRUE
_Card1BkupSta.Active
FALSE
TRUE
_Card1BkupSta.Err
FALSE
TRUE
_BackupBusy
FALSE

9-16

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Operation When the Backup Fails After a Normal Start

Backup start Pre-execution
command checks cleared.

Error occurred
during backup.

TRUE
FALSE
TRUE
Card1BkupCmd.CancelBkup
FALSE
_Card1BkupCmd.ExecBkup

_Card1BkupSta.Done
_Card1BkupSta.Active
_Card1BkupSta.Err
_BackupBusy

TRUE
FALSE
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE

Operation When the Backup Is Canceled While the Backup Is in Progress

The time required to stop the backup operation after it is canceled depends on the progress of the
backup operation.
Backup cancel
command
Backup start Pre-execution
Backup stopped
command checks cleared.
with an error.
_Card1BkupCmd.ExecBkup TRUE
FALSE
TRUE
_Card1BkupCmd.CancelBkup
FALSE
9-2 SD Memory Card Backups

_Card1BkupSta.Done TRUE
FALSE
_Card1BkupSta.Active TRUE
FALSE
TRUE
_Card1BkupSta.Err
FALSE
_BackupBusy TRUE
FALSE

Processing Time and Backup File Size

CPU Unit

Operating
mode

Connected
EtherCAT
slaves

NJ501-
NJ301-

Connected
CJ-series
Units

Number of
userdefined
POUs
53
20

User program memory size

(Mbytes)

Backup
time (s)

Backup file
size (Mbytes)

PRO*1
*2
2.36
Approx. 50
20
GRAM
*3
0.53
Approx. 30
9.85
mode
*1 Thirty-two each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GXOD1611 Digital I/O Terminals.
*2 Four CJ1W-SCU22 Serial Communications Units and one CJ1W-EIP21 EtherNet/IP Unit.
*3 Eight each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GXOD1611 Digital I/O Terminals.

NJ-series CPU Unit Software Users Manual (W501)

9-17

9
9-2-1 Backup (Controller to SD Memory Card)

The time that is required to back up the data depends on factors such as the CPU Unit, operating mode,
Unit configuration, and user program. The size of the backup file depends on factors such as the Unit
configuration and user program. Some guidelines for the backup time and backup file size are given in
the following table.

9 Backup Functions

9-2-2

Restore (SD Memory Card to Controller)

When the power supply is turned ON, you can transfer the data in a backup file on the SD Memory Card
in the CPU Unit to the Controller. The only way to perform this operation is to use the front-panel DIP
switch on the CPU Unit. You cannot specify the source directory for backup-related files. The backup
file to restore must be stored in the root directory on the SD Memory Card.

Processing Contents
The data in a backup file in the root directory on the SD Memory Card is transferred to the Controller.
The data groups that are processed by the restoration operation in the RestoreCommand.ini file
(restore command file) that is stored in the root directory. Refer to 9-11-3 Specifications of a Restore
Command File for details on the restore command file.
If there is not a restore command file in the root directory of the SD Memory Card, all of the data from
the backup files in the root directory that can be transferred to the Controller will be transferred.
After the operation is completed, the operating mode will change to PROGRAM mode. You cannot
start operation in this state. To start operation, turn OFF all DIP switch pins from 1 to 4, and then
cycle the power supply to the Controller or reset the Controller.
Cycle the power supply to all of the EtherCAT slaves after you restore data.
While the data is being restored, the CPU Unit will be in startup state.
If an error occurs in the checks that are performed before starting to restore the data, the previous
data will be retained in the Controller.
If the power supply to the Controller is interrupted while the data is being restored, a User Program/Controller Configurations and Setup Transfer Error (a major fault level Controller error) will
occur. If that occurs, the data in the Controller is not dependable. Use one of the following methods to
clear the error.
Perform the restore operation again.
Clear all of memory and then download the project from the Sysmac Studio.
If the configuration for Units and slaves in the backup file does not match the actual configuration
where data is restored, a Restore Execution Error will occur when you restore the data.
If the present values of variables that are set to be retained (with the Retain attribute) are not set to
be restored, the previous present values of those variables will be retained. However, the values of
any variables that do not meet the retain conditions are initialized. These are the retain conditions for
the variable:
The variable name, data type name, and data type size must be the same before and after restoring the data.
The SD Memory Card will remain mounted after completion of the restore operation.
The write protection for the CPU Unit that is set in the Write Protection at Startup setting is used after
completion of the restore operation.

9-18

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Procedure
Backing Up Data with the CPU Unit Front-panel DIP Switch
Processing stage

Procedure

Start command

Turn ON the power supply to the Controller with the DIP switch set as follows: 1: OFF, 2:
OFF, 3: ON, and 4: ON.

Executing

While Restoring Data

The SD PWR indicator will flash, lighting for 3 seconds and going out for 0.5 seconds. The
RUN indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds. The SD
BUSY indicator will flash irregularly.

Execution results

Normal End:
The SD PWR indicator will light.
Error End:
The SD PWR indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.
The indicator stop flashing and stay lit when the SD Memory Card power supply switch is
pressed.*1

*1 If an SD Memory Card is not inserted, the SD PWR indicator will not light.

Processing Time

Connected
Connected
Number of
User program
Restoration time
EtherCAT
CJ-series
user-defined
memory size
(s)
slaves
Units
POUs
(Mbytes)
NJ501-
*1
*2
53
2.36
Approx. 100
NJ301-
*3
20
0.53
Approx. 70
*1 Thirty-two each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GXOD1611 Digital I/O Terminals.
CPU Unit

*2 Four CJ1W-SCU22 Serial Communications Units and one CJ1W-EIP21 EtherNet/IP Unit.
*3 Eight each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GXOD1611 Digital I/O Terminals.

9-2 SD Memory Card Backups

The time that is required to restore the data depends on factors such as the CPU Unit, Unit configuration, and user program. Guidelines for the restoration time are given in the following table.

9
9-2-2 Restore (SD Memory Card to Controller)

NJ-series CPU Unit Software Users Manual (W501)

9-19

9 Backup Functions

9-2-3

Verify (between Controller and SD Memory Card)

You can compare the Controller data and the data in a backup file on the SD Memory Card in the CPU
Unit.

Processing Contents
The Controller data and the data in a backup file that is saved in the specified directory of the SD
Memory Card are compared.
The data groups that are processed by the verification operation are specified in the RestoreCommand.ini file (restore command file).
The present values of variables, the present values in memory used for the CJ-series Units, and the
absolute encoder home offsets are not compared because these values may change while the verification is in process.
When you verify the data, the verification results file (VerifyResult.log) is created in the specified
directory. The verification results are stored in this file. If a verification results file already exists in the
specified directory, it will be overwritten. However, if the SD Memory Card is write-protected, the verification results files will not be created.
If there is not a restore command file in the specified directory of the SD Memory Card, all of the data
from the backup files in the specified directory that can be compared will be compared.
If the Unit and slave configuration in the backup file is not the same as the actual configuration of the
Controller, a Verification Error will occur.
The SD Memory Card will remain mounted after completion of the verification operation.

Procedure
Backing Up Data with the CPU Unit Front-panel DIP Switch
Processing stage

Procedure

Start command

The backup starts when the SD Memory Card power supply switch is pressed for 3 seconds with the DIP switch pins set as follows: 1: OFF, 2: OFF, 3: OFF, and 4: OFF.

Executing

Immediately after Starting Backup*1

The SD PWR indicator will light, go out for 0.5 seconds, and then light again.
While Verifying Data
The SD PWR indicator will flash, lighting for 3 seconds and going out for 0.5 seconds.
The SD BUSY indicator will flash irregularly.
The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will
change to TRUE.

Execution results

Normal End with No Differences Found:

The SD PWR indicator will light.
Normal End with Differences Found:
The SD PWR indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.
The indicator stop flashing and stay lit when the SD Memory Card power supply switch is
pressed.
Error End:
The SD PWR indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.
The indicator stop flashing and stay lit when the SD Memory Card power supply switch is
pressed.*1

*1 If an SD Memory Card is not inserted, the SD PWR indicator will not light.

9-20

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

_Card1BkupCmd (SD Memory Card Backup Command) System-defined

Variable
Processing stage
Start command

Procedure
The name of the directory where the files are saved is stored in the
_Card1BkupCmd.DirName (Directory Name) system-defined variable.
Example: dirA/dirB specifies the dirB directory inside the dirA directory.
The verification operation starts when you change the _Card1BkupCmd.ExecVefy (Execute
Verify Flag) system-defined variable to TRUE.

Cancel command

You can cancel the verification operation.

The verification operation ends in an error if you change the _Card1BkupCmd.CancelVefy
(Cancel Verify Flag) system-defined variable to TRUE.

Executing

The _Card1VefySta.Active (Active Flag) system-defined variable changes to TRUE. The

value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will
change to TRUE.

Execution results

Normal End with No Differences Found:

The _Card1BkupSta.Done (Done Flag) and the _Card1BkupSta.VefyRslt (Verify Result
Flag) system-defined variables change to TRUE.
Normal End with Differences Found:
The _Card1BkupSta.Done (Done Flag) system-defined variable changes to TRUE and the
_Card1BkupSta.VefyRslt (Verify Result Flag) system-defined variable changes to FALSE
Error End:

Note You cannot access these system-defined variables from the user program.

Backing Up Data from the SD Memory Card Dialog Box on the Sysmac Studio
Processing stage

Procedure

Start command

Click the Compare SD Memory Card Backup Button on the SD Memory Card Dialog Box
in Sysmac Studio, specify the directory that contains the file to compare, and execute the
verification.

Executing

The progress of the verification is displayed in the Dialog Box. The value of the
_BackupBusy (Backup Function Busy Flag) system-defined variable will change to TRUE.

The SD BUSY indicator will flash irregularly.

The results of the verification are displayed in the dialog box.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

NJ-series CPU Unit Software Users Manual (W501)

9
9-2-3 Verify (between Controller and SD Memory Card)

The SD PWR indicator will flash, lighting for 3 seconds and going out for 0.5 seconds.
Execution results

9-2 SD Memory Card Backups

The _Card1BkupSta.Err (Error Flag) system-defined variable changes to TRUE.

9-21

9 Backup Functions

Related System-defined Variables

The system-defined variables that are related to the operation when system-defined variables are used
to restore data are shown below. Refer to A-4 Specifications for Individual System-defined Variables for
details on system-defined variables.
Variable name
Member name
_Card1BkupCmd*

Function

SD Memory Card
Backup Commands

Data type

R/W

_sBKUP_CMD

RW

ExecVefy*

Execute Verify Flag

Change this variable to TRUE to compare the

Controller data to a backup file in the SD Memory Card.

BOOL

RW

CancelVefy*

Cancel Verify Flag

Change this variable to TRUE to cancel comparing the Controller data to a backup file in the
SD Memory Card.

BOOL

RW

DirName*

Directory Name

Use this variable to specify the directory name

in the SD Memory Card for which to back up
data.

STRING(64)

RW

_sVEFY_STA

_Card1VefySta*

SD Memory Card Verify Status

Done*

Done Flag

TRUE when a verification is completed.

BOOL

Active*

Active Flag

TRUE when a verification is in progress.

BOOL

VefyRslt*

Verify Result Flag

TRUE if the data was the same. FALSE if differences were found.

BOOL

Err*

Error Flag

TRUE when processing a verification ended in

an error.

BOOL

Backup Function
Busy Flag

TRUE when a backup, restoration, or verification is in progress.

BOOL

_BackupBusy

Meaning

You cannot access these system-defined variables from the user program.

Additional Information
Refer to A-8 Registering a Symbol Table on the CX-Designer for the procedure to register these
system-defined variables in the variable table of the CX-Designer when you connect an NSseries PT to the NJ-series Controller.

9-22

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Timing Charts
The operation of the system-defined variables when they are used to verify data is shown below. In
the charts, pre-execution checks indicates processing to check whether there is a SD Memory
Card in the CPU Unit and other items. The value of _Card1VefySta.Active (Active Flag) changes to
TRUE only after all of the pre-execution checks are cleared and the actual verification is started.

Normal End with No Differences Found

_Card1BkupCmd.ExecVefy
Card1BkupCmd.CancelVefy

Verification
start command
TRUE
FALSE
TRUE
FALSE

Pre-execution
checks cleared.

Normal end, no
differences found

TRUE
FALSE
TRUE
_Card1VefySta.Active
FALSE
_Card1VefySta.Rslt TRUE
FALSE
_Card1VefySta.Done

TRUE
FALSE
_BackupBusy TRUE
FALSE

_Card1VefySta.Err

Normal End with Differences Found

Pre-execution
checks cleared.

Normal end,
differences found

9-2 SD Memory Card Backups

Verification
start command
_Card1BkupCmd.ExecVefy TRUE
FALSE
_Card1BkupCmd.CancelVefy TRUE
FALSE
TRUE
FALSE
_Card1VefySta.Active TRUE
FALSE
_Card1VefySta.Rslt TRUE
FALSE

_Card1VefySta.Done

_Card1VefySta.Err
_BackupBusy

TRUE
FALSE
TRUE
FALSE

9
9-2-3 Verify (between Controller and SD Memory Card)

NJ-series CPU Unit Software Users Manual (W501)

9-23

9 Backup Functions

Operation When the Verification Cannot Start Because Another Backup

Function Is in Progress

_Card1BkupCmd.ExecVefy
_Card1BkupCmd.CancelVefy
_Card1VefySta.Done
_Card1VefySta.Active
_Card1VefySta.Rslt

Verification
Pre-execution
start command checks not cleared.
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE

TRUE
FALSE
TRUE
_BackupBusy
FALSE

_Card1VefySta.Err

Operation When the Verification Fails After a Normal Start

Verification
Pre-execution
Error occurred
start command checks cleared. during verification.
_Card1BkupCmd.ExecVefy TRUE
FALSE
_Card1BkupCmd.CancelVefy TRUE
FALSE
_Card1VefySta.Done TRUE
FALSE
_Card1VefySta.Active TRUE
FALSE
_Card1VefySta.Rslt TRUE
FALSE
TRUE
FALSE
_BackupBusy TRUE
FALSE

_Card1VefySta.Err

Operation When the Operation Is Canceled While Verification Is in Progress

The time required to stop the verification operation after it is canceled depends on the progress of
the verification operation.

_Card1BkupCmd.ExecVefy
_Card1BkupCmd.CancelVefy
_Card1VefySta.Done
_Card1VefySta.Active
_Card1VefySta.Rslt

Pre-execution
Verification
start command checks cleared.
TRUE
FALSE
TRUE
FALSE

Verification
canceled.
Verification stopped
with an error.

TRUE
FALSE
TRUE
FALSE
TRUE
FALSE

TRUE
FALSE
TRUE
_BackupBusy
FALSE

_Card1VefySta.Err

9-24

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-3

Disabling Backups to SD Memory

Cards
You can disable the backup function from writing data to the SD Memory Card to protect your programming assets.
The following three functions are applicable for disabling backup to SD Memory Card.
Backups using the CPU Unit front-panel DIP switch
Backups using system-defined variables
Backups from the SD Memory Card Dialog Box on the Sysmac Studio
Backup function using the BackupToMemoryCard instruction is not applicable. This means that you can
backup data using the BackupToMemoryCard instruction even if the Prohibit data backup to the SD
Memory Card setting is set to be used.
Use the following procedure to set the Prohibit data backup to the SD Memory Card setting.
Select the Use Option for the Prohibit data backup to the SD Memory Card setting in the Basic Settings View of the Operation Settings Tab Page under Configurations and Setup Controller Setup
on the Sysmac Studio.
9-3 Disabling Backups to SD Memory Cards

Version Information
A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required
to use the BackupToMemoryCard instruction.

NJ-series CPU Unit Software Users Manual (W501)

9-25

9 Backup Functions

9-4

Automatic Transfers from SD

Memory Cards
This function automatically transfers the data in a backup file to the Controller when the power supply is
turned ON. The backup file must be stored in the /autoload directory on the SD Memory Card in the
CPU Unit. You can use this to operate the CPU Unit with the data in a backup file on the SD Memory
Card. The only way to perform this operation is to use the front-panel DIP switch on the CPU Unit.
SD Memory Card
Set the DIP switch
pins to OFF, ON,
OFF, and OFF, and
then turn ON the
power.
/autoload

Controller

Data that is
backed up

Backup file and automatic

transfer command file

The automatic transfer uses a backup file that is created with the backup function and an automatic
transfer command file. Save both files in the /autoload directory in advance.
File

Function

Backup file

This file contains the Controller data that is handled by the functions that are
related to data backup.

Automatic transfer command

file

This file specifies the data groups to transfer when transferring data from a SD
Memory Card. You can edit this file with a text editor on a computer to specify
the data groups to transfer.

The following tables gives the procedure, the applicable directory, and the timing at which the transfer is
executed.
Procedure
CPU Unit front-panel DIP
switch

Execution timing

Directory
/autoload directory on the SD Memory Card

At startup

Processing Contents
When the power is turned ON, the data in the backup file in the /autoload directory on the SD Memory Card is automatically transferred to the Controller.
The automatic transfer function transfers the data in the data groups that are specified in the AutloadCommand.ini file in the /autoload directory. Refer to 9-11-4 Specifications of an Automatic Transfer
Command File for details on the automatic transfer command file.
If an AutoloadCommand.ini file is not in the /autoload directory on the SD Memory Card, all of the
data from the backup file in the /autoload directory that can be transferred will be transferred.
The operating mode that is set in the Startup Mode setting in the Controller Setup is used after completion of the automatic transfer.
While the data is being automatically transferred, the CPU Unit will be in startup state.
If an error occurs in the checks that are performed before starting the automatic transfer, the previous
data will be retained in the Controller.
If the power supply to the Controller is interrupted while the data is being automatically transferred, a
User Program/Controller Configurations and Setup Transfer Error (a major fault level Controller error)
will occur. If that occurs, the data in the Controller is not dependable. Use one of the following methods to clear the error.
9-26

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Perform the automatic transfer again.

Clear all of memory and then download the project from the Sysmac Studio.
All data items that are not specified for the automatic transfer will retain their present values.
If the present values of variables that are set to be retained (with the Retain attribute) are not set to
be transferred, the previous present values of those variables will be retained. However, the values of
any variables that do not meet the retain conditions are initialized. These are the retain conditions for
the variable:
The variable name, data type name, and data type size must be the same before and after transferring the data.
The SD Memory Card will remain mounted after completion of the automatic transfer operation.
The write protection for the CPU Unit that is set in the Write Protection at Startup setting is used after
completion of the automatic transfer operation.

Procedure
Transferring Data with the CPU Unit Front-panel DIP Switch
Processing stage

Procedure
Turn ON the power supply to the Controller with the DIP switch set as follows: 1: OFF, 2:
ON, 3: OFF, and 4: OFF.

Executing

The transfer is in progress.

The SD PWR indicator will flash, lighting for 3 seconds and going out for 0.5 seconds. The
RUN indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds. The SD
BUSY indicator will flash irregularly.

Execution results

Normal End:
The SD PWR indicator will light.
The operating mode that is set in the Startup Mode setting in the Controller Setup is used
after completion of the transfer.
Error End:
The RUN indicator goes out, the ERR indicator lights, and a major fault level Controller
error occurs.
The SD PWR indicator will light.*1

*1 If an SD Memory Card is not inserted, the SD PWR indicator will not light.

NJ-series CPU Unit Software Users Manual (W501)

9-4 Automatic Transfers from SD Memory Cards

Start command

9-27

9 Backup Functions

9-5

Sysmac Studio Controller Backups

You can use Sysmac Studio to back up, restore, and verify Controller data from a computer.

Sysmac Studio

Controller
Backing up data
Restoring data
Verifying data

Data that is
backed up

Backup file
Restore command file
Automatic transfer command file
Verification results files

When you back up data, the backup file, restore command file, and automatic transfer command file are
created in the specified directory in the computer. The functions of the backup-related files are given in
the following table.
Function
File

Backing
up data

Contents

Restoring data

Verifying
data

Backup file

This file contains the Controller data that is handled

by the functions that are related to data backup.

Created.

Accessed. Accessed.

Restore command
file

This file specifies the data groups to transfer when

Created.
restoring data. You can edit this file with a text editor
on a computer to specify the data groups to transfer.

Accessed. Accessed.

Automatic transfer
command file

This file specifies the data groups to transfer when

automatically transferring data from a SD Memory
Card. You can edit this file with a text editor on a
computer to specify the data groups to transfer.

Created.

Nothing is
done.

Nothing is
done.

Verification results
files

These files contain the verification results after data

is verified.

Nothing is
done.

Nothing is
done.

Created.

You can execute these functions in the following operating modes.

Processing

Applicable operating modes

Backing up data

RUN mode and PROGRAM mode

Restoring data

PROGRAM mode

Verifying data

RUN mode and PROGRAM mode

Additional Information
You can change the operating mode of the CPU Unit while a backup or verification operation is in
progress. However, an error will occur if the backup or verification cannot be processed normally
due to faulty memory in the CPU Unit, or some other failure.

9-28

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-5-1

Backup (Controller to Computer)

The Controller data is saved in the specified directory on the computer.

Processing Contents
For the Units and slaves settings in the backup data, you must select all EtherCAT slaves that are
connected and all of the CJ-series Units that are connected.
When you back up data, the backup file, restore command file, and automatic transfer command file
are created in the specified directory in the computer.
If the backup-related files are already in the specified directory, they are overwritten.
If an error occurs while writing the backup-related files to specified directory, the previous backuprelated files will be deleted. Also, the new backup-related files will not be created.
If an error occurs before the new backup-related files are created, the previous files are retained and
the new files are not created.
The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will be TRUE
during the backup operation.

Procedure

Select Backup Backup Controller from the Tools Menu on the Sysmac Studio.
Specify the folder in which to save the backup file, restore command file, and automatic transfer
command file.
Click the Execute Button on the Backup Confirmation Dialog Box.
The data is backed up and the backup file, restore command file, and automatic transfer command file are created.

9-5 Sysmac Studio Controller Backups

1
2

9
9-5-1 Backup (Controller to Computer)

NJ-series CPU Unit Software Users Manual (W501)

9-29

9 Backup Functions

9-5-2

Restore (Computer to Controller)

The data in a backup file in the specified directory on the computer is transferred to the Controller. This
operation can only be performed in PROGRAM mode.

Processing Contents
The data in a backup file in the specified directory on the computer is transferred to the Controller.
You can select the data groups to restore from the Sysmac Studio. The conditions for restoring the
data are given in the following table.
Data group

Restoring condition

User program and settings

The CPU Unit must be selected.

Present values of variables

The present values of variables that are specified for retention with the
Retain attribute must be selected.

Present values of memory used

for CJ-series Units

The present values of memory used for CJ-series Units that are specified
for retention with the Retain attribute must be selected.

Units and slaves settings

The CJ-series Units and EtherCAT slaves must be selected.

Absolute encoder home offsets

The absolute encoder home offsets must be selected.

If an error occurs in the checks that are performed before starting to restore the data, the previous
data will be retained in the Controller.
If the power supply to the Controller is interrupted while the data is being restored, a User Program/Controller Configurations and Setup Transfer Error (a major fault level Controller error) will
occur. If that occurs, the data in the Controller is not dependable. Use one of the following methods to
clear the error.
Perform the restore operation again.
Clear all of memory and then download the project from the Sysmac Studio.
If the present values of variables that are set to be retained (with the Retain attribute) are not set to
be restored, the previous present values of those variables will be retained. However, the values of
any variables that do not meet the retain conditions are initialized. These are the retain conditions for
the variable:
The variable name, data type name, and data type size must be the same before and after restoring the data.
Cycle the power supply to all of the EtherCAT slaves after you restore data.

Procedure

1
2
3

Select Backup Restore Controller from the Tools Menu on the Sysmac Studio.
Specify the folder that contains the backup file and restore command file.
Click the Execute Button on the Restoration Confirmation Dialog Box.
The restoration operation is executed.

9-30

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-5-3

Verify (between Controller and Computer)

The Controller data and the data in a backup file in the specified directory on the computer are compared.

Processing Contents
The Controller data and the data in a backup file in the specified directory on the computer are compared. You can select the data groups to verify from the Sysmac Studio. The conditions for verifying
the data are given in the following table. If you specify all data, all of the following data will be compared.
Data group

Verification condition

User program and settings

The CPU Unit must be selected.

Units and slaves settings

The CJ-series Units and EtherCAT slaves must be selected.

The results of the verification are displayed in the dialog box on the Sysmac Studio.
The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will be TRUE
during the backup operation.

1
2
3

Select Backup Compare with Backup File from the Tools Menu on the Sysmac Studio.
Specify the folder that contains the backup file.
Click the Execute Button on the Comparison Confirmation Dialog Box.
The data is compared and the verification results files are created in the folder that contains the
backup file. The comparison results are also displayed in the Output Tab Page.

9-5 Sysmac Studio Controller Backups

Procedure

9
9-5-3 Verify (between Controller and Computer)

NJ-series CPU Unit Software Users Manual (W501)

9-31

9 Backup Functions

9-6

Importing and Exporting Sysmac

Studio Backup File Data
You can create or read from a backup file in the specified directory on the computer from the Sysmac
Studio project without using the Controller. This following data is processed:
Data group
User program and
settings

Present values of variables

Present values of memory used for

CJ-series
Units

Units and
slaves settings

Absolute
encoder
home offsets

Exporting
backup file
data

OK*1

OK

OK

Importing
backup file
data

OK

OK

OK

OK

Function

Importing and
exporting Sysmac
Studio backup file
data

*1 The following data is not processed:

Controller names: the built-in EtherNet/IP port name; Controller Setup: the tag data link settings for the built-in
EtherNet/IP port; Unit Configuration and Unit Settings: the CPU Bus Unit areas, operation authority verification, and Data Trace Settings.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for more information on these
functions.

9-32

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-7

Sysmac Studio Variable and Memory

Backup Functions
You can back up the present values of the battery-backup memory in the CPU Unit to an XML file on
your computer or restore the battery-backup memory from a previously saved backup file.
This section describes the applicable data, operating procedures, and CPU Unit model compatibility for
the Sysmac Studio variable and memory backup functions.
Sysmac Studio
Select Backup Backup Variables and
Memory or Backup Restore Variables and
Memory from the Tools Menu.

XML file

Restoring
Present values of
battery-backup memory

Backup

Backup and Restore Targets:

Present values of retained variables
Present values in the DM, EM, and Holding Areas of memory used for CJ-series Units
Absolute encoder home offsets

9-7-1

Applicable Data for Sysmac Studio Variable and Memory Backup

Functions
Applicable Data for Sysmac Studio Variable and Memory Backup Functions
Present values of variables with a Retain attribute
Present values in the DM, EM, and Holding Areas of memory used for CJ-series Units

9-7 Sysmac Studio Variable and Memory Backup Functions

CPU Unit

Absolute encoder home offsets

9
Version Information

9-7-2

Using Sysmac Studio Variable and Memory Backup Functions

The Sysmac Studio procedure is as follows:
Place the Sysmac Studio online with the CPU Unit, and select either Backup Backup Variables and
Memory or Backup Restore Variables and Memory from the Tools Menu. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details.

NJ-series CPU Unit Software Users Manual (W501)

9-33

9-7-1 Applicable Data for Sysmac Studio Variable and

Memory Backup Functions

With a CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher, you
can select specific variables to back up or restore the present values of variables with a Retain
attribute.

9 Backup Functions

9-7-3

Compatibility between CPU Unit Models

With the Sysmac Studio variable and memory backup functions, you can restore the data even if the
models of the CPU Units for backing up and restoring data are different.

Version Information
The models of the CPU Units for backing up and restoring data can be different only when using
a CPU Unit with version 1.04 or later and Sysmac Studio version 1.05 or higher. The compatibility for all other cases is given in the following table.
(C: Compatible, N: Not compatible.)
CPU Unit model where data was backed up
NJ501-1300, NJ501-1400, or NJ501-1500
NJ301-1200 or NJ301-1100

CPU Unit model to restore to

NJ501-1300
NJ301-1200
NJ501-1400
NJ301-1100
NJ501-1500
C
N
N
C

The following precautions are required for the data that is being backed up and restored.

Present Values of Variables with a Retain Attribute

There are no precautions for the present values of variables with a Retain attribute. You can restore the
data with no problems regardless of the models of the backup and restore CPU Units.

Present Values in the DM, EM, and Holding Areas of Memory Used
for CJ-series Units
The following precautions are necessary for the present values in the DM, EM, and Holding Areas of
memory used for CJ-series Units if the models of the backup and restore CPU Units are different.
CPU Unit model
where data was
backed up
NJ501-1300, NJ5011400, or NJ501-1500
NJ301-1200 or
NJ301-1100

9-34

CPU Unit model to

restore to
NJ301-1200 or
NJ301-1100
NJ501-1300,
NJ501-1400, or
NJ501-1500

Precaution
For EM Area data, only data for banks E0 to E3 in the backup file
is restored. The data for banks E4 to E18 in the backup file is
ignored.
For EM Area data, only data for banks E0 to E3 in the backup file
are restored. Banks E4 to E18 for the CJ-series Units retain their
previous values.

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Absolute Encoder Home Offsets

The following precautions are necessary for the absolute encoder home offsets if the models of the
backup and restore CPU Units are different.
CPU Unit model
where data was
backed up
NJ501-1300, NJ5011400, or NJ501-1500

NJ301-1200 or
NJ301-1100

CPU Unit model to

restore to
NJ301-1200 or
NJ301-1100

NJ501-1300,
NJ501-1400, or
NJ501-1500

Precaution
Regardless of the number of enabled axes in the backup CPU
Unit, the data for all axis in the backup file is restored in order for
the number of enabled axes in the restore CPU Unit. Any remaining data in the backup file is ignored.
Regardless of the number of enabled axes in the backup CPU
Unit, the data for all axis in the backup file is restored in order for
the number of enabled axes in the restore CPU Unit. If the number
of enabled axes in the restore CPU Unit exceeds the number of
enabled axes for which there is data in the backup file, the remaining data in the restore CPU Unit retains the previous values.
9-7 Sysmac Studio Variable and Memory Backup Functions

9
9-7-3 Compatibility between CPU Unit Models

NJ-series CPU Unit Software Users Manual (W501)

9-35

9 Backup Functions

9-8

Backup Functions When EtherCAT

Slaves Are Connected
For EtherCAT slaves, you can use the SD Memory Card backup functions, the Sysmac Studio Controller backup functions, and Sysmac Studio backup import function.
This section provides precautions for connected EtherCAT slaves for the data that is backed up, backup
support according to Controller status, restore conditions, and specific models of EtherCAT slaves.
Additional Information
To use the backup functions for EtherCAT Slave Terminals, refer to 9-9 Backup Functions When
EtherCAT Slave Terminals Are Connected.

9-8-1

Backed Up EtherCAT Slave Data

The data that is backed up for EtherCAT slaves is given in the following table.
Setting

9-8-2

Data that is backed up

EtherCAT Master Settings

The following data is backed up: Model name, Product name, Number of
Slaves, PDO Communications Cycle, Fail-soft Operation Setting, Wait Time for
Slave Startup, PDO communications timeout detection count, Revision Check
Method, and Serial Number Check Method.

EtherCAT Slaves Settings

The following data is backed up: Device name, model name, product name,
revision, node address, enabled/disabled settings, serial number, PDO map
settings, enable distributed clock, reference clock, and setting parameter settings.

Backup Support Depending on the Controller Status

The following table shows when backup, restore, and verify operations can be performed for EtherCAT
slaves based on the Controller status.
Controller status

9-36

Execution
Backing up data

Restoring data

Verifying data

Link OFF

Not possible.*1

Not possible.*2

Possible.*3

Illegal master status*4

Not possible.*1

Not possible.*2

Possible.*3

Network configuration mismatch with configuration information*5

Not possible.*1

Not possible.*2

Possible.3

Network configuration mismatch with configuration at time of backup

Possible.

Not possible.*2

Possible.*3

Disabled slave in network configuration

Disabled slaves in
actual configuration

Possible. *6

Possible. *6

Possible. *6

No disabled slaves in
actual configuration

Possible.

Possible.

Possible.

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Controller status
Slave disconnected
for Disconnect designation in network
configuration

Execution
Restoring data

Verifying data

Disconnected slaves
in actual configuration

Not possible.*1

Possible, but data

for disconnected
slaves is not
restored.

Possible, but data

for disconnected
slaves is not
restored.

No disconnected
slaves in actual configuration

Not possible.*1

Not possible.*2

Possible.*3

Not possible.*1

Not possible.*2

Possible.*3

Slave Initialization Error

Backing up data

*1 EtherCAT Slave Backup Failed events are recorded in the event log.
*2 EtherCAT Slave Restore Operation Failed events are recorded in the event log.
*3 The verification results will show differences.

*5 This refers to the following errors: Network configuration mismatch with configuration when the backup was
performed (incorrect connection ports for slaves on branched networks are treated as a mismatch) and network configuration information mismatch with actual network configuration (incorrect connection ports for
slaves on branched network are treated as a match).
*6 For a CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher, data for disabled
slaves is also covered by the backup functions. Data for disabled slaves is not backed up for other versions.

9-8-3

Conditions for Restoring EtherCAT Slave Data

The following conditions must be met before you can restore the backup data to the EtherCAT slaves.
The backup files must contain the EtherCAT slave data.
The Network Configuration Information must match the actual network configuration where data is
being restored.
The revision values that are preset in the EtherCAT slaves must match. The conditions used to evaluate the match are based on the Revision Check Method in the backup file. Even if you set the Revision Check Method to not check revisions, the restoration operation cannot be performed if the set
revision is greater than the actual revision of the slave. You cannot change the revision values.
The serial numbers must match if the Serial Number Verification setting in the backup file is set to
verify the serial numbers.
The node addresses must match if the hardware switches are used to set the node address.

9-8 Backup Functions When EtherCAT Slaves Are Connected

*4 This refers to the following errors: Duplicate Slave Node Address, Network Configuration Information Error,
Network Configuration Error, Slave Initialization Error, Network Configuration Verification Error for Operation
Setting of Stop, and Link OFF Error.

Precautions for Correct Use

All slaves are disconnected after the data is restored. You must connect the target slaves
again to reset the disconnected slaves.
If you set the Serial Number Verification setting in the backup file to verify the serial numbers,
the data cannot be restored if you replace any of the hardware for the EtherCAT slaves. In this
case, change the network configuration in Sysmac Studio and download the configuration
data to the new slaves. Then, transfer the slave parameters to restore the slaves to their original condition. If the node address is set on the hardware switches, use the same setting as
when the data was backed up.

NJ-series CPU Unit Software Users Manual (W501)

9-37

9-8-3 Conditions for Restoring EtherCAT Slave Data

Cycle the power supply to all of the EtherCAT slaves after you restore data.

9 Backup Functions

9-8-4

EtherCAT Slaves for Which You Can Back Up Data

You can back up data for the following EtherCAT slaves. Observe the precautions.
EtherCAT slaves
NX-ECC NX-series EtherCAT
Coupler Unit

R88D-KN-ECT AC Rotary
Servo Drives
R88D-KN-ECT-L AC Linear Servo Drives
3G3AX-MX2-ECT and 3G3AXRX-ECT Inverters

FH-3 and FH-1

Vision Sensors

FQ-M-ECT and FQM-M-ECT Vision Sensors

FZM1--ECT Vision Sensors

GX-D16, GX-D328,
and GX-OC1601 Digital I/O Terminals
GX-AD0471 and GX-DA0271
Analog I/O Terminals
GX-EC0211 and GX-EC0241
Encoder Input Terminals
GX-JC0 EtherCAT Junction
Slaves
ZW-CE1T Confocal Fiber Type
Displacement Sensors

E3NW-ECT and E3X-ECT Digital Sensors

Slaves from other manufacturers

9-38

Precautions
You cannot back up, restore, or compare data for Safety Control Units on
EtherCAT Slave Terminals. Refer to the NX-series Safety Control Unit Users
Manual (Cat. No. Z930) for information on importing and exporting settings for
a Safety Control Unit.
*1*2
*1*2
Data is sometimes not restored due to Inverter restrictions. If an EtherCAT
Slave Restore Operation Failed event (event code 10300000 hex) occurs
when you try to restore the data, use the procedure that is given below in Procedure When Restoring Data Fails for an 3G3AX-MX2-ECT or 3G3AX-RXECT Inverter on page 9-39 to transfer the parameters from the Sysmac Studio to the Inverter.
The setup data for these Vision Sensors (such as the scene data and system
data) is not backed up, restored, or verified.
To transfer the setup data to an external file or to the Vision Sensor, select
Sensor data Save to file or Sensor data Load from file from the Tools
Menu on the editing tab page for the Configurations and Setup of the Sysmac
Studio.
Refer to the Vision System FH/FZ5 series Users Manual (Cat. No. Z340) for
details.
The setup data for these Vision Sensors (such as the scene data and system
data) is not backed up, restored, or verified.
To transfer the setup data to an external file or to the Vision Sensor, select
Sensor data Save to file or Sensor data Load from file from the Tools
Menu on the editing tab page for the Configurations and Setup of the Sysmac
Studio.
For details, refer to the FQ-M-series Specialized Vision Sensor for Positioning
Users Manual (Cat. No. Z314).
The setup data for these Vision Sensors (such as the scene data and system
data) is not backed up, restored, or verified.
To save the setup data for the Vision Sensor to a USB memory device or to
write it to the Controller, use the software tool for the Vision Sensor.
Refer to the FZ3 Series Vision Sensor Users Manual (Cat. No. Z290) for
details.
*1

*1
--There is no internal data that needs to be backed up.
None of the settings are backed up, restored, or verified.
Refer to the Displacement Sensor ZW Series Confocal Fiber Type Displacement Sensor Users Manual (Cat. No. Z332) for information on saving the settings and loading them to the Controller.
The parameters in the Sensor are not backed up, restored, or verified.
Data is backed up, restored, and verified only when it is correctly defined in
the ESI. To back up, restore, or verify data that is not defined in the ESI, use
the software tool for the slave.
If backing up, restoring, or verifying data fails, contact the manufacturer of
the slave for the appropriate procedures.

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

*1 Cycle the power supply to a slave after you restore data. Cycle the power supply to a slave before you verify
the data after you restore it. The verification will fail if you do not cycle the power supply before you perform the
verification.
*2 If any of the following conditions applies, do not turn the Servo ON while the data is being backed up or
restored before you verify the data. If you turn the Servo ON while the data is being backed up or restored
before you verify the data, the parameters are updated before the verification operation and may cause differences in the verification results.
When the Realtime Autotuning Mode Selection (3002 hex) is set to 1 to 4, or 6 (enabled).
When the Adaptive Filter Selection (3200 hex) is set to 1 or 2 (enabled).

Procedure When Restoring Data Fails for an 3G3AX-MX2-ECT or

3G3AX-RX-ECT Inverter

Import the Inverter parameters from the backup file with the backup file import function of the
Sysmac Studio.
Display the Inverter parameters on the Inverter Parameters Tab Page for the Controller Configurations and Setup of the Sysmac Studio.

2
3

Confirm that the model number of the Inverter in the parameters that you imported agrees with
the model number of the Inverter that is actually connected.
Download the parameters to the Inverter using the To Drive menu on the Inverter Parameters
Tab Page for the Controller Configurations and Setup of the Sysmac Studio.
Precautions for Correct Use
If you use the Inverter Mode Selection parameter (parameter number b171) in a 3G3AX-MX2ECT Inverter, change the Inverter to the mode that was used when the backup data was created
before you write the parameters. After you change the mode setting, you must initialize the
Inverter to enable the change.

9-8 Backup Functions When EtherCAT Slaves Are Connected

If you restore data when a 3G3AX-MX2-ECT or 3G3AX-RX-ECT Inverter is connected, an EtherCAT

Slave Restore Operation Failed event (event code 10300000 hex) will occur. Use the follow procedure
from the Sysmac Studio to write the backup parameters to the Inverter. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details.

9
9-8-4 EtherCAT Slaves for Which You Can Back Up Data

NJ-series CPU Unit Software Users Manual (W501)

9-39

9 Backup Functions

9-9

Backup Functions When EtherCAT

Slave Terminals Are Connected
For EtherCAT Slave Terminals, you can use the SD Memory Card backup functions, the Sysmac Studio
Controller backup functions, and Sysmac Studio backup import function.
This section provides information on the data that is backed up, backup support according to Controller
status, and restore conditions when EtherCAT Slave Terminals are connected.

Precautions for Correct Use

You cannot back up, restore, or compare data for Safety Control Units on EtherCAT Slave Terminals. Refer to the NX-series Safety Control Unit Users Manual (Cat. No. Z930) for information on
importing and exporting settings for a Safety Control Unit.

Version Information
A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required
to use EtherCAT Slave Terminals.

9-9-1

Backing Up Data in an EtherCAT Slave Terminal

The data that can be backed up for an EtherCAT Slave Terminal is different for the EtherCAT Coupler
Unit and the NX Units. The data that is backed up is given in the following table.
(OK: Applicable, NA: Not applicable)
Unit
EtherCAT Coupler Unit
NX Units

Data
Configuration information*1
Unit operation settings
Configuration information*1
Unit operation settings
Unit application data*2

Backup
OK

Restore
OK

Compare
OK

OK
OK

OK
OK

OK
OK

OK
OK

OK
OK

OK
OK

*1 The configuration information includes the Unit configuration information and I/O allocation information.
*2 This is the specific data for each NX Unit. Some NX Units do not have Unit application data.

Precautions for Correct Use

To restore backup data to an EtherCAT Slave Terminal that has an identical Unit configuration to
the EtherCAT Slave Terminal from which data was backed up, make sure that all hardware
switches are set to the same settings as when the backup was made. Backup data cannot be
restored if the hardware switches are set differently from those in the backup data. This will
cause an Restore Operation Failed to Start (EtherCAT Slave) observation event to occur.

9-40

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-9-2

Backup Support Depending on the EtherCAT Slave Terminal

Status
The following table shows when backup, restore, and compare operations can be performed for EtherCAT Slave Terminals based on the EtherCAT Slave Terminal status.
EtherCAT Slave Terminal status

Backup

Execution
Restore

Automatic creation of the Unit configuration information

Possible.*1

Possible.*2

Compare
Possible.

Not possible.*3

Not possible.*4

Possible.*5

Not possible.*3

Not possible.*4

Possible.*5

Not possible.*3

Possible.*5

During Unit Configuration Information Error

Not possible.*3

Not possible.*4
Possible.

Possible.*5

During Unit Configuration Verification Error

Possible.
Not possible.*3
Possible.*5
The Unit Configuration does not agree with the Unit Con- --Not possible.*4
Possible.*5
figuration information in the backup data.
*1 The backup contains information saying that the Unit configuration information does not exist.
*2 After the data is restored, automatic Unit configuration status continues.
*3 A Backup Failed event is recorded in the event log.
*4 A Restore Operation Failed event is recorded in the event log.
*5 The verification results will show differences.

9-9-3

Conditions for Restoring EtherCAT Slave Terminal Data

The following conditions must be met before you restore the backup data to the EtherCAT Slave Terminals.
The backup files must contain the data for the EtherCAT Coupler Unit and NX Unit.
The original Unit Configuration in the backup must match the actual Unit configuration where data is
being restored.
The serial number of the EtherCAT Coupler Unit from which the data was backed up and the serial
number of the EtherCAT Coupler Unit to which the data is restored must be the same. However, this
assumes that the setting of the Serial Number Check Method in the Unit operation settings of the
Communications Coupler Unit in the backup file is set to Setting = Actual device.
The serial numbers of the NX Units from which the data was backed up and the serial numbers of the
NX Units to which the data is restored must be the same. However, this assumes that the setting of
the Serial Number Check Method in the Unit operation settings of the Communications Coupler Unit
in the backup file is set to Setting = Actual device.

The unit version setting of the EtherCAT Coupler Unit from which the data was backed up and the unit
version of the actual EtherCAT Coupler Unit to which the data is restored must be the same.
The unit version settings of the NX Unit from which the data was backed up and the unit versions of
the actual NX Units to which the data is restored must be the same.

NJ-series CPU Unit Software Users Manual (W501)

9-41

9
9-9-2 Backup Support Depending on the EtherCAT Slave
Terminal Status

The hardware switch settings of the EtherCAT Coupler Unit from which the data was backed and the
hardware switch settings of the EtherCAT Coupler Unit to which the data is restored must be the
same.

9-9 Backup Functions When EtherCAT Slave Terminals Are Connected

Waiting for NX Unit participation

Watchdog time error in EtherCAT Coupler Unit or NX
Unit
During Bus Controller Error

9 Backup Functions

9-10 Backup Functions When CJ-series

Units Are Connected
Data in CJ-series Units is covered by the SD Memory Card backup functions and Sysmac Studio Controller backup functions. This section provides precautions for connected CJ-series Units for the data
that is backed up, backup support according to Controller status, and restore conditions.

9-10-1 Backed Up CJ-series Unit Data

The present values in memory used for CJ-series Units and the parameters in the CJ-series Units are
backed up. Some of this data is in the CJ-series Unit and some are in the CPU Unit. You do not need to
be aware of where the data is located because the backup, restoration, and verification operations will
automatically process this data.

9-10-2 Backup Support Depending on the Controller Status

The following table shows when backup, restore, and verify operations can be performed for CJ-series
Units based on the Controller status.
Controller status
I/O Bus Check Error

Execution
Backing up data

Restoring data

Verifying data

Not possible.*1

Not possible.*2

Possible.*3

Not possible.*1

Possible.

Possible.*3

End Cover Missing

Incorrect Unit/Expansion Rack Connection
Duplicate Unit Number Error
Too Many I/O Points
I/O Setting Check Error
Restarting the CJ-series Unit

*1 CJ-series Unit Backup Failed events are recorded in the event log.
*2 CJ-series Unit Restore Operation Failed events are recorded in the event log.
*3 The verification results will show differences.

9-10-3 Conditions for Restoring CJ-series Unit Data

The following conditions must be met before you can restore the backup data to the CJ-series Units.
The backup files must contain the CJ-series Unit data.
The Unit Configuration in the backup file must match the actual Unit Configuration where data is
being restored.
Each CJ-series Unit must meet the conditions for that Unit. (Refer to the manuals for the CJ-series
Units for the specific conditions for each Unit.)

9-42

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Precautions for Correct Use

If you restore data using the SD Memory Card backup functions or the Sysmac Studio Controller
backup functions while CJ-series Units are connected, a CPU Unit Service Monitor Error will
occur. This means that servicing the CJ-series Units from the CPU Unit was not completed
within a specific amount of time. However, this is the result of the time that is required to restore
the data and it does not indicate an error. The following will occur at this time.
For communications-related CJ-series Units, the MS indicator flashes red.
For CJ-series Units with seven-segment indicator, the indicator displays HE.
For CJ-series Units that have an ERH indicator, the ERH indicator lights.
An event code of 00000002 hex is recorded in the Controller event logs to indicate a CPU Unit
Service Monitor Error or Refresh Timeout event.
If a CJ-series CJ1W-CT021 High-speed Counter Unit is connected, an event code of
68010000 hex is recorded in the Controller event logs to indicate a Unit Error. The attached
information will be 0002 hex.
9-10 Backup Functions When CJ-series Units Are Connected

9
9-10-3 Conditions for Restoring CJ-series Unit Data

NJ-series CPU Unit Software Users Manual (W501)

9-43

9 Backup Functions

9-11 Backup-related Files

This section describes the specifications of the backup-related files. These backup-related files apply to
all backup functions except for the Sysmac Studio variable and memory backup functions.

9-11-1 Types of Backup-related Files

There are four types of files that are related to backup functions: backup files, restore command files,
automatic transfer command files, and verification results files.

Backup File
This file contains the Controller data that is handled by the backup-related functions. Backup files
are created when data is backed up.

Restore Command File

This file specifies the data groups to transfer by restoring data from a SD Memory Card. You can edit
this file with a text editor on a computer to specify the data groups to transfer. These files are created
when data is backed up.

Automatic Transfer Command File

This file specifies the data groups to transfer by automatically transferring data from a SD Memory
Card. You can edit this file with a text editor on a computer to specify the data groups to transfer.
These files are created when data is backed up.

Verification Results Files

The verification results files contain the results of comparing the Controller data and the data in a
backup file on the SD Memory Card in the CPU Unit.
There are four different verification results files, as described below. These files are created when
you perform a verification using the SD Memory Card backup function.
Verification results
files
Controller verification
results file
EtherCAT slave verification results file
EtherCAT Slave Terminal verification results
file

CJ-series Unit verification results file

9-44

Description
This file contains the verification results for all backup data specified by the restore
command file.
This file contains the verification results for each EtherCAT slave. It is created
when the Unit and slave settings are set to be restored in the restore command file
and the EtherCAT slave settings are contained in the backup file.
This file contains the verification results for each EtherCAT Coupler Unit and NX
Unit. This file is created when all of the following conditions are met.
The Unit and slave settings are specified for restoration in the restore command
file.
The EtherCAT slave settings are included in the backup file.
One or more EtherCAT Slave Terminals is connected.
If an EtherCAT Slave Terminal verification results file is created, an EtherCAT slave
verification results file is always created at the same time.
This file contains the verification results for each CJ-series Unit. It is created when
the Unit and slave settings are set to be restored in the restore command file and
the CJ-series Unit settings are contained in the backup file.

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-11-2 Specifications of a Backup File

This section describes the file name, creation timing, and created directory for a backup file.

File Name
File

File name

Backup file

NJBackup.dat

File Creation Timing and Created Directories

Function

Procedure

Created directory

When backup is executed

Root directory on the SD Memory

Card

System-defined variables

When backup is executed

Directory on the SD Memory Card

that you specified with the systemdefined variable

SD Memory Card Dialog Box

in Sysmac Studio

When backup is executed

Directory on the SD Memory Card

that you specified with the Sysmac
Studio

Special instruction*1

When backup is executed

The directory on the SD Memory

Card that you specified for the
input variable of the BackupToMemoryCard instruction

Sysmac Studio
Controller
backups

Sysmac Studio Controller

Backup Dialog Box

When backup is executed

Directory in the computer that you

specified with the Sysmac Studio

Importing and
exporting Sysmac Studio
backup file data

Sysmac Studio Backup File

Export Dialog Box

When data is
exported

Directory in the computer that you

specified with the Sysmac Studio

9-11 Backup-related Files

Creation timing

CPU Unit front-panel DIP

switch

SD Memory
Card backups

*1 A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required.

9-11-3 Specifications of a Restore Command File

File Name
File
Restore command file

File name
RestoreCommand.ini

NJ-series CPU Unit Software Users Manual (W501)

9-45

9-11-2 Specifications of a Backup File

This section describes the file name, creation timing, created directory, and data group specification
method for a restore command file.

9 Backup Functions

File Creation Timing and Created Directories

Function
SD Memory Card
backups

9-46

Procedure

Creation timing

Created directory

CPU Unit front-panel DIP

switch

When backup is executed

Same directory as backup file

System-defined variables

When backup is executed

Same directory as backup file

SD Memory Card Dialog Box

in Sysmac Studio

When backup is executed

Same directory as backup file

Sysmac Studio
Controller backups

Sysmac Studio Controller

Backup Dialog Box

When backup is executed

Same directory as backup file

Importing and
exporting Sysmac
Studio backup file
data

Sysmac Studio Backup File

Export Dialog Box

When data is exported

Same directory as backup file

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Specifying the Data Groups to Restore

The restore command file allows you to specify the data groups to restore. You can change the data
group specifications by editing the file with a text editor on a computer.
For example, if you change Variable=yes on line 8 in the file contents that are shown in the following
table to Variable=no, the present values of variables will not be restored.
File contents (defaults when the file is created)

Description

[Restore]
; --- User Program and Configuration. --;

User program and settings

Always select "yes".

This data group is always restored. Always

select

UserProgram=yes
; --- Present values of variables (Retained variables only). --;

"yes":will be restored, "no":will not be restored

Variable=yes
; --- Present values of memory used for CJ-series Units (Holding,
EM, and DM Area data). --;

"yes":will be restored, "no":will not be restored

Present values of variables (only variables that are

set to be retained with the Retain attribute)
yes/no: Restore/Do not restore.
Present values of memory used for CJ-series Units
(only addresses that are set to be retained with the
Retain attribute)
yes/no: Restore/Do not restore.

Memory=yes
:---Unit/Slave Parameters.--;

Units and slaves settings

"yes";will be restored."no";will not be restored

yes/no: Restore/Do not restore.

UnitConfig=yes

Absolute encoder home offset

"yes":will be restored, "no":will not be restored

yes/no: Restore/Do not restore.

AbsEncoder=yes

Note 1 The default file contents when the restore command file is created are given above. All of the data groups
that are listed in the file are set to be restored.
2 The restore command file lists the restorable data groups that were in the backup file when the backup file
was created.

9-11 Backup-related Files

; --- Absolute encoder home offset. ---

3 Only single-byte alphanumeric characters are used. The text is not case sensitive.

9
Precautions for Correct Use

9-11-4 Specifications of an Automatic Transfer Command File

This section describes the file name, creation timing, created directory, and data group specification
method for an automatic transfer command file.

File Name
File
Automatic transfer command file

File name
AutoloadCommand.ini

NJ-series CPU Unit Software Users Manual (W501)

9-47

9-11-4 Specifications of an Automatic Transfer Command

File

When you edit the restore command file, do not change anything in the file except for the yes
and no specifications for the selectable data groups. If you change anything else in the file, the
Controller may perform unexpected operation when you restore the data.

9 Backup Functions

File Creation Timing and Created Directories

Function
SD Memory Card
backups

Procedure

Creation timing

Created directory

CPU Unit front-panel DIP

switch

When backup is executed Same directory as backup file

System-defined variables

When backup is executed Same directory as backup file

SD Memory Card Dialog Box

in Sysmac Studio

When backup is executed Same directory as backup file

Sysmac Studio
Controller backups

Sysmac Studio Controller

Backup Dialog Box

When backup is executed Same directory as backup file

Importing and
exporting Sysmac
Studio backup file
data

Sysmac Studio Backup File

Export Dialog Box

When data is exported

Same directory as backup file

Specifying the Data Groups to Automatically Transfer

The automatic transfer command file allows you to specify the data groups to transfer automatically. You
can change the data group specifications by editing the file with a text editor on a computer. For example, if you change Variable=yes on line 8 in the file contents that are shown in the following table to
Variable=no, the present values of variables will not be automatically transferred.
File contents (defaults when the file is created)

Description

[Autoload]
; --- User Program and Configuration. --;

Always select "yes".

User program and settings

This data group is always transferred. Always select

UserProgram=yes
; --- Present values of variables (Retained variables only). --;

"yes":will be transferred, "no":will not be transferred

Present values of variables (only variables that are set to be

retained with the Retain attribute)
yes/no: Transfer/Do not transfer.

Variable=yes
; --- Present values of memory used for CJ-series Units (Hold- Present values of memory used for CJ-series Units (only
addresses that are set to be retained with the Retain attribute)
ing, EM, and DM Area data). --yes/no: Transfer/Do not transfer.
; "yes":will be transferred, "no":will not be transferred
Memory=yes

Note 1 The default file contents when the automatic transfer command file is created are given above. All of the
data groups that are listed in the file are set to be automatically transferred.
2 The automatic transfer command file lists the transferable data groups that were in the backup file when
the backup file was created.
3 Only single-byte alphanumeric characters are used. The text is not case sensitive.

Precautions for Correct Use

When you edit the automatic transfer command file, do not change anything in the file except for
the yes and no specifications for the selectable data groups. If you change anything else in
the file, the Controller may perform unexpected operation when you automatically transfer the
data.

9-48

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-11-5 Specifications of a Controller Verification Results File

This section describes the file name, creation timing, created directory, and verification results confirmation method for a Controller verification results file.

File name
File

File name

Controller Verification Results File

VerifyResult.log

File Creation Timing and Created Directories

Function
SD Memory
Card backups

Procedure

Creation timing

Created directory

SD Memory Card Dialog Box

in Sysmac Studio

When verification is executed

Same directory as backup file

System-defined variables

When verification is executed

Same directory as backup file

CPU Unit front-panel DIP

switch

When verification is executed

Same directory as backup file

Note However, if the SD Memory Card is write-protected, the verification results files will not be created.

How to Check the Verification Results

File contents

Description

[UserProgram]
; --- User Program and Configuration. ---

9-11 Backup-related Files

The verification results files contain the results of comparing the Controller data and the data in a
backup file on the SD Memory Card in the CPU Unit for each data group. You can check the verification
results in the portion that gives the verification results for each data group. Result=Matched indicates
a data group for which no differences were found. Result=Not matched indicates a data group for
which differences were found. In the file shown below, the user program and configuration data
matched, and the Units and slave parameters did not match.

User program and settings

Result=Matched

Matched: No differences were found, Not matched: Differences were found.

[UnitConfig]
Units and slaves settings
Matched: No differences were found, Not matched: Differences were found.

Result=Not matched

Note The verification results are given only for the data groups that were compared.

9-11-6 Specifications of an EtherCAT Verification Results File

This section describes the file name, creation timing, created directory, and verification results confirmation method for an EtherCAT verification results file.

File Name
File
EtherCAT Verification Results File

NJ-series CPU Unit Software Users Manual (W501)

File name
VerifyResult_ECAT.log

9-49

9-11-5 Specifications of a Controller Verification Results

File

; --- Unit/Slave Parameters. ---

9 Backup Functions

File Creation Timing and Created Directories

Function

Procedure

Creation timing

SD Memory
SD Memory Card Dialog Box
Card backups in Sysmac Studio

Created directory

When verification is
executed

Same directory as backup file

System-defined variables

When verification is
executed

Same directory as backup file

CPU Unit front-panel DIP

switch

When verification is
executed

Same directory as backup file

Note However, if the SD Memory Card is write-protected, the verification results files will not be created.

How to Check the Verification Results

The verification results files contain the results of comparing the Controller data and the data in a
backup file on the SD Memory Card in the CPU Unit for each data group. You can check the verification
results in the portion that gives the verification results for each EtherCAT slave. Result=Matched indicates a data group for which no differences were found. Result=Not matched indicates a data group
for which differences were found.
The following table gives an example of the verification results for the following file contents.
Matched: EtherCAT slave called Master and EtherCAT Slave Terminal E022
Not matched: EtherCAT slave E001
File contents

Description

[Verification Results]
; --- EtherCAT Parameters. --: --- See the VerifyResult_ECAT_NX.log
about detail result if NX mark is included in
square brackets.

The slaves are indicated with the user-set device names. For an EtherCAT Slave
Terminal, :NX is added to the end of the device name.*1

[Master]
Result=Matched
[E001]

The verification results are given as follows:

Result=Matched

Same

Result=Not matched

Different

Result=Not matched
Factor=Verification error
[E002:NX]
Result=Matched

* If EtherCAT Slave Terminals are set for verification, the EtherCAT Slave Terminal verification results file is created. The detailed verification results for the EtherCAT Slave Terminals are given in the EtherCAT Slave Terminal
verification results file.
Note The verification results are given only for the EtherCAT slaves that were compared.

9-50

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-11-7 Specifications of an EtherCAT Slave Terminal Verification Results

File
This section describes the file name, creation timing, created directory, and verification results confirmation method for an EtherCAT Slave Terminal verification results file.

File Name
File
EtherCAT Slave Terminal verification results file

File name
VerifyResult_ECAT_NX.log

File Creation Timing and Created Directories

Operation
Operating method
SD Memory
SD Memory Card Dialog Box
Card backups in Sysmac Studio
System-defined variables
CPU Unit front-panel DIP
switch

Creation timing
When verification is
executed
When verification is
executed
When verification is
executed

Created directory
Same directory as backup file
Same directory as backup file
Same directory as backup file

Note However, if the SD Memory Card is write-protected, the verification results files will not be created.

How to Check the Verification Results

The verification results files contain the results of comparing the Controller data and the data in a
backup file on the SD Memory Card in the CPU Unit for each data group.

Result=Matched indicates a data group for which no differences were found. Result=Not matched
indicates a data group for which differences were found.
The following table gives an example of the verification results for the following file contents.
Matched: EtherCAT Coupler Unit E002, NX Unit N1, and NX Unit N2
Not matched: EtherCAT Coupler Unit E005 and NX Unit N3
File contents
[Verification Results]
; --- NX Parameters. ---

[N1:UnitNo.1 NX-AD2203]
Result=Matched
[N2:UnitNo.2 NX-DA2203]
Result=Matched
[N3:UnitNo.3 NX-TS3201]
Result=Not matched
Factor=Verification error

Device Name:
The device name set by the user.
Unit Number:
Text string of decimal numbers. The value will be between 0 and 125.
Unit Model:
Text string that identifies the Unit model.
Consecutive spaces at the end of the model number are deleted.
The verification results are given as follows:
Result=Matched
Same
Result=Not matched
Different

[E005:UnitNo.0 NX-ECC201]
Result=Not matched
Factor=Verification error

NJ-series CPU Unit Software Users Manual (W501)

9-51

9-11-7 Specifications of an EtherCAT Slave Terminal

Verification Results File

[E002:UnitNo.0 NX-ECC201]
Result=Matched

Description
The Units are indicated in the following format:
{Device name}:UnitNo.{Unit number}[blank]{Unit model}

9-11 Backup-related Files

You can check the verification results in the portion that gives the verification results for the EtherCAT
Coupler Units and NX Units.

9 Backup Functions

9-11-8 Specifications of CJ-series Unit Verification Results File

This section describes the file name, creation timing, created directory, and verification results confirmation method for a CJ-series Unit verification results file.

File name
File

File name

CJ-series Unit Verification Results File

VerifyResult_CJUnit.log

File Creation Timing and Created Directories

Function

Procedure

SD Memory
SD Memory Card Dialog Box
Card backups in Sysmac Studio

Creation timing

Created directory

When verification is
executed

Same directory as backup file

System-defined variables

When verification is
executed

Same directory as backup file

CPU Unit front-panel DIP

switch

When verification is
executed

Same directory as backup file

Note However, if the SD Memory Card is write-protected, the verification results files will not be created.

How to Check the Verification Results

The verification results files contain the results of comparing the Controller data and the data in a
backup file on the SD Memory Card in the CPU Unit for each data group. You can check the verification
results in the portion that gives the verification results for each CJ-series Unit. Result=Matched indicates a data group for which no differences were found. Result=Not matched indicates a data group
for which differences were found. In the file shown below, CJ1W-CRM21 (MODE0) and CJ1W-EIP21
matched, and CJ1W-DRM21 and CJ1W-PRM21-DPV1 did not match.

9-52

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

File contents

Description

[Verification Results]

The Units are given in the following format:

; --- CJ Unit Parameters. ---

Rack{Rack No.}[space]Slot{Slot No}:[space]{Unit

model}[space]Unit No.{unit number}

[Rack0 Slot0: CJ1W-CRM21(MODE0) UnitNo.10]

Result=Matched

Rack No.:
[Rack0 Slot9: CJ1W-DRM21 UnitNo.0]
Result=Not matched
[Rack1 Slot0: CJ1W-EIP21 UnitNo.10]]
Result=Matched

Text string of decimal numbers. The value will

be between 0 and 3.
Slot No.:
Text string of decimal numbers. The value will
be between 0 and 9.
Unit Model
Text string that identifies the Unit model.

[Rack1 Slot1: CJ1W-PRM21-DPV1 UnitNo.1]

Result=Not matched

The Unit model is obtained from the cyclic initialization data. Consecutive spaces at the end
of the model number are deleted.
Unit No.:
Text string of decimal numbers.
Leading zeros are suppressed. Range for a
CPU Bus Unit: 0 to 15. Special I/O Units: 0 to
95.
The match/no match results are given in the following
format:
Result=Matched: No differences were found.
Result=No matched: Differences were found.

Note The verification results are given only for the EtherCAT slaves that were compared.
9-11 Backup-related Files

9
9-11-8 Specifications of CJ-series Unit Verification Results
File

NJ-series CPU Unit Software Users Manual (W501)

9-53

9 Backup Functions

9-12 Compatibility between Backuprelated Files

The files may not be compatible if you back up and restore data under different conditions.
The files may not be compatible in these three cases:
When the function that was used to back up data is different from the function that was used to
restore it.
When the model number of the CPU Unit where the data was backed up from does not match the
model number where data is being restored.
When the unit versions of the CPU Unit, other Units, or slaves where the data was backed up from
do not match the unit versions where data is being restored.
In this context, the term restore is used collectively for these backup functions: restore, automatic
transfer, and read (back up).

9-12-1 Compatibility between Backup Functions

The following table shows the file compatibility when the function used to back up the data is different
from the function used to restore it.
(C: Compatible, N: Not compatible.)
Function used to restore data
Restoring
Restoring
with Sysmac
with Sysmac
Studio variStudio Conable and
troller
memory
backup funcbackup functions (comtions (computer to
puter to
Controller)
Controller)

Restoring
with SD
Memory
Card backup
functions
(SD Memory
Card to Controller)

Automatic
transfer

Backing up with SD Memory

Card backup functions (Controller to SD Memory Card)

C*1

Backing up with Sysmac Studio Controller backup functions (Controller to computer)

C*1

Backing up with Sysmac Studio variables and memory

data backup functions (Controller to computer)

Exporting from a Sysmac Studio backup file (project to

computer)

C*1

C*1

C*1

Function used to back up

data

Importing
Sysmac Studio backup
file data
(computer to
project)

*1 The following data is not included.

The built-in EtherNet/IP port name and built-in EtherNet/IP tag data link settings in the Controller Setup
Words allocated to CPU Bus Units in the Unit Configuration
Operation authority verification
Data Trace Settings
Time zone setting

9-54

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

Present values of variables

Present values of memory used for CJ-series Units
Absolute encoder home offsets

Additional Information
The files that are handled for backing up variables and memory from the Sysmac Studio are not
compatible with other backup files. Refer to 9-7 Sysmac Studio Variable and Memory Backup
Functions for details on these functions.

9-12-2 Compatibility between CPU Unit Models

The following table shows the file compatibility when the CPU Unit model where the data was backed
up from is different from the group where the data is being restored.
(C: Compatible, N: Not compatible.)
CPU Unit model to restore to
CPU Unit model where data was backed up

NJ301-1200 or NJ301-1100

NJ501-1300, NJ501-1400, or NJ501-1500

N*

NJ301-1200 or NJ301-1100

N*

* The Sysmac Studio variable and memory backup functions are compatible. However, a CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher are required. Refer to 9-7-3 Compatibility between
CPU Unit Models for the compatibility between CPU Unit models for the Sysmac Studio variable and memory
backup functions.

Even if the CPU Unit models are compatible, there may be restrictions between various CPU Unit models.
The following table shows which restoration function can be used based on whether the CPU Unit models are compatible.
(R: Restored, x: Not restored)

9-12 Compatibility between Backup-related Files

NJ501-1300, NJ501-1400, or
NJ501-1500

Function used to restore data

Restoring with
Sysmac Studio
variable and
memory backup
functions (computer to Controller)

Importing Sysmac Studio

backup file data
(computer to
project)

R*2

R*2

*3

*4

Compatible
Not compatible

*1 Only the files that were backed up using this function can be restored.
*2 If the contents of the backup file are outside the range of specifications where the data is restored, the Controller will not operate normally. When you operate the Controller, a major fault level Controller error or a partial
fault level Controller error will occur. For example, this error occurs if the number of controlled axes that is used
is outside the specifications.
*3 A Restore Start Failed observation will occur.
*4 An Error in Starting Automatic Transfer error (a major fault level Controller error) will occur.

NJ-series CPU Unit Software Users Manual (W501)

9-55

9
9-12-2 Compatibility between CPU Unit Models

Automatic
transfer

Restoring with
Sysmac Studio
Controller
backup functions (computer to
Controller)*1

Restoring with
SD Memory
Card backup
functions (SD
Memory Card to
Controller)

Compatibility between
CPU Unit
Models

9 Backup Functions

9-12-3 Compatibility between Unit Versions of CPU Units

The following table shows the compatibility of backup files when the unit versions of the CPU Unit are
different between where the data was backed up and where it is being restored. You can restore data
without any restrictions if the unit versions are the same before and after the backup and restoration.
(R: Restored, x: Not restored)
Function used to restore data

Automatic transfer

Restoring with Sysmac Studio Controller backup

functions (computer to Controller)

Restoring with Sysmac Studio variable and memory

backup functions
(computer to Controller)

*1

Restoring with SD
Memory Card
backup functions
(SD Memory Card
to Controller)

Version of CPU
Unit where data is
being restored is
newer.
Unit version of
CPU Unit where
data is being
restored is older.

Unit version of
CPU Unit

*1 An Error in Starting Automatic Transfer error (a major fault level Controller error) will occur.

9-56

NJ-series CPU Unit Software Users Manual (W501)

9 Backup Functions

9-13 Functions That Cannot Be Executed

during Backup Functions
The following functions cannot be executed at the same time as any of the backup functions. Do not
execute any backup function while the CPU Unit is executing any of these functions. Also, do not execute any of these functions during execution of any of the backup functions.
While a backup function is being performed
Synchronization transfer from the computer to the Controller
Execution of online editing
Execution of Clear All Memory operation
Time zone changes
9-13 Functions That Cannot Be Executed during Backup Functions

Execution of the Save Cam Table instruction (MC_SaveCamTable)

Execution of CPU Unit name write operation
Execution of transferring Slave Terminal parameters

NJ-series CPU Unit Software Users Manual (W501)

9-57

9 Backup Functions

9-58

NJ-series CPU Unit Software Users Manual (W501)

10

Communications Setup
This section describes how to go online with the CPU Unit and how to connect to other
devices.

10-1 Communications System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10-1-1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

10-2 Connection with Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4

10-2-1
10-2-2

Configurations That Allow Online Connections . . . . . . . . . . . . . . . . . . . . . . . 10-4

Configurations That Do Not Allow Online Connections . . . . . . . . . . . . . . . . . 10-5

10-3 Connection with Other Controllers or Slaves 10-7

10-3-1
10-3-2

Connection Configurations between Controllers . . . . . . . . . . . . . . . . . . . . . . 10-7

Connection Configuration between Controllers and Slaves . . . . . . . . . . . . . 10-10

10-4 Connection with HMIs or Serial Communications Devices . . . . . . . . . . 10-11

10-4-1
10-4-2

Connections to HMIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11

Connections to Devices with Serial Communications . . . . . . . . . . . . . . . . . 10-12

NJ-series CPU Unit Software Users Manual (W501)

10-1

10 Communications Setup

10-1 Communications System Overview

This section gives an overview of the communications systems that are supported by NJ-series Controllers.
The shaded steps in the overall procedure that is shown below are related to the communications systems.

Step 1. Software Design

Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Step 4. Wiring

Step 5. Checking Operation and Starting Operation on the

Actual System
Refer to 1-3 Overall Operating Procedure for the NJ-series Controller for details.

10-2

NJ-series CPU Unit Software Users Manual (W501)

10 Communications Setup
10-1 Communications System
Overview

10-1-1 Introduction
You can use the NJ-series System to build the communications system shown below.
NJ-series Controller

HMI

NJ-series Controller

Sysmac Studio

EtherNet/IP

NTP server
BOOTP server
DNS server

EtherNet/IP
CJ2 Series

Example: Serial Communications Unit

10-1-1 Introduction

Sysmac Studio

10

Example: EtherNet/IP Unit

EtherNet/IP

NJ-series Controller
Power Supply Unit

NJ-series Controller

CPU Unit

EtherNet/IP slave

USB

Example: CompoNet Master Unit

CompoNet
Built-in EtherNet/IP port
MS NS

WORD NODE ADR

0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

MS NS

WORD NODE ADR

OUT

Built-in EtherCAT port

OD16
CRT1-OD16
CRT1
REMOTE TERMINAL

Serial
Example: DeviceNet Unit

0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

OUT

OD16
CRT1-OD16
CRT1
REMOTE TERMINAL

General-purpose
device with serial
communications

DeviceNet

EtherCAT

General-purpose slaves
Slave Terminal

Servo Drives

Connection
Sysmac Studio connection

Connection method
Use USB or the built-in EtherNet/IP
port.

Connections between Controllers

Connections with NJ-series Control- Use the built-in EtherNet/IP port or

ler or CJ2 CPU Unit
a port on an EtherNet/IP Unit*1

Connections between Controllers

and slaves

Connections to Servo Drives and

general-purpose slaves

Use the built-in EtherCAT port.

I/O controls

Mount a DeviceNet Unit and use

DeviceNet or mount a CompoNet
Master Unit and use CompoNet.

Connections to HMIs

Use the built-in EtherNet/IP port or

a port on an EtherNet/IP Unit*1, *2

Connections for serial communications

Mount a Serial Communications

Unit.

Connections to servers

Use the built-in EtherNet/IP port or

a port on an EtherNet/IP Unit*1, *2

Connections to BOOTP servers,

DNS servers, or NTP servers

*1 Use an EtherNet/IP Unit with unit version 2.1 or later. Also use a CPU Unit with unit version 1.01 or later and
Sysmac Studio version 1.02 or higher. Refer to A-12 Version Information for information on upgrades.
*2 To perform troubleshooting from an NS-series PT, connect the PT to the built-in EtherNet/IP port on the CPU
Unit.

NJ-series CPU Unit Software Users Manual (W501)

10-3

10 Communications Setup

10-2 Connection with Sysmac Studio

This section describes the configurations for connecting the Sysmac Studio to an NJ-series Controller.

10-2-1 Configurations That Allow Online Connections

You can connect online from the Sysmac Studio to the peripheral USB port or built-in EtherNet/IP port
of the NJ-series CPU Unit.

Connecting with USB

Sysmac Studio

USB

A direct connection is made from the computer that runs Sysmac Studio. You do not need to specify
the connection device.

Connecting with EtherNet/IP

1:1 Connection

1:N Connections
Sysmac Studio

EtherNet/IP

A direct connection is made from the computer that runs Sysmac Studio. You do not
need to specify the IP address or connection device.
You can make the connection either with or
without a Ethernet switch.
You can use either a cross cable or a
straight cable.

10-4

Sysmac Studio

EtherNet/IP

Directly specify the IP address of the remote device or select the

remote device from the node list.

NJ-series CPU Unit Software Users Manual (W501)

10 Communications Setup
10-2 Connection with Sysmac
Studio

Connecting to EtherNet/IP through USB

Sysmac Studio

USB
EtherNet/IP

10

10-2-2 Configurations That Do Not Allow Online Connections

Connection through an EtherNet/IP Unit
You cannot connect through a CJ1W-EIP21 EtherNet/IP Unit that is connected to an NJ-series CPU
Unit.
Sysmac Studio

EtherNet/IP

CJ1W-EIP21
EtherNet/IP Unit

Routing through CS/CJ-series EtherNet/IP Units/Ports

You cannot connect to an NJ-series CPU Unit by routing through a CS/CJ-series Ethernet/IP Unit or
port (CS1W-EIP2, CJ1W-EIP21, CJ2 CPU Unit built-in EtherNet/IP port, or CJ2M CPU Unit built-in
EtherNet/IP port).

EtherNet/IP

CJ2 CPU Unit built-in EtherNet/IP port or EtherNet/IP Units

NJ-series CPU Unit Software Users Manual (W501)

10-5

10-2-2 Configurations That Do Not Allow Online Connections

Directly specify the IP address of the remote device or select the remote device from the node list.

10 Communications Setup

Routing through Networks Other Than EtherNet/IP, Such as DeviceNet

You cannot route through any networks other than EtherNet/IP networks. (For example, routing is
not possible for Controller Link networks and DeviceNet networks.)
Sysmac Studio

USB
DeviceNet network

DeviceNet Unit

10-6

NJ-series CPU Unit Software Users Manual (W501)

10 Communications Setup

This section shows the connection configurations that are used between Controllers and between Controllers and slaves.

10-3 Connection with Other

Controllers or Slaves

10-3 Connection with Other Controllers or

Slaves

10
10-3-1 Connection Configurations between Controllers

You can use the built-in EtherNet/IP ports or ports on CJ1W-EIP21 EtherNet/IP Units.
For information on the built-in EtherNet/IP port, refer to the NJ-series CPU Unit Built-in EtherNet/IP Port
Users Manual (Cat. No. W506). For information on the CJ1W-EIP21 EtherNet/IP Unit, refer to the CJseries EtherNet/IP Unit Operation Manual for NJ-series CPU Unit (Cat. No. W495).

Tag Data Links

You can create tag data links between NJ-series CPU Units on an EtherNet/IP network.
EtherNet/IP

Message communications
You can send CIP messages from the user program.

EtherNet/IP

CIP communications
instruction

NJ-series CPU Unit Software Users Manual (W501)

10-7

10-3-1 Connection Configurations between Controllers

EtherNet/IP

10 Communications Setup

Sending and Receiving Files

You can send and receive files on the SD Memory Card that is inserted in the NJ-series CPU Unit
from an FTP client application.
FTP client application

Sending and Receiving Files

EtherNet/IP
FTP server
SD Memory Card

Socket Services
You can directly use TCP or UDP from the user program to send and receive any data with remote
nodes between a host computer and the Controller, or between Controllers. The socket services are
supported only for the built-in EtherNet/IP ports.

Communications

EtherNet/IP

Socket service
instruction

10-8

NJ-series CPU Unit Software Users Manual (W501)

10 Communications Setup
10-3 Connection with Other
Controllers or Slaves

Updating Clock Information

You can obtain clock information from an NTP server to update the built-in clock.
NTP server

Clock information

EtherNet/IP

10
NTP client

You can use the DNS client or set up your Hosts so that you can specify the IP address of the NTP
server or SNMP manager or the target destination of a socket instruction or CIP communications
instruction with a host name instead of an IP address.
Example: Setting Host Names on the DNS Server
DNS server

IP address

EtherNet/IP

Host name

DNS client

Obtaining an IP Address When the Power is Turned ON

You can obtain an IP address for the built-in EtherNet/IP port from the BOOTP server when the
power supply is turned ON.
BOOTP server

IP address

EtherNet/IP

BOOTP commands

BOOTP client

Specifying an SNMP Agent

Built-in EtherNet/IP port internal status information is provided to network management software
that uses an SNMP manager.
SNMP manager

Administration
information

EtherNet/IP

SNMP messages

SNMP agent

NJ-series CPU Unit Software Users Manual (W501)

10-9

10-3-1 Connection Configurations between Controllers

Specifying Host Names

10 Communications Setup

10-3-2 Connection Configuration between Controllers and Slaves

EtherCAT
High-speed, high-precision communications are possible with Servo Drives and general-purpose
slaves. Refer to the NJ-series CPU Unit Built-in EtherCAT Port Users Manual (Cat. No. W505) for
details.

EtherCAT

General-purpose slave

Slave Terminal
Servo Drives

10-10

NJ-series CPU Unit Software Users Manual (W501)

10 Communications Setup

This section shows the connection configurations used to connect HMIs and devices with serial communications to the NJ-series Controller.

10-4 Connection with HMIs or

Serial Communications Devices

10-4 Connection with HMIs or Serial

Communications Devices

10
10-4-1 Connections to HMIs
You can use a built-in EtherNet/IP port or a CJ1W-EIP21 EtherNet/IP Unit to connect to an HMI.
HMI

EtherNet/IP

Built-in EtherNet/IP port

CJ1W-EIP21
EtherNet/IP Unit

To perform troubleshooting from an NS-series PT, connect the PT to the built-in EtherNet/IP port on
the CPU Unit.
For information on the built-in EtherNet/IP port, refer to the NJ-series CPU Unit Built-in EtherNet/IP
Port Users Manual (Cat. No. W506). For information on the CJ1W-EIP21 EtherNet/IP Unit, refer to
the CJ-series EtherNet/IP Unit Operation Manual for NJ-series CPU Unit (Cat. No. W495).

Serial Communications
You can use a Serial Communications Unit to connect to an HMI.
High-speed Serial Communications Unit
HMI

RS-232C or
RS-422A/485

You can use a Serial Communications Unit to connect to an HMI. Refer to the CJ-series Serial Communications Units Operation Manual for NJ-series CPU Unit (Cat. No. W494) for details.

NJ-series CPU Unit Software Users Manual (W501)

10-11

10-4-1 Connections to HMIs

EtherNet/IP

10 Communications Setup

10-4-2 Connections to Devices with Serial Communications

You can use a Serial Communications Unit to connect to an HMI. Refer to the CJ-series Serial Communications Units Operation Manual for NJ-series CPU Unit (Cat. No. W494) for details.
Device with serial
communications

High-speed Serial Communications Unit

RS-232C or
RS-422A/485

10-12

NJ-series CPU Unit Software Users Manual (W501)

Example of Actual Application

Procedures

11

This section describes the procedures that are used to actually operate an NJ-series
Controller.

11-1 Example Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

11-1-1
11-1-2

System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

11-2 Overview of the Example Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3

11-2-1
11-2-2
11-2-3
11-2-4
11-2-5
11-2-6

Wiring and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software Settings from the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming with the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Simulation with the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checking Operation and Starting Operation on the Actual System . . . . . . . .

NJ-series CPU Unit Software Users Manual (W501)

11-3
11-3
11-4
11-7
11-8
11-9

11-1

11 Example of Actual Application Procedures

11-1 Example Application

This section describes an example application for an NJ-series Controller.

11-1-1 System Configuration

Unit name

Qty

Connected device

Power Supply Unit

---

CPU Unit

---

CJ-series Basic I/O Units

---

CJ-series Analog Input Unit

EtherCAT slaves

Displacement Sensor

Servo Drives (G5 EtherCAT)

---

I/O Terminal

---

Sysmac Studio
NJ-series Controller

Analog Input Unit

Basic I/O Units

Power Supply Unit

CPU Unit

USB

Displacement Sensor
Built-in EtherCAT port

EtherCAT

G5 EtherCAT
Positive limit input
Negative limit input
Immediate stop input
Home signal
External latch signal, etc.

General-purpose slaves
Servo Drives

Servo Drives

11-1-2 Operation
Interrupt feeding starts when the sensor signal changes to ON during velocity control.
Velocity

Velocity control

Interrupt feeding

Sensor turns ON.

Time

The vertical position changes based on the analog input from the Displacement Sensor.

11-2

NJ-series CPU Unit Software Users Manual (W501)

11 Example of Actual Application Procedures

11-2 Overview of the Example Procedure

11-2 Overview of the Example Procedure

This section describes examples of the actual operating procedures for an NJ-series Controller.

11-2-1 Wiring and Settings

Wire the Controller and make the hardware settings.

11

11-2-2 Software Design

11-2-1 Wiring and Settings

Design the I/O, tasks, POUs, and variables.

I/O Design
Design the relationship between the external I/O and the unit configuration.
Determine the intervals at which to refresh external I/O.

Task and POU Design

Consider the following:
What task configuration is required
Which programs to assign to which tasks
Which Units to assign to which tasks
What processing to place in programs and what processing to place in function blocks and functions

Variable Design
Consider the following:
The separation of variables into those that you use in more than one POU (global variables) and variables that you use in only specific POUs (local variables)
Defining the variable names for the device variables that you use to access slaves and Units
Defining the attributes of variables, such as the Name and Retain attributes
Designing the data types of variables

NJ-series CPU Unit Software Users Manual (W501)

11-3

11 Example of Actual Application Procedures

11-2-3 Software Settings from the Sysmac Studio

On the Sysmac Studio, you set the Unit and slave configurations, register global variables and device
variables, create axes (axis variables), and set the Controller Setup and Special Unit Setup.

Start the Sysmac Studio.

Create a project in Sysmac Studio.

Create the Unit Configuration.

1
2

11-4

Double-click CPU/Expansion Racks under Configurations and Setup.

Create the Unit configuration by dragging Units.

Select each Unit and make the required settings.

NJ-series CPU Unit Software Users Manual (W501)

11 Example of Actual Application Procedures

11-2 Overview of the Example Procedure

Create the EtherCAT Slave Configuration.

1
2

Double-click EtherCAT under Configurations and Setup.

Create the slave configuration by dragging slaves.

11
11-2-3 Software Settings from the Sysmac Studio

3
4

Select the master and set the master parameters.

Select each slave and set the slave parameters.
Additional Information
At this point, you can use forced resetting from the I/O Map to check the wiring.

NJ-series CPU Unit Software Users Manual (W501)

11-5

11 Example of Actual Application Procedures

Register the Global Variables and Device Variables.

Registering Global Variables

1
2

Double-click Global Variables under Programming Data.

Register the global variables in the global variable table.

Registering Device Variables

1
2

Double-click I/O Map under Configurations and Setup.

In the I/O Map, assign the variables to the I/O ports. (The I/O ports are created automatically
from the Unit and slave configurations.)
You can automatically create device variable names with the Sysmac Studio. To do so, rightclick an I/O port and select Create Device Variable from the menu.

By default, device variables are registered in the global variable table. If necessary, you can
change the variable type from a global variable to a local variable (internal variable) for a POU.

Create Axes (Axis Variables)

1
2

Right-click Axis Settings under Configurations and Setups Motion Control Setup and
select Add Axis Settings from the menu.
Assign Servo Drives to the axes (axis variables) that you created in the EtherCAT configuration.

Set the Axis Use parameter to Used Axis.

Set the Axis Type parameter to Servo Axis.

11-6

NJ-series CPU Unit Software Users Manual (W501)

11 Example of Actual Application Procedures

Set the other parameters, such as the Unit Conversion Settings and Operation Settings.

Set the Controller Setup and the Special Unit Setup.

Initial Settings for the PLC Function Module:
The Controller Setup includes the Startup Mode and other parameters.

11-2 Overview of the Example Procedure

Set the Input Device and Output Device parameters to the EtherCAT slaves that you registered
in the slave configuration.

Initial Settings for Special Units:

11

Unit Configuration and Setup: Set the initial settings of the Analog Input Unit.

On the Sysmac Studio, create the programs, set the tasks, and build the project.

Write the Programs.

1
2
3
4

Right-click Programs under Programming POU and select Add Ladder or Add ST from
the menu.
Double-click Section under the program that you registered.
Register the local variables for each program.
Enter the programs.

Create a program with the following instructions.

Homing: MC_Home instruction
Velocity control: MC_MoveVelocity instruction
Interrupt feeding: MC_MoveFeed instruction
Positioning: MC_Move instruction

As required, right-click Functions or Function Blocks under Programming POU and select
Add Ladder or Add ST from the menu.
Double-click the function or function block that you registered. Register local variables for each
function and function block. Create the algorithms.

NJ-series CPU Unit Software Users Manual (W501)

11-7

11-2-4 Programming with the Sysmac Studio

11-2-4 Programming with the Sysmac Studio

11 Example of Actual Application Procedures

Note For a ladder diagram, press the R Key and create the following rungs.

Set Up the Tasks.

Double-click Task Settings under Configurations and Setup.
In the Task Settings, set the task period and execution condition for the primary periodic task from the
pulldown list.
In the I/O Control Task Settings, select the task name to which to assign each Unit and slave.
In the Program Assignment Settings, assign the programs to the primary periodic task or the priority16 periodic task.

Build the Project.

Select Build from the Project Menu.

11-2-5 Simulation with the Sysmac Studio

Simulation is used to perform desktop debugging.
Check the task execution times and the real processing times of tasks. Review the task design as
required.

Starting the Simulator and Connecting to It

Select Run in Execution Time Estimation Mode from the Simulation Menu. The Simulator (i.e., the
virtual Controller) starts. An online connection is created automatically.

Checking the Task Execution Time on the Simulator

Double-click Task Settings under Configurations and Setup. Check to see if the task execution times
in the Task Execution Time Monitor exceed the task periods.

If necessary, review the task configuration, program assignments, and task periods.

Saving the Project

Select Save As from the File Menu.

11-8

NJ-series CPU Unit Software Users Manual (W501)

11 Example of Actual Application Procedures

Go online with the Controller, download the project, check the wiring and perform test operation before
you start actual operation.

Going Online

1
2
3

Turn ON the power supply to NJ-series Controller.

11

Connect the computer and the CPU Unit with a USB cable.
Select Communications Setup from the Controller Menu. Select the connection method for the
connection configuration in the Connection Type Field.
Select Online from the Controller Menu.

Downloading the Project with the Synchronize Menu

Select Synchronize from the Controller Menu and download the project to the Controller.
Note Use the Synchronize Menu of the Sysmac Studio to upload and download the project.

Checking Wiring
Check the wiring by performing forced-refreshing with user-specified values from the I/O Map or Ladder
Editor.

MC Test Run

1
2
3
4

Open the MC Test Run Dialog Box.

Change the CPU Unit to PROGRAM mode.
Monitor input signals on the display to check the wiring.
Jog the axis from the display.

NJ-series CPU Unit Software Users Manual (W501)

11-9

11-2-6 Checking Operation and Starting Operation on the Actual System

11-2 Overview of the Example Procedure

11-2-6 Checking Operation and Starting Operation on the Actual System

11 Example of Actual Application Procedures

Manual Operation
Change the CPU Unit to RUN mode.
Turning the Servo ON and OFF: Execute the MC_Power motion control instruction.
Jogging: Execute the MC_MoveJog motion control instruction.

Homing
Homing: Execute the MC_Home instruction.

Actual Operation
Select Operation Mode RUN Mode from the Controller Menu. If an error occurs, investigate the
cause and edit the user program.

11-10

NJ-series CPU Unit Software Users Manual (W501)

Troubleshooting
12
This section describes the event codes, error confirmation methods, and corrections for
errors that can occur.

12-1 Operation after an Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

12-1-1
12-1-2
12-1-3

Overview of NJ-series Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

Fatal Errors in the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
Non-fatal error in CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4

12-2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-12

12-2-1
12-2-2
12-2-3
12-2-4
12-2-5

Checking to See If the CPU Unit Is Operating . . . . . . . . . . . . . . . . . . . . . . .

Troubleshooting Flowchart for Non-fatal Errors . . . . . . . . . . . . . . . . . . . . . .
Error Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Troubleshooting Errors That Are Not in the CPU Unit . . . . . . . . . . . . . . . . .

NJ-series CPU Unit Software Users Manual (W501)

12-12
12-13
12-13
12-22
12-55

12-1

12 Troubleshooting

12-1 Operation after an Error

This section describes the error status of the NJ-series Controller and the operation that occurs after an
error is detected. Refer to 12-2 Troubleshooting for details on corrections for specific errors. Refer to the
NJ-series Troubleshooting Manual (Cat. No. W503) for all of the errors that may occur in an NJ-series
Controller.

12-1-1 Overview of NJ-series Status

You can check the operating status of the CPU Unit with the PWR, RUN, and ERROR indicators on the
front panels of the Power Supply Unit and CPU Unit.

Power Supply Unit

CPU Unit

PWR
indicator

RUN
indicator
ERROR
indicator

The following table shows the status of front-panel indicators, the status of user program execution, and
the ability to connect communications to the Sysmac Studio or NS-series PTs during startup, during
normal operation, and when errors occur.
Front-panel indicators
CPU Unit operating status

Fatal error in
CPU Unit

Non-fatal error
in CPU Unit

RUN (green)

Communications
with Sysmac Studio or NS-series
PT

Lit

Flashing
(1-s intervals)

Not lit

Stopped.

Not possible.

Lit

Lit

Not lit

Continues.

Possible.

PROGRAM mode

Lit

Not lit

Not lit

Stopped.

Power Supply
Error*1

Not lit

Not lit

Not lit

Stopped.

CPU Unit Reset*1

Lit

Not lit

Not lit

Stopped.

Incorrect Power
Supply Unit Connected*1

Lit

Flashing
(3-s intervals)

Lit

Stopped.

CPU Unit Watchdog Timer Error*1

Lit

Not lit

Lit

Stopped.

Major fault*2

Lit

Not lit

Lit

Stopped.

Lit

Lit

Flashing
(1-s intervals)

Continues.*3

Lit

Lit

Flashing
(1-s intervals)

Continues.

Lit

Lit

Not lit

Continues.

Startup
Normal operation

PWR
(green)

User program execuERROR (red) tion status

RUN mode

Partial fault*2
Minor fault*2
Observation*2

Not possible.

Possible. (Communications can be

connected from an
NS-series PT if EtherNet/IP is operating normally.)

*1 Refer to 12-1-2 Fatal Errors in the CPU Unit for information on individual errors.
*2 Refer to 12-1-3 Non-fatal error in CPU Unit for information on individual errors.
*3 The function module where the error occurred stops.

12-2

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

12-1-2 Fatal Errors in the CPU Unit

Types of Fatal Errors

Power Supply Error

Power is not supplied, the voltage is outside of the allowed range, or the Power Supply Unit is faulty.

CPU Unit Reset

The CPU Unit stopped operation because of a hardware error. Other than hardware failures, this
error also occurs at the following times.

12-1 Operation after an Error

Some errors are fatal and prevent the CPU Unit from operating. This section describes the errors that
cause the operation of the CPU Unit to stop. The Sysmac Studio and NS-series PTs cannot connect
communications if a fatal error occurs.

12

The power supply to an Expansion Rack is OFF.

The IN and OUT connectors are reversed.
The connectors are not mated properly.
There is more than one I/O Control Unit on the CPU Rack or there is an I/O Control Unit on an
Expansion Rack.

Incorrect Power Supply Unit Connected

There is a CJ-series Power Supply Unit connected to the CPU Rack. The operation of the Controller
is stopped.

CPU Unit Watchdog Timer Error

This error occurs in the CPU Unit. This error occurs when the watchdog timer times out because of
a hardware failure or when temporary data corruption causes the CPU Unit to hang.

Checking for Fatal Errors

You can identify fatal errors based on the status of the PWR indicator on the Power Supply Unit and the
RUN and ERROR indicators on the CPU Unit, as well as by the ability to connect communications to
the Sysmac Studio.
Indicator
PWR (green)

RUN (green)

ERROR (red)

Communications
with Sysmac Studio

Not lit

Not lit

Not lit

Lit

Not lit

Not lit

Lit

Flashing (3-s intervals) Lit

Incorrect Power Supply Unit Connected

Lit

Not lit

CPU Unit Watchdog

Timer Error

Lit

Not possible.*

CPU Unit operating

status
Power Supply Error
CPU Unit Reset

* Power Supply Errors and Incorrect Power Supply Unit Connected errors can be differentiated with the indicators. There is
no need to check communications with the Sysmac Studio.

NJ-series CPU Unit Software Users Manual (W501)

12-3

12-1-2 Fatal Errors in the CPU Unit

The I/O Connecting Cable is incorrectly installed.

12 Troubleshooting

12-1-3 Non-fatal error in CPU Unit

Event Levels
Non-fatal errors that occur are managed as Controller events in the NJ-series Controller. Controller
events are classified into levels according to the degree of the effect that the events have on control.
When an event occurs, the Sysmac Studio or PT will display the level. Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for details on Controller events.
Major Fault Level
These errors prevent control operations for the entire Controller. If a major fault level error is detected,
user program execution is stopped immediately and the loads for all slaves (including remote I/O) are
turned OFF. With EtherCAT slaves and some CJ-series Special Units, you can set the slave settings
or Unit settings to select whether outputs will go OFF or retain their previous status. You cannot reset
major fault level errors from the user program, the Sysmac Studio, or an NS-series PT. To recover
from a major fault level error, remove the cause of the error, and either cycle the power supply to the
Controller or reset the Controller from the Sysmac Studio.
Partial Fault Level
These errors prevent control operations in a certain function module in the Controller. The NJ-series
CPU Unit continues to execute the user program even after a partial fault level error occurs. You can
include error processing in the user program to safely stop any devices in operation. After you
remove the cause of the error, execute one of the following to return to normal status.
Reset the error from the user program, the Sysmac Studio, or an NS-series PT.
Cycle the power supply.
Reset the Controller from the Sysmac Studio.
Minor Fault Level
These errors prevent part of the control operations in a certain function module in the Controller. The
troubleshooting for minor fault level errors is the same as the processing for partial fault level errors.
Observations
These errors do not affect the control operations of the Controller. Observations serve as warnings to
the user so that the error does not develop into an error at a higher level.
Information
Events that are classified as information do not indicate errors.

12-4

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Operation for Each Level

The operation that is performed when an error occurs depends on the error level of the Controller
event.

Item

Major fault level

Partial fault
level

Minor fault level

Observation

Information

These errors
prevent all of the
control in a function module
other than PLC
Function Module.

Errors that prevent a portion of

control in one of
the function
modules.

Errors that do
Information level
not affect control. events are not
errors, but information provided
to the user in the
event log.

I/O Bus Check

Error (PLC
Function Module)

Motion Control Period

Exceeded
(Motion Control Function
Module)
Communications Controller Error
(EtherCAT
Master Function Module)

Positive Limit
Input Detected
(Motion Control Function
Module)
Analog Input
Disconnection
Detected (CJseries Unit)
Low Battery
Voltage (PLC
Function Module)

Packet Discarded Due to

Full Receive
Buffer (EtherNet/IP Function Module)

Power Turned
ON
Power Interrupted
Memory All
Cleared

PWR
(green)

Lit.

Lit.

Lit.

Lit.

Lit.

RUN
(green)

Not lit.

Lit.

Lit.

Lit.

Lit.

ERROR
(red)

Lit.

Flashes at 1-s
intervals.

Flashes at 1-s
intervals.

Not lit.

Not lit.

Event examples (Only a

few examples are provided here.
Refer to the NJ-series
Troubleshooting Manual
(Cat. No. W503) for a
complete list of errors.)

NJ-series CPU Unit Software Users Manual (W501)

12-5

12
12-1-3 Non-fatal error in CPU Unit

These errors are

serious errors
that prevent control operations
for the entire
Controller.

Definition

Frontpanel indicators*1

Controller information

Controller errors

12-1 Operation after an Error

Event level

12 Troubleshooting

Event level
Item

Operation
of NJseries CPU
Unit

Controller information

Controller errors
Major fault level

Partial fault
level

Minor fault level

Observation

Information

RUN output on
Power
Supply
Unit

OFF

ON

ON

ON

ON

User program execution

status

Stops.

Continues.*2

Continues.

Continues.

Continues.

No

No

No

No

Not possible.

Depends on the
nature of the
error.

Depends on the
nature of the
error.

---

---

Recorded.
(Some errors are
not recorded.)

Recorded.

Recorded.

Recorded.

Recorded.

Refer to I/O
Operation for
Major Fault Level
Controller Errors
on page 12-7.

Errors in
EtherCAT
Master Function Module:
Depends on
settings in the
slave.
Errors in other
function modules: Depends
on user program.

Depends on the
user program.

Depends on the
user program.

Depends on the
user program.

Outputs
Yes
turned OFF
Error reset

Event logs

Outputs from EtherCAT

slaves and Basic Output Units

Sysmac Studio display

(while online)

The error status is automatically displayed in the Controller Status Pane. You can display detailed information
in the Troubleshooting Dialog Box.

These items are not displayed on

the error display.

*1 If multiple Controller errors have occurred, the indicators show the error with the highest error level.
*2 Operation stops in the function module (Motion Control Function Module, EtherCAT Master Function Module, or EtherNet/IP Function Module) in which the error occurred.

12-6

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Operation in the Function Module Where an Error Event Occurred

Event level
Function module

Motion Control Function Module

EtherNet/IP Function
Module

Minor fault level

Observation

User program
execution stops.

---

Operation continues.

All axes stop.

(The stop
method depends
on the error.)

All axes stop. (The

stop method
depends on the
error.)

The affected axis/axes

group stops. (The stop
method depends on
the settings.)
The motion control
instructions that are
related to axis operation are not executed.

Axis operation continues.

The motion control
instructions that are
not related to axis
operation are not executed.

I/O refreshing for

EtherCAT communications
stops. (The
slaves operate
according to the
settings in the
slaves.)

EtherCAT communications stop. (The

slaves operate
according to the settings in the slaves.)

I/O refreshing for EtherCAT communications

stops or continues
according to the fail-soft
operation settings in the
master. (If I/O refreshing
stops, the slaves operate
according to the settings
in the slaves.)

I/O refreshing for EtherCAT communications

continues.

Part of the EtherNet/IP communications stop.

(Online connections to the Sysmac Studio and
communications
connections with
NS-series PTs
are possible.
(Output (produce) tags in the
tag data links
operate according to the tag set
settings.)

EtherNet/IP communications stop. (The

Sysmac Studio and
NS-series PT cannot
connect communications.)

Part of the EtherNet/IP

communications stop. (It
is possible to connect
communications when
the Sysmac Studio or
NS-series PT communications connection is not
the cause of the error.)

EtherNet/IP communications continue.

I/O Operation for Major Fault Level Controller Errors

The following table gives the operation of the CPU Unit and the I/O devices for the following errors.
Unsupported Unit Detected
I/O Bus Check Error
End Cover Missing
Incorrect Unit/Expansion Rack Connection
Duplicate Unit Number
Too Many I/O Points
I/O Setting Check Error

NJ-series CPU Unit Software Users Manual (W501)

12-7

12
12-1-3 Non-fatal error in CPU Unit

EtherCAT Master Function Module

Partial fault level

12-1 Operation after an Error

PLC Function Module

Major fault level

12 Troubleshooting

Unit

CPU Unit operation

Unit or slave operation

EtherCAT slave *1

The slave is placed in the SafeOperational state.

Depends on the slave settings. *2

Servo Drive or NX Unit assigned to

an axis

Updating the command values is

stopped.

All axes stop immediately.

CJ-series Basic I/O Unit

Refreshing is stopped.

All outputs are turned OFF.

All inputs are turned OFF.

CJ-series Special Unit

Refreshing is stopped.

Depends on the Unit operating

specifications (the ERH indicator
lights).

Devices connected with EtherNet/IP For the originators of tag data

links, the variables and I/O memory addresses for input (consume) tags are not refreshed.
For the targets of tag data links,
operation depends on the settings of the tags sets for the output (produce) tags. *3

Depends on the specifications of

the connected devices.

*1 Excluding Servo Drives assigned to an axis.

*2 Settings and setting methods depend on the slave. Refer to the manual for the slave. For a Servo Drive, operation depends on the setting of object 605E hex (Fault Reaction Option Code).
*3 You can set whether to clear output or maintain the data from before the error occurred. Refer to the NJ-series
CPU Unit Built-in EtherNet/IP Port Users Manual (Cat. No. W506) for details.

The following table gives the operation of the CPU Unit and the I/O devices for the errors that are not
listed above.
Unit

CPU Unit operation

Unit or slave operation

EtherCAT slave *1

The slave is placed in the SafeOperational state.

Depends on the slave settings. *2

Servo Drive or NX Unit assigned to

an axis

Updating the command values is

stopped.

All axes stop immediately.

CJ-series Basic I/O Unit

The values of all outputs are

cleared to zero.
Input refreshing continues.

All outputs are turned OFF.

External inputs are refreshed.

CJ-series Special Unit

Refreshing continues.

Depends on the Unit operating

specifications.

Devices connected with EtherNet/IP For the originators of tag data

links, the variables and I/O memory addresses for input (consume) tags are not refreshed.
For the targets of tag data links,
operation depends on the settings of the tags sets for the output (produce) tags. *3

Depends on the specifications of

the connected devices.

*1 Excluding Servo Drives assigned to an axis.

*2 Settings and setting methods depend on the slave. Refer to the manual for the slave. For a Servo Drive, operation depends on the setting of object 605E hex (Fault Reaction Option Code).
*3 You can set whether to clear output or maintain the data from before the error occurred. Refer to the NJ-series
CPU Unit Built-in EtherNet/IP Port Users Manual (Cat. No. W506) for details.

12-8

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Checking for Non-fatal Errors

Use the following methods to check for non-fatal errors.
What you can check
You can use the indicators to confirm the Controller error level, the error status
of the EtherCAT Master Function Module, and the error status of the EtherNet/IP Function Module.

Checking with the troubleshooting function of Sysmac

Studio

You can check for current Controller errors, a log of past Controller errors, error
sources, error causes, and corrections. You can also check error logs from CJseries Special Units.*1

Checking with the Troubleshooter of an NS-series PT*2

You can check for current Controller errors, a log of past Controller errors, error
sources, error causes, and corrections.

Checking with instructions that

read function module error status

You can check the highest-level status and highest-level event code in the current Controller errors.

Checking with system-defined

variables

You can check the current Controller error status for each function module.

*1 Detailed information, such as error causes and corrections, is not displayed.

*2 To perform troubleshooting from an NS-series PT, connect the PT to the built-in EtherNet/IP port on the CPU
Unit.

This section describes the above checking methods.

Checking the Indicators

Checking the Level of a Controller Error
You can use the PWR indicator on the Power Supply Unit and the RUN and ERROR indicators on
the CPU Unit to determine the event level for an error. The following table shows the relationship
between the Controllers indicators and the event level.
Indicator
PWR (green)

RUN (green)

ERROR (red)

Event level

Lit

Not lit

Lit

Lit

Lit

Flashing (1-s intervals) Partial fault level

Major fault level

Minor fault level

Lit

Lit

NJ-series CPU Unit Software Users Manual (W501)

Not lit

Observation

12-9

12
12-1-3 Non-fatal error in CPU Unit

Checking the indicators

12-1 Operation after an Error

Checking method

12 Troubleshooting

Checking Errors in the EtherCAT Master Function Module and EtherNet/IP

Function Module
For the EtherCAT Master Function Module and EtherNet/IP Function Module, use the EtherCAT and
EtherNet/IP NET ERR indicators to determine whether an error that affects process data communications has occurred and whether a minor fault level error or higher-level error has occurred. The
indicator lets you check the status given in the following table.
Indicator
EtherCAT NET ERR

Indicated status
EtherCAT Master Function Module Status
Lit: An error for which normal status cannot be recovered through user
actions (i.e., errors for which you must replace the CPU Unit or contact your
OMRON representative) has occurred.
Flashing: An error for which normal status can be recovered through user
actions has occurred.
Not lit: An error that affects process data communications has not occurred.

EtherNet/IP NET ERR

EtherNet/IP Function Module Status

Lit: An error for which normal status cannot be recovered through user
actions (i.e., errors for which you must replace the CPU Unit or contact your
OMRON representative) has occurred.
Flashing: An error for which normal status can be recovered through user
actions has occurred.
Not lit: There is no minor fault level or higher-level error.

Checking with the Troubleshooting Function of Sysmac Studio

When an error occurs, you can connect the Sysmac Studio online to the Controller to check current
Controller errors and the log of past Controller errors.

Current Errors
Open the Sysmac Studios Controller Error Tab Page to check the current errors level, source,
source details, event name, event code, cause, and correction. Errors are not displayed for observations.

Log of Past Errors

Open the Sysmac Studios Controller Event Log Tab Page to check the times, levels, sources,
source details, event names, event codes, details, attached information 1 to 4, actions, and corrections for previous errors.
Error logs from CJ-series Special Units are displayed on the Controller Event Log Tab Page.
Detailed information is not displayed. To check detailed information, use the event codes that are
displayed and refer to the error codes that are given in the manual for the relevant Unit. Refer to the
NJ-series Troubleshooting Manual (Cat. No. W503) for the relationship between error codes and
event codes.
Refer to the NJ-Series Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on
troubleshooting with the Sysmac Studio.

Checking with the Troubleshooter of an NS-series PT

If you can connect communications between an NS-series PT and the Controller when an error occurs,
you can check for current Controller errors and the log of past Controller errors.
To perform troubleshooting from an NS-series PT, connect the PT to the built-in EtherNet/IP port on the
CPU Unit.

12-10

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Current Errors
Open the Controller Error Tab Page on the NS-series PTs Troubleshooter to check the current
errors event name, event code, level, source, source details, details, and attached information 1 to
4. Observations are not displayed as errors.

Log of Past Errors

Open the Controller Event Log Tab Page on the NS-series PTs Troubleshooter to check the time of
occurrence, level, source, event name, event code, details, and attached information 1 to 4 for past
errors.
Refer to the NS-series Programmable Terminals Programming Manual (Cat. No. V073) for details on
the NS-series PTs Troubleshooter.
However, you cannot check the log of previous errors for the Communications Coupler Units, NX
Units, EtherCAT slaves, and CJ-series Units.

Instructions are provided that allow you to read the error status of each function module from the user
program. These instructions get the status and the event code of the error with the highest level.
Applicable function module

Instruction name

Instruction

PLC Function Module

Get PLC Controller Error Status

GetPLCError

Get I/O Bus Error Status

GetCJBError

Motion Control Function Module

Get Motion Control Error Status

GetMCError

EtherCAT Function Module

Get EtherCAT Error Status

GetECError

EtherNet/IP Function Module

Get EtherNet/IP Error Status

GetEIPError

For details on the instructions that get error status, refer to the NJ-series Instructions Reference Manual
(Cat. No. W502).

Checking with System-defined Variables

You can check the error status variables in the system-defined variables to determine the status of
errors in a Controller. You can read the error status variables from an external device by using communications. Refer to A-3 System-defined Variables for the system-defined variables.

NJ-series CPU Unit Software Users Manual (W501)

12-11

12
12-1-3 Non-fatal error in CPU Unit

Checking with Instructions That Read Function Module Error Status

12-1 Operation after an Error

However, for some NX Units, you cannot check the event name, event code, details, and attached
information for current errors. Also, observations are not displayed as errors.

12 Troubleshooting

12-2 Troubleshooting
This section provides basic error identification and troubleshooting flowcharts. Use them when an error
occurs in the NJ-series Controller. This section also describes the software errors that are related to the
PLC Function Module and corrections for those errors.

12-2-1 Checking to See If the CPU Unit Is Operating

When an error occurs in the NJ-series Controller, use the following flowchart to determine whether the
error is a fatal error or a non-fatal error.
Whenever possible, set the Sysmac Studios communications connection in the flowchart to a direct
USB connection. If you use Ethernet, there are many reasons that prevent a communications connection for the Sysmac Studio, so time is required to determine if a fatal or non-fatal error has occurred. If a
communications connection from the Sysmac Studio is not possible, perform the troubleshooting procedure that is provided in the NJ-series Troubleshooting Manual (Cat. No. W503) before you assume that
the error is a fatal error.
A fatal error occurred in the CPU Unit.
Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for the
correction.

Error occurs.

Not lit.
Power Supply Error

PWR indicator (green)?

Lit.

Not lit.
ERROR indicator (red)?

Lit.

Not possible.
Communications
connection from Sysmac
Studio?

CPU Unit Reset

Possible.

Flashing.

Incorrect Power Supply Unit

Connected

RUN indicator (green)?

Not lit.

Communications
connection from Sysmac
Studio?

Not possible.
CPU Unit Watchdog
Timer Error

Possible.

12-12

A non-fatal error occurred. Refer to 12-2-2

Troubleshooting Flowchart for Non-fatal Errors.

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

12-2-2 Troubleshooting Flowchart for Non-fatal Errors

For a non-fatal error, use the Sysmac Studio or an NS-series PT to troubleshoot the error with the following flowchart. You can use the indicators to check the following:
Level
Whether the error is in the EtherNet/IP Function Module or the EtherCAT Master Function Module

Non-fatal error in CPU Unit

To immediately check the

specific error
To check error status with the indicators

Lit.

12-2 Troubleshooting

If the source of the error is the EtherNet/IP Function Module or the EtherCAT Master Function Module, whether you can restore normal status yourself

Flashing.

ERROR indicator (red)?

12
Not lit.

Partial fault level

or minor fault level

EtherNet/IP NET ERR indicator is lit or flashing.

Both indicators are not lit.

EtherCAT NET ERR indicator is
lit or flashing.

EtherNet/IP NET ERR

indicator (red)?

Flashing.

Lit.

Major fault
level

Observation

Error in the
EtherNet/IP Function
Module for which you
cannot restore normal
status by yourself.

EtherCAT NET ERR

indicator (red)?

Flashing.

Lit.

Error in the
EtherNet/IP Function
Module for which
you can restore
normal status by
yourself.

Error in the
EtherCAT Master
Function Module for
which you cannot
restore normal
status by yourself.

Error in the
EtherCAT Master
Function Module
for which you can
restore normal
status by yourself.

Error in PLC
Function Module or
MC Function
Module

Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for the procedures to check
for errors and corrections with the Sysmac Studio or an NS-series PT.

12-2-3 Error Table

The errors (i.e., events) that can occur in the PLC Function Module are given on the following pages.
Event levels are given as following in the tables:
Maj: Major fault level
Prt: Partial fault level
Min: Minor fault level
Obs: Observation
Info: Information
Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for all NJ-series event codes.
NJ-series CPU Unit Software Users Manual (W501)

12-13

12-2-2 Troubleshooting Flowchart for Non-fatal Errors

Check all of the following branches that correspond to the

status of the EtherNet/IP NET ERR and EtherCAT NET
ERR indicators.

12 Troubleshooting

Errors Related to Tasks

Level

Event code

Event name

Meaning

Assumed cause

60020000 hex

Task Execution Timeout

Task execution
exceeded the timeout detection time.

The timeout detection time setting is too short.

Maj

Prt

Min

Obs

Info

Reference

page 12-23

page 12-24

page 12-25

The task period setting is too

short.
A user program is too large.
The number of times that processing is repeated is larger
than expected.
Task Priority Error
Frequent Event Task Execution

60030000 hex

I/O Refreshing Timeout

Error

Consecutive I/O
refresh failures
occurred during the
primary periodic
task or periodic task
period.

The task period setting is too

short.
Task Priority Error for Periodic
Tasks and Event Tasks
There are too many Units and
slaves that perform I/O refresh
in the task period.
Frequent Event Task Execution

60040000 hex

60010000 hex

Insufficient
System Service Time
Error

The specified system service execution time could not

be obtained.

There was not sufficient time to

execute the tasks and tag data
link service.

Task Period
Exceeded

Task execution was

not completed during the set task
period for the primary periodic task
or a periodic task.

The task period setting is too

short.

The system service execution

interval is too short or the system service execution time ratio
is too long in the System Service Monitoring Settings.

page 12-26

A user program is too large.

The number of times that processing is repeated is larger
than expected.
Task Priority Error for Periodic
Tasks and Event Tasks
Frequent Event Task Execution

60050000 hex

12-14

Task Period
Exceeded

Task execution was

not completed during the set task
period for the primary periodic task
or fixed periodic
task.

The task period setting is too

short.

page 12-27

A user program is too large.

The number of times that processing is repeated is larger
than expected.
Task Priority Error for Periodic
Tasks and Event Tasks
Frequent Event Task Execution

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Errors Related to Controller Operation

Event name

1020 0000 hex

User Program/Controller
Configurations and
Setup Transfer Error

Meaning
The user program
or Controller Configurations and
Setup were not
transferred correctly.

Assumed cause
The user program or Controller
Configurations and Setup are
not correct because the power
supply to the Controller was
interrupted during a download
of the user program or the Controller Configurations and
Setup.

Level
Maj

Prt

Min

Obs

Info

Reference
page 12-28
12-2 Troubleshooting

Event code

The user program or Controller

Configurations and Setup are
not correct because the power
supply to the Controller was
interrupted during online editing.

12
12-2-3 Error Table

The user program or Controller

Configurations and Setup are
not correct because the power
supply to the Controller was
interrupted during a Clear All
Memory operation.
The user program or Controller
Configurations and Setup are
not correct because the power
supply to the Controller was
interrupted during a restore
operation.
Non-volatile memory failed.
1021 0000 hex

Illegal User
Program
Execution ID

The user program

execution IDs set in
the user program
and in the CPU Unit
do not match.

The user program execution

IDs set in the user program and
in the CPU Unit do not match.

page 12-29

A user program execution ID is

set in the CPU Unit but not in
the user program.

1024 0000 hex

Illegal User
Program

The user program

is not correct.

There are more than 8 nesting

levels for functions or function
blocks.

page 12-29

1025 0000 hex

Illegal User
Program/Controller
Configurations and
Setup

The upper limit of

the usable memory
was exceeded or
the user program or
Controller Configurations and Setup is
corrupted.

The upper limit of the data size

was exceeded.

page 12-30

NJ-series CPU Unit Software Users Manual (W501)

The main memory capacity was

exceeded.
Non-volatile memory is deteriorating or has failed.

12-15

12 Troubleshooting

Event code

Event name

Meaning

10270000 hex
(Ver. 1.03)

Error in Starting Automatic

Transfer

An error was
detected in pre-execution checks for
automatic transfer.

Level

Assumed cause

Maj

An SD Memory Card is not

inserted.

Prt

Min

Obs

Info

Reference

page 12-31

page 12-33

page 12-34

The SD Memory Card type is

not correct.
The format of the SD Memory
Card is not correct.
There is no autoload folder on
the SD Memory Card.
There are no backup files in the
autoload folder on the SD Memory Card.
Either the backup files in the
autoload folder on the SD Memory Card are corrupted or
required data is not in the
backup files on the SD Memory
Card.
The unit version of the CPU
Unit to which to transfer the files
is older than the unit version of
the backup files on the SD
Memory Card.
The model of the CPU Unit to
which to transfer the files is not
the same as the model of the
CPU Unit of the backup files on
the SD Memory Card.
Recovery was executed for the
SD Memory Card.
The CPU Unit is write-protected.
The settings in the automatic
transfer command file (AutoloadCommand.ini) are not correct.
Reading the data for automatic
transfer failed because the SD
Memory Card is faulty or not
formatted correctly.
The SD Memory Card is damaged.

10280000 hex
(Ver. 1.03)

Error in Executing Automatic

Transfer

The automatic
transfer ended in an
error.

It was not possible to read the

data for automatic transfer.
The SD Memory Card was
removed during an automatic
transfer.
There are no backup files in the
autoload folder on the SD Memory Card.
The backup files in the autoload
folder on the SD Memory Card
are corrupted.
The SD Memory Card is damaged.

40160000 hex

Safe Mode

The Controller
started in Safe
Mode.

The power supply was turned

ON to the Controller when Safe
Mode was set on the DIP switch
on the CPU Unit.

10230000 hex

Event Log
Restoration
Error

Restoring the event

log failed.

A low battery voltage prevented

retention of memory during a
power interruption.

12-16

page 12-34

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Meaning

Assumed cause

Level

Event code

Event name

1026 0000 hex

Trace Setting
Transfer Failure

The power supply

was interrupted
while transferring
the trace settings.

The power supply was interrupted while transferring the

trace settings.

page 12-35

1029 0000 hex

(Ver. 1.03)

Backup
Failed to
Start

An error was
detected in pre-execution checks for a
backup operation.

An SD Memory Card is not

inserted.

page 12-35

Maj

Prt

Min

Obs

Info

Reference

12-2 Troubleshooting

The SD Memory Card type is

not correct.
The format of the SD Memory
Card is not correct.
The SD Memory Card is write
protected.
The Prohibiting backing up data
to the SD Memory Card parameter is set to prohibit backing up
data to an SD Memory Card.

12

Another backup operation is in

progress.

12-2-3 Error Table

Synchronization, online editing, or the Clear All Memory

operation is in progress.
The backup was canceled by
the user.
The online connection with the
Sysmac Studio was disconnected.
The SD Memory Card is damaged.
102A 0000 hex
(Ver. 1.03)

Backup
Failed

The backup operation ended in an

error.

The capacity of the SD Memory

Card is insufficient.

page 12-37

It was not possible to save the

data that was specified for
backup.
The SD Memory Card was
removed during a backup operation.
Failed to back up Unit or slave.
The backup was canceled by
the user.
Execution of the Save Cam
Table instruction or changing
the CPU Unit name is in progress.
The online connection with the
Sysmac Studio was disconnected.
It was not possible to save the
data that was specified for
backup to the computer.
The SD Memory Card is damaged.

NJ-series CPU Unit Software Users Manual (W501)

12-17

12 Troubleshooting

Event code
102B 0000 hex
(Ver. 1.03)

Event name
Restore
Operation
Failed to
Start

Meaning
An error was
detected in pre-execution checks for a
restore operation.

Level

Assumed cause

Maj

An SD Memory Card is not

inserted.

Prt

Min

Obs

Info

Reference

page 12-38

page 12-40

The SD Memory Card type is

not correct.
The format of the SD Memory
Card is not correct.
There are no backup files on
the SD Memory Card.
Either the backup files on the
SD Memory Card are corrupted
or required data is not in the
backup files on the SD Memory
Card.
The unit version of the CPU
Unit to which to restore the files
is older than the unit version of
the backup files on the SD
Memory Card.
The model of the CPU Unit to
which to restore the files is not
the same as the model of the
CPU Unit of the backup files on
the SD Memory Card.
Recovery was executed for the
SD Memory Card.
The CPU Unit is write-protected.
The settings in the restore command file (RestoreCommand.ini) are not correct.
A backup operation is in progress.
Synchronization, online editing, or the Clear All Memory
operation is in progress.
The online connection with the
Sysmac Studio was disconnected.
Reading the data for restoration
failed because the SD Memory
Card is faulty or not formatted
correctly.
The SD Memory Card is damaged.

102C0000 hex
(Ver. 1.03)

Restore
Operation
Failed

The restore operation ended in an

error.

It was not possible to read the

data to restore.
The SD Memory Card was
removed during a restore operation.
Failed to restore Unit or slave.
The SD Memory Card is damaged.

40170000 hex
(Ver. 1.03)

Safe Mode

The CPU Unit

started in Safe
Mode.

The power supply was turned

ON to the Controller when the
Safe Mode was set on the DIP
switch on the CPU Unit.

page 12-41

80230000 hex
(Ver. 1.05)

NX Message
Communications Error

An error has
occurred in message communications.

The communications cable is

broken.

page 12-41

The communications cable connector is disconnected.

The NX message communications load is high.

12-18

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event code

Event name

Meaning

Assumed cause

Level
Maj

Prt

Min

Obs

Info

Reference

The clock time was

changed.

The clock time was changed.

page 12-42

9002 0000 hex

Time Zone
Changed

The time zone was

changed.

The time zone was changed.

page 12-42

9008 0000 hex

Variable
Changed to
TRUE with
Forced
Refreshing

Changing a variable
to TRUE with forced
refreshing was
specified.

Changing a variable to TRUE

with forced refreshing was
specified by the user.

page 12-42

9009 0000 hex

Variable
Changed to
FALSE with
Forced
Refreshing

Changing a variable
to FALSE with
forced refreshing
was specified.

Changing a variable to FALSE

with forced refreshing was
specified by the user.

page 12-43

900A 0000 hex

All Forced
Refreshing
Cleared

Clearing all forced

refreshing values
was specified.

Clearing all forced refreshing

values was specified by the
user.

page 12-43

900B 0000 hex

Memory All
Cleared

All memory was

cleared.

A user with Administrator rights

cleared all of the memory.

page 12-43

900C 0000 hex

Event Log
Cleared

The event log was

cleared.

The event log was cleared by

the user.

page 12-44

900F 0000 hex

(Ver. 1.03)

Automatic
Transfer
Completed

The automatic
transfer was completed.

The automatic transfer was

completed.

page 12-44

9011 0000 hex

Power
Turned ON

The power supply

was turned ON.

The power supply was turned

ON.

page 12-44

9012 0000 hex

Power Interrupted

The power supply

was interrupted.

The power supply was interrupted.

page 12-45

9013 0000 hex

Operation
Started

Operation was
started.

A command to start operation

was received.

page 12-45

9014 0000 hex

Operation
Stopped

Operation was
stopped.

A command to stop operation

was received.

page 12-45

9015 0000 hex

Reset Executed

A reset was executed.

A reset command was

received.

page 12-46

9016 0000 hex

User Program Execution ID Write

The user program

execution ID was
set or changed in
the CPU Unit.

A user with Administrator rights

changed the user program execution ID that is set in the CPU
Unit.

page 12-46

9018 0000 hex

All Controller
Errors
Cleared

All current errors

were cleared.

All current errors were changed

by the user.

page 12-46

9019 0000 hex

Forced
Refreshing
Cleared

Clearing a forced
refreshing value
was specified.

Clearing a forced refreshing

value was specified by the user.

page 12-47

901A 0000 hex

(Ver. 1.03)

Backup
Started

A backup operation
was started.

A backup operation was

started.

page 12-47

901B 0000 hex

(Ver. 1.03)

Backup Completed

The backup operation ended normally.

The backup operation ended

normally.

page 12-48

901C 0000 hex

(Ver. 1.03)

Restore
Operation
Started

A restore operation
started.

A restore operation started.

page 12-48

901D 0000 hex

(Ver. 1.03)

Restore
Operation
Completed

The restore operation ended normally.

The restore operation ended

normally.

page 12-49

NJ-series CPU Unit Software Users Manual (W501)

12-19

12
12-2-3 Error Table

Clock
Changed

12-2 Troubleshooting

9001 0000 hex

12 Troubleshooting

Errors Related to FINS Communications

Event code

Event name

Meaning

Level

Assumed cause

Maj

Prt

Min

Obs

Info

Reference

14010000 hex

CPU Bus
Unit Setup
Area Error

An error was
detected in the
memory check of
the Setup Area for
CPU Bus Units.

The power supply to the Controller was interrupted or communications with the Sysmac
Studio were disconnected while
downloading the CPU Bus Unit
Settings.

page 12-50

34100000 hex

IP Address
Table Setting
Error

The IP address
table settings are
incorrect.

The IP address conversion

method is set to the combined
method or the IP address table
method, but the IP address
table settings are incorrect.

page 12-50

34130000 hex

FINS/TCP
Connection
Table Setting
Error

The FINS/TCP connection table is

incorrect.

The power supply to the Controller was interrupted or communications with the Sysmac
Studio were disconnected while
downloading the FINS/TCP
connection table.

page 12-51

34110000 hex

Unknown
Destination
Node

The send destination node is not

known.

The send destination node was

not found when a FINS message was sent.

page 12-51

80100000 hex

Packet Discarded

One or more packets were discarded.

A FINS response addressed to

the CPU Unit was received.

page 12-52

page 12-53

The send designation Unit for

the FINS response does not
exist.
80110000 hex

Packet Discarded

One or more packets were discarded.

An attempt was made to send a

FINS response with over 2002
bytes.
An attempt was made to route a
FINS response with over 2002
bytes.
Packet was received with a No
Such Unit routing error.
Packet was received with a
Routing Error routing error.
Packet was received with a
Routing Table Not Registered
routing error.
Packet was received with an
Event Area Size Over Limit
routing error.
There is insufficient space in
the internal buffer.
FINS message routing failed
because the communications
load is too high.

12-20

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event code
8012 0000 hex

Event name
Packet Discarded

Meaning

Assumed cause

One or more packets were discarded.

A FINS response was received

with the destination network
address (DNA) set to the local
network and the destination
node address (DA1) not set to
the local node.

Level
Maj

Prt

Min

Obs

Info

Reference
page 12-53

12-2 Troubleshooting

A FINS command or response

was received with a hub network address specification for
which the destination network
address (DNA) was greater
than or equal to 80 hex.
There is insufficient space in
the internal buffer.
A FINS command that does not
have the minimum command
length was received.

12
12-2-3 Error Table

A FINS command that

exceeded the maximum command length was received.
Sending packets failed.
FINS message routing failed
because the communications
load is too high. Or a command
that was addressed to the builtin EtherNet/IP port was
received with the source network address (SNA) set to 0.
A FINS response that was
addressed to the built-in EtherNet/IP port was received.
A FINS response or a command for which a response is
not required was received when
the routing tables were not registered.
A FINS response or a command for which a response is
not required was received when
there was an error in the routing
tables.
A FINS response or a command for which a response is
not required was received that
exceeded the number of relay
points.
Transmission is not possible
because the destination
address is not set in the routing
tables.
Routing is not possible because
the FINS node address setting
in the Built-in EtherNet/IP Port
Settings is set to 0 or 255.

NJ-series CPU Unit Software Users Manual (W501)

12-21

12 Troubleshooting

12-2-4 Error Descriptions

This section describes the information that is given for individual errors.

Controller Error Descriptions

The items that are used to describe individual errors (events) are described in the following copy of an
error table.
Event name

Gives the name of the error.

Meaning

Gives a short description of the error.

Event code

Gives the code of the error.

Source

Gives the source of the error.

Source details

Gives details on
the source of the
error.

Detection
timing

Tells when the

error is detected.

Error attributes

Level

Tells the level of

influence on control.*1

Recovery

Gives the recovery method.*2

Log category

Tells which log

the error is saved
in.*3

Effects

User program

Tells what will happen to execution of

the user program.*4

Operation

Provides special information on the operation that results

from the error.

Indicators

Gives the status of the built-in EtherNet/IP port and built-in EtherCAT port indicators. Indicator status is given only for
errors in the EtherCAT Master Function Module and the EtherNet/IP Function Module.

System-defined
variables

Variable

Cause and correction

Assumed cause

Attached
information

This is the attached information that is displayed by the Sysmac Studio or an NS-series PT.

Precautions/
Remarks

Provides precautions, restrictions, and supplemental information. If the user can set the event level, the event levels
that can be set, the recovery method, operational information, and other information are also provided.

Data type

Name

Lists the variable names, data types, and meanings for system-defined variables that provide direct error notification,
that are directly affected by the error, or that contain settings that cause the error.
Correction

Prevention

Lists the possible causes, corrections, and preventive measures for the error.

*1 One of the following:

Major fault: Major fault level
Partial fault: Partial fault level
Minor fault: Minor fault level
Observation
Information
*2 One of the following:
Automatic recovery: Normal status is restored automatically when the cause of the error is removed.
Error reset: Normal status is restored when the error is reset after the cause of the error is removed.
Cycle the power supply: Normal status is restored when the power supply to the Controller is turned OFF and then back
ON after the cause of the error is removed.
Controller reset: Normal status is restored when the Controller is reset after the cause of the error is removed.
Depends on cause: The recovery method depends on the cause of the error.
*3 One of the following:
System: System event log
Access: Access event log
*4 One of the following:
Continues: Execution of the user program will continue.
Stops: Execution of the user program stops.
Starts: Execution of the user program starts.

12-22

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Errors Related to Tasks

Task Execution Timeout

Meaning

Task execution exceeded the timeout detection time.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable

60020000 hex

Source details

None

Detection
timing

Continuously

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Stops.

Operation

Stops.*

Data type

Name

_<Task_name>_Exceeded

BOOL

Task Period Exceeded Flag

_<Task_name>_ExceedCount

UDINT

Task Period Exceeded Count

_<Task_name>_LastExecTime

TIME

Last Task Execution Time

_<Task_name>_MaxExecTime

TIME

Maximum Task Execution Time

12

Assumed cause

Correction

Prevention

The timeout detection time setting is

too short.

Increase the timeout detection time.

Design the tasks considering the corrections that are given on the left.

The task period setting is too short.

Increase the task period.

A user program is too large.

Separate the processes into different

tasks, for example move processes
that need a short execution period to
a periodic task with a lower priority.

The number of times that processing

is repeated is larger than expected.

If there is a program with an

extremely high number of repetitions,
correct the program to achieve the
correct number of repetitions. Set a
trap in the user program that monitors
the number of times a process is executed to check the number of repetitions.

Task Priority Error

Increase the priority of the task. Or,

decrease the priorities of the other
tasks.

Frequent Event Task Execution

Lower the frequency of event task

execution. Or, decrease the priorities
of the event tasks.

Attached
information

Attached Information 1: Name of task where error occurred

Precautions/
Remarks

None

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

NJ-series CPU Unit Software Users Manual (W501)

12-23

12-2-4 Error Descriptions

Cause and
correction

Event code

12-2 Troubleshooting

Event name

12 Troubleshooting

Event name

I/O Refreshing Timeout Error

Event code

6003 0000 hex

Meaning

Consecutive I/O refresh failures occurred during the primary periodic task or periodic task period.

Source

PLC Function Module

Source details

None

Detection
timing

Continuously

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

Stops.

Operation

Stops.*

System-defined
variables

Variable

Cause and
correction

Data type

Name

_<Task_name>_Exceeded

BOOL

Task Period Exceeded Flag

_<Task_name>_ExceedCount

UDINT

Task Period Exceeded Count

_<Task_name>_LastExecTime

TIME

Last Task Execution Time

_<Task_name>_MaxExecTime

TIME

Maximum Task Execution Time

Assumed cause

Correction

Prevention

The task period setting is too short.

Check the task execution time and

change the task period to an appropriate value.

Design the tasks considering the corrections that are given on the left.

Task Priority Error for Periodic Tasks

and Event Tasks

Increase the priorities of the periodic

tasks. Or, decrease the priorities of
the event tasks so that they are lower
than the priorities of the periodic
tasks.

There are too many Units and slaves

that perform I/O refresh in the task
period.

Move the I/O refresh processes to

other tasks, for example move I/O
refresh processes within the task to
other tasks.

Frequent Event Task Execution

Lower the frequency of event task

execution. Or, decrease the priorities
of the event tasks.

Attached
information

Attached Information 1: Name of task where error occurred

Precautions/
Remarks

None

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

12-24

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

Insufficient System Service Time Error

Event code

60040000 hex

The specified system service execution time could not be obtained.

Source

PLC Function Module

Source details

None

Detection
timing

Continuously

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

Stops.

Operation

Stops.*

System-defined
variables

Variable

Cause and
correction

Data type

Name

_<Task_name>_Exceeded

BOOL

Task Period Exceeded Flag

_<Task_name>_ExceedCount

UDINT

Task Period Exceeded Count

12-2 Troubleshooting

Meaning

TIME

Last Task Execution Time

_<Task_name>_MaxExecTime

TIME

Maximum Task Execution Time

Assumed cause

Correction

Prevention

There was not sufficient time to execute the tasks and tag data link service.

Check the available time for task execution and the tag data link settings.
Increase the task periods or the
packet intervals (RPI) in the tag data
link settings to obtain enough time for
execution of the tasks and tag data
link service.

Set the System Service Monitoring

Settings according to the corrections
that are given on the left.

The system service execution interval

is too short or the system service execution time ratio is too long in the System Service Monitoring Settings.

Check the effect on the processes

executed by the system services with
this operation and increase the system service execution interval or
reduce the system service execution
time ratio.

Attached
information

None

Precautions/
Remarks

None

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

NJ-series CPU Unit Software Users Manual (W501)

12
12-2-4 Error Descriptions

_<Task_name>_LastExecTime

12-25

12 Troubleshooting

Event name

Task Period Exceeded

Event code

6001 0000 hex

Meaning

Task execution was not completed during the set task period for the primary periodic task or a periodic task.

Source

PLC Function Module

Source details

None

Detection
timing

Continuously

Error attributes

Level

Minor fault

Recovery

Error reset

Log category

System

Effects

User program

Continues.

Operation

If the task execution does not finish within the set task
period, the I/O refresh operation will be as follows:
CJ-series Units: No I/O refresh is executed.
When task execution is completed, I/O refreshing for the
next period is executed.
EtherCAT slaves: The same values are output as for the
previous output refresh.
If the task execution does not finish within the set task
period, overall control of the equipment may become
impossible.

System-defined
variables

Cause and
correction

Variable

Data type

Name

_<Task_name>_Exceeded

BOOL

Task Period Exceeded Flag

_<Task_name>_ExceedCount

UDINT

Task Period Exceeded Count

_<Task_name>_LastExecTime

TIME

Last Task Execution Time

_<Task_name>_MaxExecTime

TIME

Maximum Task Execution Time

Assumed cause

Correction

Prevention

The task period setting is too short.

Check the task execution time and

change the task period to an appropriate value.

Design the tasks considering the corrections that are given on the left.

A user program is too large.

Separate the processes into different

tasks, for example move processes
that need a short execution period to
a periodic task with a lower priority.

The number of times that processing

is repeated is larger than expected.

If there is a program with an

extremely high number of repetitions,
correct the program to achieve the
correct number of repetitions. Set a
trap in the user program that monitors
the number of times a process is executed to check the number of repetitions.

Task Priority Error for Periodic Tasks

and Event Tasks

Increase the priorities of the periodic

tasks. Or, decrease the priorities of
the event tasks so that they are lower
than the priorities of the periodic
tasks.

Frequent Event Task Execution

Lower the frequency of event task

execution. Or, decrease the priorities
of the event tasks.

Attached
information

Attached Information 1: Name of task where error occurred

Precautions/
Remarks

You can change the level of the error to an observation in the task settings.

12-26

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Task Period Exceeded

Event code

60050000 hex

Meaning

Task execution was not completed during the set task period for the primary periodic task or fixed periodic task.

Source

PLC Function Module

Source details

None

Detection
timing

Continuously

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

Continues.

Operation

If the task execution does not finish within the set task
period, the I/O refresh operation will be as follows:
CJ-series Units: No I/O refresh is executed.
When task execution is completed, I/O refreshing for the
next period is executed.
EtherCAT slaves: The same values are output as for the
previous output refresh.
If the task execution does not finish within the set task
period, overall control of the equipment may become
impossible.

System-defined
variables

Data type

Name

_<Task_name>_Exceeded

BOOL

Task Period Exceeded Flag

_<Task_name>_ExceedCount

UDINT

Task Period Exceeded Count

_<Task_name>_LastExecTime

TIME

Last Task Execution Time

12

_<Task_name>_MaxExecTime

TIME

Maximum Task Execution Time

Assumed cause

Correction

Prevention

The task period setting is too short.

Check the task execution time and

change the task period to an appropriate value.

Design the tasks considering the corrections that are given on the left.

A user program is too large.

Separate the processes into different

tasks, for example move processes
that does not need a short execution
period to a periodic task with a lower
priority.

The number of times that processing

is repeated is larger than expected.

If there is a program with an

extremely high number of repetitions,
correct the program to achieve the
correct number of repetitions. Set a
trap in the user program that monitors
the number of times a process is executed to check the number of repetitions.

Task Priority Error for Periodic Tasks

and Event Tasks

Increase the priorities of the periodic

tasks. Or, decrease the priorities of
the event tasks so that they are lower
than the priorities of the periodic
tasks.

Frequent Event Task Execution

Lower the frequency of event task

execution. Or, decrease the priorities
of the event tasks.

Attached
information

Attached Information 1: Name of task where error occurred

Precautions/
Remarks

This error can occur if you change the level of the error to an observation in the task settings.

NJ-series CPU Unit Software Users Manual (W501)

12-27

12-2-4 Error Descriptions

Cause and
correction

Variable

12-2 Troubleshooting

Event name

12 Troubleshooting

Errors Related to Controller Operation

Event name

User Program/Controller Configurations and Setup Transfer Error

Meaning

The user program or Controller Configurations and Setup were not transferred correctly.

Source

PLC Function Module

Source details

None or I/O bus

master

Detection
timing

At power ON or
Controller reset

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

Stops.

Operation

Stops.*

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The user program or Controller Configurations and Setup are not correct
because the power supply to the Controller was interrupted during a download of the user program or the
Controller Configurations and Setup.

Clear all of memory and then download the project from the Sysmac Studio. If attached information is
registered, cycle the power supply to
the Controller and then implement the
above correction.

Do not turn OFF the power supply to

the Controller during a download of
the user program or the Controller
Configurations and Setup.

1020 0000 hex

The user program or Controller Configurations and Setup are not correct
because the power supply to the Controller was interrupted during online
editing.

Do not interrupt the power supply to

the Controller during online editing.

The user program or Controller Configurations and Setup are not correct
because the power supply to the Controller was interrupted during a Clear
All Memory operation.

Do not interrupt the power supply to

the Controller during a Clear All Memory operation.

The user program or Controller Configurations and Setup are not correct
because the power supply to the Controller was interrupted during a
restore operation.

Do not interrupt the power supply to

the Controller during a restore operation.

Non-volatile memory failed.

Attached
information

Event code

If the error persists even after you

make the above correction, replace
the CPU Unit.

None

Attached Information 1: Cause Details

None: Power was interrupted during a download, during online editing, or during restoration.
Downloading/Predownloading: For other causes, the timing of error occurrence (during download or during download
preparations) is given.

Precautions/
Remarks

None

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

12-28

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Illegal User Program Execution ID

Meaning

The user program execution IDs set in the user program and in the CPU Unit do not match.

Source

PLC Function Module

Source details

None

Detection
timing

At user program
download, power
ON, or Controller
reset

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

Stops.

Operation

Stops.*

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The user program execution IDs set in

the user program and in the CPU Unit
do not match.

Set the same user program execution

ID in the user program and CPU Unit.

A user program execution ID is set in

the CPU Unit but not in the user program.

If user program execution ID is not set

in the user program, clear the user
program execution ID set in the CPU
Unit by clearing all memory in the
CPU Unit.

Set the same user program execution

ID in the user program and CPU Unit.
Keep a record of the user program
execution IDs set in the user program
and in the CPU Unit. They are not displayed.

None

Precautions/
Remarks

None

10210000 hex

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

Event name

Illegal User Program

Meaning

The user program is not correct.

Event code

10240000 hex

Source

PLC Function Module

Source details

None

Detection
timing

At download,
power ON, or
Controller reset

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

System-defined
variables

Variable

Stops.

Operation
Data type

Stops.*
Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

There are more than 8 nesting levels

for functions or function blocks.

Find the location in the user program

with more than 8 nesting levels for
functions or function blocks and
reduce the number of nesting levels to
8 or fewer. Then, download the user
program again.

Write the user program so that there

is never more than 8 nesting levels for
functions or function blocks. Use the
program check on the Sysmac Studio
to confirm that there are not more
than 8 nesting levels.

Attached
information

None

Precautions/
Remarks

None

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

NJ-series CPU Unit Software Users Manual (W501)

12
12-2-4 Error Descriptions

Attached
information

Event code

12-2 Troubleshooting

Event name

12-29

12 Troubleshooting

Event name

Illegal User Program/Controller Configurations and Setup

Meaning

The upper limit of the usable memory was exceeded or the user program or Controller Configurations and Setup is corrupted.

Source

PLC Function Module

Source details

None

Detection
timing

At download,
power ON, or
Controller reset

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

Stops.

Operation

Stops.*

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The upper limit of the data size was

exceeded.

If an event on restrictions on the number of items used occurred at the

same time as this event, correct the
user program and settings so that the
number of items used is not exceeded
and then download the data again.

None

The main memory capacity was

exceeded.

If an event on restrictions on the number of items used did not occur at the
same time as this event, perform the
Clear All Memory operation, cycle the
power supply, and then confirm that
this event was cleared. If it was
cleared, reduce the size of the project, e.g., by sharing programming,
and then download the project again.

Non-volatile memory is deteriorating

or has failed.

If this error persists even after you

implement the above two corrections,
replace the CPU Unit.

Attached
information

None

Precautions/
Remarks

None

Event code

Data type

1025 0000 hex

Name

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

12-30

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

Error in Starting Automatic Transfer

Event code

10270000 hex*1

An error was detected in pre-execution checks for automatic transfer.

Source

PLC Function Module

Source details

None

Detection
timing

At power ON

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

Stops.

Operation

Stops.*2

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

An SD Memory Card is not inserted.

Insert an SD Memory Card.

Insert an SD Memory Card.

The SD Memory Card type is not correct.

Replace the SD Memory Card with an

SD or SDHC card.

Use an SD or SDHC card.

The format of the SD Memory Card is

not correct.

Format the SD Memory Card with the

Sysmac Studio and then create an
autoload folder and place the backup
files in it.

There is no autoload folder on the SD

Memory Card.

Create an autoload folder on the SD

Memory Card and place the backup
files in it.

Use a formatted SD Memory Card,

create an autoload folder on the SD
Memory Card, and place the backup
files in it. Also, do not remove the SD
Memory Card or turn OFF the power
supply while the SD BUSY indicator is
lit.

There are no backup files in the autoload folder on the SD Memory Card.

Place the backup files in the autoload

folder on the SD Memory Card.

Either the backup files in the autoload

folder on the SD Memory Card are
corrupted or required data is not in
the backup files on the SD Memory
Card.

Replace the backup files in the autoload folder on the SD Memory Card. If
this error occurs again even after
replacing the files, create the backup
files again and place them in the autoload folder.

The unit version of the CPU Unit to

which to transfer the files is older than
the unit version of the backup files on
the SD Memory Card.

Replace the CPU Unit with a CPU

Unit that has a unit version that is the
same as or newer than the unit version of the CPU that was used to create the backup files. Or, place the
backup files with the correct unit version for the CPU Unit in the autoload
folder.

Make sure that the unit version of the

CPU Unit and the unit version of the
backup files are compatible.

12-31

12
12-2-4 Error Descriptions

NJ-series CPU Unit Software Users Manual (W501)

12-2 Troubleshooting

Meaning

12 Troubleshooting

Cause and
correction

Attached
information

The model of the CPU Unit to which

to transfer the files is not the same as
the model of the CPU Unit of the
backup files on the SD Memory Card.

Replace the CPU Unit with a CPU

Unit that has the same model as the
CPU Unit that was used to create the
backup files. Or, place the backup
files with the same model of CPU Unit
in the autoload folder.

Make sure that the model of the CPU

Unit is the same as the model of the
CPU Unit that was used to create the
backup files.

Recovery was executed for the SD

Memory Card.

If there are no backup files or no automatic transfer command file in the

autoload folder, place the files in the
folder again.

None

The CPU Unit is write-protected.

If you use automatic transfers, select

the Do not use Option for the Write
protection at startup setting of the
CPU Unit.

If you use automatic transfers, select

the Do not use Option for the Write
protection at startup setting of the
CPU Unit.

The settings in the automatic transfer

command file (AutoloadCommand.ini)
are not correct.

Make sure that the required files are

set to Yes in the automatic transfer
command file.

Make sure that the required files are

set to Yes in the automatic transfer
command file.

Reading the data for automatic transfer failed because the SD Memory
Card is faulty or not formatted correctly.

Perform the same corrective measures as for when the format of the
SD Memory Card is not correct or the
SD Memory Card is damaged.

Perform the same preventive measures as for the following events: SD

Memory Card Invalid Format or Faulty
SD Memory Card.

The SD Memory Card is damaged.

If none of the above causes applies,

replace the SD Memory Card.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Or,
replace the SD Memory Card periodically according to the write life of the
SD Memory Card.

Attached Information 1: Error Details

0001 hex: An SD Memory Card is not inserted.
0002 hex: The SD Memory Card is faulty, the format of the SD Memory Card is not correct, or the SD Memory
Card is not the correct type of card.
0004 hex: Recovery was executed for the SD Memory Card.
0101 hex: There is no autoload folder on the SD Memory Card.
0102 hex: There are no backup files in the autoload folder on the SD Memory Card.
0103 hex: The backup files are corrupted.
0104 hex: The contents of the automatic transfer command file are not correct.
0105 hex: The required transfer data is not in the backup file.
0201 hex: The unit version of the CPU Unit is old.
0202 hex: The model numbers of the CPU Unit are not the same.
0203 hex: The CPU Unit is write-protected.
0301 hex: Reading data for automatic transfer failed or the SD Memory Card is faulty.

Precautions/
Remarks

None

*1 This event code was added for unit version 1.03 of the CPU Unit.
*2 For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

12-32

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Error in Executing Automatic Transfer

Meaning

The automatic transfer ended in an error.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

It was not possible to read the data for

automatic transfer.

Format the SD Memory Card with the

Sysmac Studio and then create an
autoload folder and place the backup
files in it.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Replace
the SD Memory Card periodically
according to the write life of the SD
Memory Card.

10280000 hex*1

Source details

None

Detection
timing

At power ON

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Stops.

Operation

Stops.*2

The SD Memory Card was removed

during an automatic transfer.

Insert an SD Memory Card that contains the backup files in an autoload

folder, and then cycle the power supply to execute the automatic transfer
again.

Do not remove the SD Memory Card

during the automatic transfer.

There are no backup files in the autoload folder on the SD Memory Card.

Create an autoload folder in the SD

Memory Card and store the backup
files in it.

The backup files in the autoload folder

on the SD Memory Card are corrupted.

Store the backup files in the autoload

folder again. If this error occurs again
even after replacing the files, create
the backup files again and place them
in the autoload folder.

Use a formatted SD Memory Card,

create an autoload folder in the SD
Memory Card, and store the backup
files in the folder. Do not turn OFF the
power supply or remove the SD Memory Card while the SD BUSY indicator
is lit.

The SD Memory Card is damaged.

If none of the above causes applies,

replace the SD Memory Card.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Replace
the SD Memory Card periodically
according to the write life of the SD
Memory Card.

Attached Information 1: Error Details

0001 hex: The SD Memory Card was removed.
0102 hex: There are no backup files in the autoload folder on the SD Memory Card.
0103 hex: The backup files are corrupted.
0301 hex: Reading data for automatic transfer failed or the SD Memory Card is damaged.

Precautions/
Remarks

None

*1 This event code was added for unit version 1.03 of the CPU Unit.
*2 For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

NJ-series CPU Unit Software Users Manual (W501)

12-33

12
12-2-4 Error Descriptions

Attached
information

Event code

12-2 Troubleshooting

Event name

12 Troubleshooting

Event name

Safe Mode

Event code

4016 0000 hex

Meaning

The Controller started in Safe Mode.

Source

PLC Function Module

Source details

None

Detection
timing

At power ON or
Controller reset

Error attributes

Level

Major fault

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

System-defined
variables

Variable

Stops.

Operation

Stops.*

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The power supply was turned ON to

the Controller when Safe Mode was
set on the DIP switch on the CPU
Unit.

---

---

Attached
information

None

Precautions/
Remarks

If the Controller is started when the CPU Unit is in Safe Mode, the user program is not executed even if the startup
mode is set to RUN mode.

Data type

Name

* For details, refer to I/O Operation for Major Fault Level Controller Errors on page 12-7.

Event name

Event Log Restoration Error

Meaning

Restoring the event log failed.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A low battery voltage prevented retention of memory during a power interruption.

Replace the Battery.

Replace the battery periodically.

Attached
information

Attached information 1: Error Details (0: Failure to restore all categories of logs, 1: Failure to restore system event log,
2: Failure to restore access event log, 100: Failure to restore user-defined event log)

Precautions/
Remarks

None

12-34

Event code

1023 0000 hex

Source details

None

Detection
timing

At power ON or
Controller reset

Observation

Recovery

---

Log category

System

Starts.

Operation

Not affected. However, the past event log cannot be

checked.

Data type

Name

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Trace Setting Transfer Failure

Meaning

The power supply was interrupted while transferring the trace settings.

Source

PLC Function Module

Source details

None

Detection
timing

At power ON or
Controller reset

Error attributes

Level

Observation

Recovery

Cycle the power

supply or reset
the Controller.

Log category

System

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The power supply was interrupted

while transferring the trace settings.

Transfer the trace settings again.

Do not interrupt the power supply

while transferring the trace settings.

Attached
information

None

Precautions/
Remarks

All trace settings are initialized when this error occurs.

Event name

Backup Failed to Start

Meaning

An error was detected in pre-execution checks for a backup operation.

Source

PLC Function Module

Source details

None

Detection
timing

When backup is
specified by the
user

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable

Data type

Name

None

---

---

10260000 hex

12
Event code

10290000 hex*

12-35

12-2-4 Error Descriptions

NJ-series CPU Unit Software Users Manual (W501)

Event code

12-2 Troubleshooting

Event name

12 Troubleshooting

Cause and
correction

Attached
information

Assumed cause

Correction

Prevention

An SD Memory Card is not inserted.

Insert an SD Memory Card.

Insert an SD Memory Card.

The SD Memory Card type is not correct.

Replace the SD Memory Card with an

SD or SDHC card.

Use an SD or SDHC card.

The format of the SD Memory Card is

not correct.

Format the SD Memory Card with the

Sysmac Studio.

Use a formatted SD Memory Card.

Also, do not remove the SD Memory
Card or turn OFF the power supply
while the SD BUSY indicator is lit.

The SD Memory Card is write protected.

Remove write protection from the SD

Memory Card.

Make sure that the SD Memory Card

is not write protected.

The Prohibiting backing up data to the

SD Memory Card parameter is set to
prohibit backing up data to an SD
Memory Card.

Change the setting of the Prohibiting

backing up data to the SD Memory
Card parameter to enable backing up
data to an SD Memory Card.

Set the Prohibiting backing up data to

the SD Memory Card parameter to
enable backing up data to an SD
Memory Card.

Another backup operation is in progress.

Wait for the other backup operation to

end and then perform the backup
operation again.

Do not attempt to perform other

backup operation during a backup
operation.

Synchronization, online editing, or the

Clear All Memory operation is in progress.

Wait for the synchronization, online

editing, or the Clear All Memory operation to end and then perform the
backup operation again.

Do not attempt to perform a backup

operation during a synchronization,
online editing, or the Clear All Memory operation.

The backup was canceled by the

user.

None

None

The online connection with the Sysmac Studio was disconnected.

Check the cable connections. Go

offline and then go back online and
execute the backup again.

Check the cable to see if it is disconnected or broken. Make sure the

cable is connected properly.

The SD Memory Card is damaged.

If none of the above causes applies,

replace the SD Memory Card.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Replace
the SD Memory Card periodically
according to the write life of the SD
Memory Card.

Attached information 1: Operation type

0101 hex: Controller to SD Memory Card for switch operation on front of CPU Unit
0102 hex: Controller to SD Memory Card for system variable operation
0103 hex: Controller to SD Memory Card for Sysmac Studio operation
0201 hex: Controller to computer
Attached Information 2: Error Details
0001 hex: An SD Memory Card is not inserted.
0002 hex: The SD Memory Card is faulty, the format of the SD Memory Card is not correct, or the SD Memory Card
is not the correct type of card.
0003 hex: The SD Memory Card is write protected.
0204 hex: SD Memory Card backup is prohibited.
0205 hex: Another backup operation is in progress.
0206 hex: Synchronization, online editing, or the Clear All Memory operation is in progress.
0207 hex: A prohibited character is used in the directory name that is specified in the system-defined variable.
0401 hex: The backup was canceled by the user.
0501 hex: The online connection with the Sysmac Studio was disconnected.

Precautions/
Remarks

None

* This event code was added for unit version 1.03 of the CPU Unit.

12-36

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

Backup Failed

Event code

102A 0000 hex*

The backup operation ended in an error.

Source

PLC Function Module

Source details

None

Detection
timing

During backup
operation

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The capacity of the SD Memory Card

is insufficient.

Replace the SD Memory Card for one

with sufficient available space.

Use an SD Memory Card that has

sufficient available space.

It was not possible to save the data

that was specified for backup.

Perform the backup operation again

when no data write operation to the
CPU Unit is in progress.

Do not write to the CPU Unit when a

backup operation is in progress.

The SD Memory Card was removed

during a backup operation.

Insert an SD Memory Card.

Insert an SD Memory Card.

Failed to back up Unit or slave.

Refer to the corrections for the following events: CJ-series Unit Backup
Failed (102D0000 hex) or EtherCAT
Slave Backup Failed (102F0000 hex).

Refer to the prevention information for

the following events: CJ-series Unit
Backup Failed (102D0000 hex) or
EtherCAT Slave Backup Failed
(102F0000 hex).

The backup was canceled by the

user.

None

None

Execution of the Save Cam Table

instruction or changing the CPU Unit
name is in progress.

Perform the operation after execution

of the Save Cam Table instruction or
changing the CPU Unit name is completed.

Do not perform a backup during execution of the Save Cam Table instruction or while changing the CPU Unit
name.

The online connection with the Sysmac Studio was disconnected.

Check the cable connections. Go

offline and then go back online and
execute the backup again.

Check the cable to see if it is disconnected or broken. Make sure the

cable is connected properly.

It was not possible to save the data

that was specified for backup to the
computer.

Increase the available space on the

hard disk on the computer.

Make sure there is sufficient space

available on the hard disk before you
perform a backup.

The SD Memory Card is damaged.

If none of the above causes applies,

replace the SD Memory Card.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Replace
the SD Memory Card periodically
according to the write life of the SD
Memory Card.

12

Attached information 1: Operation type

0101 hex: Controller to SD Memory Card for switch operation on front of CPU Unit
0102 hex: Controller to SD Memory Card for system variable operation
0103 hex: Controller to SD Memory Card for Sysmac Studio operation
0201 hex: Controller to computer
Attached Information 2: Error Details
0001 hex: The SD Memory Card was removed.
0005 hex: There is not sufficient space available on the SD Memory Card.
0206 hex: Execution of the Save Cam Table instruction or changing the CPU Unit name is in progress.
0302 hex: Saving the backup data failed or the SD Memory Card is faulty.
0304 hex: The Unit or slave could not be backed up.
0401 hex: The backup was canceled by the user.
0501 hex: The online connection with the Sysmac Studio was disconnected.
0502 hex: It was not possible to save the data that was specified for backup to the computer.

Precautions/
Remarks

None

* This event code was added for unit version 1.03 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

12-37

12-2-4 Error Descriptions

Attached
information

12-2 Troubleshooting

Meaning

12 Troubleshooting

Event name

Restore Operation Failed to Start

Event code

102B 0000 hex*

Meaning

An error was detected in pre-execution checks for a restore operation.

Source

PLC Function Module

Source details

None

Detection
timing

When restoring
data is specified
by the user

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

---

Operation

Not affected.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

An SD Memory Card is not inserted.

Insert an SD Memory Card.

Insert an SD Memory Card.

The SD Memory Card type is not correct.

Replace the SD Memory Card with an

SD or SDHC card.

Use an SD or SDHC card.

The format of the SD Memory Card is

not correct.

Format the SD Memory Card with the

Sysmac Studio and then place the
backup files on it.

There are no backup files on the SD

Memory Card.

Place the backup files in the specified

folder on the SD Memory Card.

Use a formatted SD Memory Card

and place the backup files on it. Also,
do not remove the SD Memory Card
or turn OFF the power supply while
the SD BUSY indicator is lit.

Either the backup files on the SD

Memory Card are corrupted or
required data is not in the backup files
on the SD Memory Card.

Create the backup files again.

The unit version of the CPU Unit to

which to restore the files is older than
the unit version of the backup files on
the SD Memory Card.

Replace the CPU Unit with a CPU

Unit that has a unit version that is the
same as or newer than the unit version of the CPU Unit that was used to
create the backup files. Or, specify
backup files with the correct unit version for the CPU Unit.

Make sure that the unit version of the

CPU Unit and the unit version of the
backup files are compatible.

The model of the CPU Unit to which

to restore the files is not the same as
the model of the CPU Unit of the
backup files on the SD Memory Card.

Replace the CPU Unit with a CPU

Unit that has the same model as the
CPU Unit that was used to create the
backup files. Or, specify backup files
with the correct model for the CPU
Unit.

Make sure that the model of the CPU

Unit is the same as the model of the
CPU Unit that was used to create the
backup files.

Recovery was executed for the SD

Memory Card.

If there are no backup files or no

restore command file in the specified
folder on the SD Memory Card, place
the files in the folder again.

None

The CPU Unit is write-protected.

If you use the restore function, select

the Do not use Option for the Write
protection at startup setting of the
CPU Unit.

If you use the restore function, select

the Do not use Option for the Write
protection at startup setting of the
CPU Unit.

The settings in the restore command

file (RestoreCommand.ini) are not
correct.

Make sure that the required files are

set to Yes in the restore command
file.

Make sure that the required files are

set to Yes in the restore command
file.

A backup operation is in progress.

Wait for the backup operation to end

and then perform the restore operation again.

Do not attempt to perform a restore

operation during a backup operation.

Synchronization, online editing, or the

Clear All Memory operation is in progress.

Wait for the synchronization, online

editing, or the Clear All Memory operation to end and then perform the
restore operation again.

Do not attempt to perform a restore

operation during a synchronization,
online editing, or the Clear All Memory operation.

The online connection with the Sysmac Studio was disconnected.

Check the cable connections. Go

offline and then go back online and
execute the backup again.

Check the cable to see if it is disconnected or broken. Make sure the

cable is connected properly.

Reading the data for restoration failed

because the SD Memory Card is
faulty or not formatted correctly.

Perform the same corrective measures as for when the format of the
SD Memory Card is not correct or the
SD Memory Card is damaged.

Perform the same preventive measures as for the following events: SD

Memory Card Invalid Format or Faulty
SD Memory Card.

12-38

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Cause and
correction

The SD Memory Card is damaged.

Attached
information

Attached information 1: Operation type

If none of the above causes applies,

replace the SD Memory Card.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Replace
the SD Memory Card periodically
according to the write life of the SD
Memory Card.

0101 hex: SD Memory Card to Controller for switch operation on front of CPU Unit

0001 hex: An SD Memory Card is not inserted.

0002 hex: The SD Memory Card is faulty, the format of the SD Memory Card is not correct, or the SD Memory Card
is not the correct type of card.
0004 hex: Recovery was executed for the SD Memory Card.
0102 hex: There are no backup files.

12-2 Troubleshooting

0201 hex: Computer to Controller

Attached Information 2: Error Details

0103 hex: The backup files are corrupted.

12

0104 hex: The contents of the restore command file are not correct.
0105 hex: The required transfer data is not in the backup file.
0201 hex: The unit version of the CPU Unit is old.

12-2-4 Error Descriptions

0202 hex: The model numbers of the CPU Unit are not the same.
0203 hex: The CPU Unit is write-protected.
0205 hex: Another backup operation is in progress.
0206 hex: Synchronization, online editing, or the Clear All Memory operation is in progress.
0301 hex: Reading data for restoration failed or the SD Memory Card is faulty.
0501 hex: The online connection with the Sysmac Studio was disconnected.
Precautions/
Remarks

None

* This event code was added for unit version 1.03 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

12-39

12 Troubleshooting

Event name

Restore Operation Failed

Event code

102C 0000 hex*

Meaning

The restore operation ended in an error.

Source

PLC Function Module

Source details

None

Detection
timing

During restore
operation

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

---

Operation

Not affected.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

It was not possible to read the data to

restore.

Format the SD Memory Card with the

Sysmac Studio and then place the
backup files on it.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Replace
the SD Memory Card periodically
according to the write life of the SD
Memory Card.

The SD Memory Card was removed

during a restore operation.

Insert an SD Memory Card that contains the backup files, and then execute the restore operation again.

Do not remove the SD Memory Card

during the restore operation.

Failed to restore Unit or slave.

Refer to the corrections for the following events: CJ-series Unit Restore
Operation Failed (102E0000 hex) or
EtherCAT Slave Restore Operation
Failed (10300000 hex).

Refer to the prevention information for

the following events: CJ-series Unit
Restore Operation Failed (102E0000
hex) or EtherCAT Slave Restore
Operation Failed (10300000 hex).

The SD Memory Card is damaged.

If none of the above causes applies,

replace the SD Memory Card.

Do not remove the SD Memory Card

or turn OFF the power supply while
the SD BUSY indicator is lit. Replace
the SD Memory Card periodically
according to the write life of the SD
Memory Card.

Attached
information

Data type

Name

Attached information 1: Operation type

0101 hex: SD Memory Card to Controller for switch operation on front of CPU Unit
0201 hex: Computer to Controller
Attached Information 2: Error Details
0001 hex: The SD Memory Card was removed.
0102 hex: There are no backup files.
0103 hex: The backup files are corrupted.
0301 hex: Reading data for restoration failed or the SD Memory Card is faulty.
0303 hex: The Unit or slave could not be restored.

Precautions/
Remarks

None

* This event code was added for unit version 1.03 of the CPU Unit.

12-40

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

Safe Mode

Event code

40170000 hex*

The CPU Unit started in Safe Mode.

Source

PLC Function Module

Source details

None

Detection
timing

At power ON or
Controller reset

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

Stops.

Operation

---

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The power supply was turned ON to

the Controller when the Safe Mode
was set on the DIP switch on the CPU
Unit.

---

---

Attached
information

None

Precautions/
Remarks

If the Controller is started when the CPU Unit is in Safe Mode, the CPU Unit will start in PROGRAM mode even if the
startup mode is set to RUN mode.

12-2 Troubleshooting

Meaning

Event name

NX Message Communications Error

Event code

80230000 hex*

Meaning

An error has occurred in message communications.

Source

PLC Function Module,

Source details

None

Detection
timing

During NX message communications

Log category

System

EtherCAT Master Function Module,

or EtherNet/IP Function Module
Error attributes

Level

Observation

Recovery

---

Effects

User program

Continues.

Operation

---

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The communications cable is broken.

Check the communications cable and

replace it if it is broken.

Check the communications cable to

see if it is operating properly.

Attached
information

The communications cable connector is disconnected.

Reconnect the connector and make

sure it is mated correctly.

Make sure the communications cable

is connected properly.

The NX message communications

load is high.

Reduce the number of times that

instructions are used to send NX
messages. Or, increase the value of
the TimeOut input variable to the
instruction. If more than one copy of
the Sysmac Studio is connected,
reduce the frequency of simultaneous
operations.

Reduce the number of times that

instructions are used to send NX
messages. Or, increase the value of
the TimeOut input variable to the
instruction. If more than one copy of
the Sysmac Studio is connected,
reduce the frequency of simultaneous
operations.

Precautions/
Remarks

Attached Information 1: System Information

Attached Information 2: Type of Communications
0: NX bus
1: EtherCAT
65,535: Unit internal communications (routing)

* This event code was added for unit version 1.05 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

12-41

12-2-4 Error Descriptions

* This event code was added for unit version 1.03 of the CPU Unit.

12

12 Troubleshooting

Event name

Clock Changed

Event code

9001 0000 hex

Meaning

The clock time was changed.

Source

PLC Function Module

Source details

None

Detection
timing

Commands from
user

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable
_CurrentTime

DATE_AND_TIME

System Time

Cause and
correction

Assumed cause

Correction

Prevention

The clock time was changed.

---

---

Attached
information

Attached information 1: Time before change

Precautions/
Remarks

Clock changes by the Set Time instruction (SetTime) are not recorded in the event log.

Event name

Time Zone Changed

Meaning

The time zone was changed.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable

Data type

Name

_CurrentTime

DATE_AND_TIME

System Time

Cause and
correction

Assumed cause

Correction

Prevention

The time zone was changed.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

Variable Changed to TRUE with Forced Refreshing

Data type

Name

The time stamp for this event will be for the time after the change.

Event code

9002 0000 hex

Source details

None

Detection
timing

When downloading

Information

Recovery

---

Log category

Access

Continues.

Operation

Not affected.

Event code

9008 0000 hex

Meaning

Changing a variable to TRUE with forced refreshing was specified.

Source

PLC Function Module

Source details

None

Detection
timing

Commands from
user

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

Continues.

Operation

Operation is performed according to the forced refreshing

values.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

Changing a variable to TRUE with

forced refreshing was specified by the
user.

---

---

Attached
information

None

Precautions/
Remarks

None

12-42

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

Variable Changed to FALSE with Forced Refreshing

Event code

90090000 hex

Changing a variable to FALSE with forced refreshing was specified.

Source

PLC Function Module

Source details

None

Detection
timing

Commands from
user

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

Continues.

Operation

Operation is performed according to the forced refreshing

values.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

Changing a variable to FALSE with

forced refreshing was specified by the
user.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

All Forced Refreshing Cleared

Meaning

Clearing all forced refreshing values was specified.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

Clearing all forced refreshing values

was specified by the user.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

Memory All Cleared

12-2 Troubleshooting

Meaning

12
900A0000 hex

Source details

None

Detection
timing

Commands from
user

Information

Recovery

---

Log category

Access

Continues.

Operation

Forced refreshing values are all cleared and operation is

performed according to the user program.

Event code

900B0000 hex

Meaning

All of memory was cleared.

Source

PLC Function Module

Source details

None

Detection
timing

Commands from
user

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

---

Operation

Operation returns to the factory state.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A user with Administrator rights

cleared all of the memory.

---

---

Attached
information

None

Precautions/
Remarks

None

NJ-series CPU Unit Software Users Manual (W501)

12-43

12-2-4 Error Descriptions

Event code

12 Troubleshooting

Event name

Event Log Cleared

Event code

900C 0000 hex

Meaning

The event log was cleared.

Source

PLC Function Module

Source details

None

Detection
timing

Commands from
user

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The event log was cleared by the

user.

---

---

Attached
information

Attached information 1: Cleared events

Precautions/
Remarks

None

Event name

Automatic Transfer Completed

Meaning

The automatic transfer was completed.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The automatic transfer was completed.

---

---

Attached
information

None

Precautions/
Remarks

None

Data type

0:
1:
2:
100:

Name

All log categories were cleared

The system event log was cleared.
The access event log was cleared.
The user-defined event log was cleared.

Event code

900F 0000 hex*

Source details

None

Detection
timing

At power ON

Information

Recovery

---

Log category

System

Continues.

Operation

Operation starts according to the Controller Configurations and Setup data that was automatically transferred.

Data type

Name

* This event code was added for unit version 1.03 of the CPU Unit.

Event name

Power Turned ON

Event code

9011 0000 hex

Meaning

The power supply was turned ON.

Source

PLC Function Module

Source details

None

Detection
timing

At power ON

Error attributes

Level

Information

Recovery

---

Log category

System

Effects

User program

----

Operation

Operation starts.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The power supply was turned ON.

---

---

Attached
information

None

Precautions/
Remarks

None

12-44

Data type

Name

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Power Interrupted

Event code

90120000 hex

Meaning

The power supply was interrupted.

Source

PLC Function Module

Source details

None

Detection
timing

At power interruption

Error attributes

Level

Information

Recovery

---

Log category

System

Effects

User program

System-defined
variables

Variable

Stops.

Operation
Data type

All operations stops.

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The power supply was interrupted.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

Operation Started

12-2 Troubleshooting

Event name

12
Event code

90130000 hex

Operation was started.

Source

PLC Function Module

Source details

None

Detection
timing

When changing
to RUN mode

Error attributes

Level

Information

Recovery

---

Log category

System

Effects

User program

Starts.

Operation

User program execution starts.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A command to start operation was

received.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

Operation Stopped

Event code

90140000 hex

Meaning

Operation was stopped.

Source

PLC Function Module

Source details

None

Detection
timing

When changing
to PROGRAM
mode

Error attributes

Level

Information

Recovery

---

Log category

System

Effects

User program

Stops.

Operation

User program execution stops.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A command to stop operation was

received.

---

---

Attached
information

None

Precautions/
Remarks

None

NJ-series CPU Unit Software Users Manual (W501)

12-45

12-2-4 Error Descriptions

Meaning

12 Troubleshooting

Event name

Reset Executed

Event code

9015 0000 hex

Meaning

A reset was executed.

Source

PLC Function Module

Source details

None

Detection
timing

Commands from
user

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

---

Operation

Operation is started after a reset is executed.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A reset command was received.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

User Program Execution ID Write

Event code

9016 0000 hex

Meaning

The user program execution ID was set or changed in the CPU Unit.

Source

PLC Function Module

Source details

None

Detection
timing

When downloading

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A user with Administrator rights

changed the user program execution
ID that is set in the CPU Unit.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

All Controller Errors Cleared

Meaning

All current errors were cleared.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The user cleared all current errors.

---

---

Attached
information

None

Precautions/
Remarks

None

12-46

Data type

Name

Event code

9018 0000 hex

Source details

None

Detection
timing

Commands from
user

Information

Recovery

---

Log category

Access

Continues.

Operation

Clearing all errors for which the causes have been

removed.

Data type

Name

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Forced Refreshing Cleared

Event code

90190000 hex

Meaning

Clearing a forced refreshing value was specified.

Source

PLC Function Module

Source details

None

Detection
timing

Commands from
user

Error attributes

Level

Information

Recovery

---

Log category

Access

Effects

User program

Continues.

Operation

Forced refreshing values are cleared and operation is performed according to the user program.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

Clearing a forced refreshing value

was specified by the user.

---

---

Attached
information

None

Precautions/
Remarks

None

Event name

Backup Started

Meaning

A backup operation was started.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A backup operation was started.

---

---

Attached
information

Attached information 1: Operation type

12
901A 0000 hex*

Source details

None

Detection
timing

At start of backup
operation

Information

Recovery

---

Log category

System

Continues.

Operation

Not affected.

0101 hex: Controller to SD Memory Card for switch operation on front of CPU Unit
0103 hex: Controller to SD Memory Card for Sysmac Studio operation
0201 hex: Controller to computer
None

* This event code was added for unit version 1.03 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

12-47

12-2-4 Error Descriptions

Event code

0102 hex: Controller to SD Memory Card for system variable operation

Precautions/
Remarks

12-2 Troubleshooting

Event name

12 Troubleshooting

Event name

Backup Completed

Event code

901B 0000 hex*

Meaning

The backup operation ended normally.

Source

PLC Function Module

Source details

None

Detection
timing

At end of normal
backup operation

Error attributes

Level

Information

Recovery

---

Log category

System

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The backup operation ended normally.

---

---

Attached
information

Attached information 1: Operation type

Data type

Name

0101 hex: Controller to SD Memory Card for switch operation on front of CPU Unit
0102 hex: Controller to SD Memory Card for system variable operation
0103 hex: Controller to SD Memory Card for Sysmac Studio operation
0201 hex: Controller to computer

Precautions/
Remarks

None

* This event code was added for unit version 1.03 of the CPU Unit.

Event name

Restore Operation Started

Event code

901C 0000 hex*

Meaning

A restore operation started.

Source

PLC Function Module

Source details

None

Detection
timing

At start of restore
operation

Error attributes

Level

Information

Recovery

---

Log category

System

Effects

User program

---

Operation

Not affected.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A restore operation started.

---

---

Attached
information

Attached information 1: Operation type

Precautions/
Remarks

None

Data type

Name

0101 hex: SD Memory Card to Controller for switch operation on front of CPU Unit
0201 hex: Computer to Controller

* This event code was added for unit version 1.03 of the CPU Unit.

12-48

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

Restore Operation Completed

Event code

901D 0000 hex*

The restore operation ended normally.

Source

PLC Function Module

Source details

None

Detection
timing

At end of normal
restore operation

Error attributes

Level

Information

Recovery

---

Log category

System

Effects

User program

---

Operation

Operation does not start after the completion of a restore

operation. To start operation according to the restored
user program and settings, turn OFF the power supply to
the Controller, turn OFF all pins on the DIP switch on the
CPU Unit, and then turn ON the power supply again.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The restore operation ended normally.

---

---

Attached
information

Attached information 1: Operation type

12-2 Troubleshooting

Meaning

12

0101 hex: SD Memory Card to Controller for switch operation on front of CPU Unit
0201 hex: Computer to Controller
12-2-4 Error Descriptions

Precautions/
Remarks

None

* This event code was added for unit version 1.03 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

12-49

12 Troubleshooting

Errors Related to FINS Communications

Event name

CPU Bus Unit Setup Area Error

Event code

1401 0000 hex

Meaning

An error was detected in the memory check of the Setup Area for CPU Bus Units.

Source

PLC Function Module

Source details

None

Detection
timing

At power ON, at
Controller reset,
or when writing
CPU Bus Unit
Setup Area

Error attributes

Level

Minor fault

Recovery

Error reset or
cycling power
supply

Log category

System

Effects

User program

Continues.

Operation

The CPU Bus Unit may stop.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The power supply to the Controller

was interrupted or communications
with the Sysmac Studio were disconnected while downloading the CPU
Bus Unit Settings.

Clear all memory or download the

CPU Bus Unit Settings. If this error
persists, replace the CPU Unit.

Do not interrupt the power supply to

the Controller or disconnect communications with the Sysmac Studio
while downloading the CPU Bus Unit
Settings.

Attached
information

None

Precautions/
Remarks

None

Event name

IP Address Table Setting Error

Event code

3410 0000 hex

Meaning

The IP address table settings are incorrect.

Source

PLC Function Module

Source details

None

Detection
timing

At power ON,
Controller reset,
or restart of builtin Ethernet port

Error attributes

Level

Minor fault

Recovery

Error reset

Log category

System

Effects

User program

Continues.

Operation

FINS/UDP communications will not operate.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The IP address conversion method is

set to the combined method or the IP
address table method, but the IP
address table settings are incorrect.

Correct the IP address table settings.

Set the IP address table correctly.

Attached
information

None

Precautions/
Remarks

None

12-50

Data type

Name

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

FINS/TCP Connection Table Setting Error

Event code

34130000 hex

PLC Function Module

Source details

None

Detection
timing

At power ON,
Controller reset,
or restart of builtin Ethernet port

Error attributes

Level

Minor fault

Recovery

Error reset

Log category

System

Effects

User program

Continues.

Operation

FINS/UDP communications will not operate.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The power supply to the Controller

was interrupted or communications
with the Sysmac Studio were disconnected while downloading the
FINS/TCP connection table.

Download the FINS/TCP connection

table again.

Do not interrupt the power supply to

the Controller or disconnect communications with the Sysmac Studio
while downloading the FINS/TCP
connection table.

Attached
information

None

Precautions/
Remarks

None

Event name

Unknown Destination Node

Meaning

The send destination node is not known.

Source

PLC Function Module

Error attributes

Level

Effects

User program

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

The send destination node was not

found when a FINS message was
sent.

Correct the setting of the send destination node for FINS/UDP communications. Or, check the source FINS
message and correct the destination
node address.

Set the send destination node for

FINS/UDP communications correctly.
Or, make sure that the destination
node address in the source FINS
message is correct.

Attached
information

None

Precautions/
Remarks

None

Event code

34110000 hex

Source details

None

Detection
timing

At FINS message
reception

Observation

Recovery

---

Log category

System

Continues.

Operation

Not affected. Packets are discarded.

NJ-series CPU Unit Software Users Manual (W501)

12-51

12
12-2-4 Error Descriptions

The FINS/TCP connection table is incorrect.

Source

12-2 Troubleshooting

Meaning

12 Troubleshooting

Event name

Packet Discarded

Event code

8010 0000 hex

Meaning

One or more packets were discarded.

Source

PLC Function Module

Source details

None

Detection
timing

At FINS message
reception

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable
None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

A FINS response addressed to the

CPU Unit was received.

Correct the contents of the FINS message at the source.

Set the FINS messages correctly.

Data type

Name

The send designation Unit for the

FINS response does not exist.
Attached
information

Attached information 1: Cause of packet discard (01 hex: FINS response addressed to CPU Unit received, 02 hex:
Response send failed)

Precautions/
Remarks

None

12-52

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

Event name

Packet Discarded

Event code

80110000 hex

One or more packets were discarded.

Source

PLC Function Module

Source details

None

Detection
timing

At FINS message
reception

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable

Data type

Name

None

---

---

Cause and
correction

Assumed cause

Correction

Prevention

1. An attempt was made to send a

FINS response with over 2002
bytes.

Do not send a FINS response with

over 2002 bytes.

Set the FINS message at the source

correctly.

2. An attempt was made to route a

FINS response with over 2002
bytes.
Check the FINS message at the
source and correct the unit number in
the response frame or a command
frame that does not require a
response.

4. Packet was received with a Routing Error routing error.

Check the FINS message at the

source and correct the unit number in
the response frame or a command
frame that does not require a
response to a unit number that is in
the routing table.

5. Packet was received with a Routing Table Not Registered routing

error.

Check the FINS message at the

source, and correct the routing table
include the network address of the
destination network.

6. Packet was received with an

Event Area Size Over Limit routing error.

Check the FINS message at the

source and correct the event area
size in the response frame or a command frame that does not require a
response so that it does not exceed
the limit.

7. There is insufficient space in the

internal buffer.

Reduce the frequency of sending

FINS messages at the source.

12
12-2-4 Error Descriptions

3. Packet was received with a No

Such Unit routing error.

Keep the frequency of sending FINS

messages as low as possible.

8. FINS message routing failed

because the communications
load is too high.
Attached
information

Attached information 1: Cause of discarding packets

1: 01 hex, 2: 02 hex, 3: 03 hex, 4: 04 hex, 5: 05 hex, 6: 06 hex, 7: 07 hex, 8: 08 hex
The numbers refer to the numbers of the above causes.

Precautions/
Remarks

None

Event name

Packet Discarded

Event code

80120000 hex

Meaning

One or more packets were discarded.

Source

PLC Function Module

Source details

None

Detection
timing

At FINS message
reception

Error attributes

Level

Observation

Recovery

---

Log category

System

Effects

User program

Continues.

Operation

Not affected.

System-defined
variables

Variable

Data type

Name

None

---

---

NJ-series CPU Unit Software Users Manual (W501)

12-2 Troubleshooting

Meaning

12-53

12 Troubleshooting

Cause and
correction

Attached
information

Assumed cause

Correction

Prevention

1. A FINS response was received

with the destination network
address (DNA) set to the local
network and the destination node
address (DA1) not set to the local
node.

Correct the IP address table settings.

Make sure that the IP address table

settings are correct.

2. A FINS command or response

was received with a hub network
address specification for which
the destination network address
(DNA) was greater than or equal
to 80 hex.

Correct the FINS message at the

source so that the hub network
address specification does not specify a destination network address
(DNA) that is greater than or equal to
80 hex.

Make sure that the FINS message at

the source does not have a hub network address specification that specifies a destination network address
(DNA) that is greater than or equal to
80 hex.

3. There is insufficient space in the

internal buffer.

Reduce the frequency of sending

FINS messages at the source.

Keep the frequency of sending FINS

messages as low as possible.

4. A FINS command that does not

have the minimum command
length was received.

Correct the FINS command at the

source so that it has at least the minimum command length.

Set the FINS commands at the

sources so that they have at least the
minimum command length.

5. A FINS command that exceeded

the maximum command length
was received.

Correct the FINS command at the

source so that it does not exceed the
maximum command length.

Set the FINS commands at the

sources so that they do not exceed
the maximum command length.

6. Sending packets failed.

If the destination node is not in the

network, add it to the network.

Confirm that the destination node is in

the network.

7. FINS message routing failed

because the communications
load is too high. Or a command
that was addressed to the built-in
EtherNet/IP port was received
with the source network address
(SNA) set to 0.

Reduce the frequency of sending

FINS messages at the source. Or,
correct the source network address
(SNA) in the source FINS message.

Keep the frequency of sending FINS

messages as low as possible. Or, set
the correct source network address
(SNA) in the source FINS message.

8. A FINS response that was

addressed to the built-in EtherNet/IP port was received.

Correct the contents of the FINS message at the source.

Set the FINS messages correctly.

9. A FINS response or a command

for which a response is not
required was received when the
routing tables were not registered.

Register the routing tables.

Register the routing tables.

A: A FINS response or a command

for which a response is not
required was received when there
was an error in the routing tables.

Register the routing tables again. If

there is an error in the routing tables,
there will be an Illegal User Program/Controller Configurations and
Setup (10250000 hex) error.

None

B: A FINS response or a command

for which a response is not
required was received that
exceeded the number of relay
points.

Increase the set value of the gateway

counter in the routing table at the
source.

Set the gateway counter in the routing

table at the source so that it is suitable for the system configuration.

C: Transmission is not possible

because the destination address
is not set in the routing tables.

Register the destination address in

the routing tables.

Register the destination address in

the routing tables.

D: Routing is not possible because

the FINS node address setting in
the Built-in EtherNet/IP Port Settings is set to 0 or 255.

Set the FINS node address in the

Built-in EtherNet/IP Port Settings to
any value other than 0 or 255 from the
Sysmac Studio.

If you set the lower eight bits of the IP

address in the TCP/IP Settings in the
Built-in EtherNet/IP Port Settings to 0
or 255, set the IP Address-FINS
Address Conversion Method to any
setting other than Automatic Generation.

Attached Information 1: Cause of Discarding Packets

1: 01 hex, 2: 02 hex, 3: 03 hex, 4: 04 hex, 5: 05 hex, 6: 06 hex, 7: 07 hex, 8: 08 hex, 9: 09 hex, A: 0A hex, B: 0B hex,
C: 0C hex, D: 0D hex
The numbers correspond to the above cause numbers.

Precautions/
Remarks

12-54

None

NJ-series CPU Unit Software Users Manual (W501)

12 Troubleshooting

12-2-5 Troubleshooting Errors That Are Not in the CPU Unit

Security Errors
No.

Problem

Correction
You cannot access the Administrators password. Always
record the Administrator password so that you do not forget it.

Cannot release the operation lock with

the Sysmac Studio.

Log in with verification authority that is equal to or higher

than the verification rights when you connected online.

Operation was locked when verifying

operation authority on the Sysmac
Studio.

If the password for verification of operation authority is

entered incorrectly five time in row, operation is locked for
10 minutes. Wait until the operation lock is released.

An online connection was made with

the operation authority that is required
for operation, but operation authority
verification was requested for a specific operation.

Verification of operation authority is required every time

for the following functions to prevent hazards to equipment and people.

Cannot release the operation lock with

the Sysmac Studio after the operator
left the Sysmac Studio unattended.

You can release the operation lock with an operation

authority that is equal to or higher than the operator. The
required operation authority will be that of an operator
(the operation authority that was verified when going
online with the Sysmac Studio).

Some of the user program data cannot

be read for certain operations.

The source data was not downloaded along with the user
program. You will be able to read the data if you download
the user program normally.

Monitoring
Variables
Operation Commands
SET/RESET, forced refreshing,
online editing, data tracing, MC Test
Run, and setting the user program
execution ID in the CPU Unit
Synchronizing, Uploading, Verification, and Backup
POU algorithms
7

Writing to the CPU Unit is not possible

for some operations.

I/O monitoring (writing) by an Operator

Operating mode change by a Maintainer
Online editing by a Maintainer

The CPU Unit is write protected. Release the write protection.

Names
CPU Unit name
Operation Commands
Online editing, Clear All Memory,
event log clearing, and setting the
user program execution ID in the
CPU Unit
Synchronizing and Downloading
User program, CPU/Expansion
Rack Configuration and Setup,
EtherCAT Settings, Controller
Setup, Axis Settings, Cam Table
Settings, Data Trace Settings, Userdefined Event Setup, restoring

NJ-series CPU Unit Software Users Manual (W501)

12-55

12
12-2-5 Troubleshooting Errors That Are Not in the CPU Unit

Forgot the Administrator password.

12-2 Troubleshooting

12 Troubleshooting

No.

12-56

Problem

Correction

I do not know how to change the user

program execution ID.

The user program execution ID cannot be changed or

deleted after it is set.

I forgot the user program execution ID

assigned to user program.

There is no way to access the user program execution ID

that is set. Always record the user program execution ID
so that you do not forget it.

10

I forgot the user program execution ID

that is registered in the CPU Unit.

This is no way to access the user program execution ID

that is set. Set the user program execution ID again. You
can also clear the user program execution ID if you execute the Clear All Memory operation.

NJ-series CPU Unit Software Users Manual (W501)

pp
Appendices

A-1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

A-1-1
A-1-2
A-1-3

General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6

A-2 Calculating Guidelines for the Real Processing Times of Tasks . . . . . . . A-13
A-2-1
A-2-2

Calculating the Average Real Processing Times of Tasks . . . . . . . . . . . . . . . A-13

Example of Calculating the Average Real Processing Time of a
Task and Setting the Task Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-22

A-3 System-defined Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-26

A-3-1
A-3-2
A-3-3
A-3-4
A-3-5
A-3-6
A-3-7

System-defined Variables for the Overall NJ-series Controller

(No Category) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC Function Module, Category Name: _PLC . . . . . . . . . . . . . . . . . . . . . . .
PLC Function Module, Category Name: _CJB . . . . . . . . . . . . . . . . . . . . . . .
Motion Control Function Module, Category Name: _MC . . . . . . . . . . . . . . . .
EtherCAT Master Function Module, Category Name: _EC . . . . . . . . . . . . . .
EtherNet/IP Function Module, Category Name: _EIP . . . . . . . . . . . . . . . . . .
Meanings of Error Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-26
A-33
A-34
A-36
A-37
A-41
A-47

A-4 Specifications for Individual System-defined Variables . . . . . . . . . . . . . . A-49

A-4-1
A-4-2
A-4-3
A-4-4
A-4-5
A-4-6

System-defined Variables for the Overall NJ-series Controller

(No Category) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC Function Module, Category Name: _PLC . . . . . . . . . . . . . . . . . . . . . . .
PLC Function Module, Category Name: _CJB . . . . . . . . . . . . . . . . . . . . . . .
Motion Control Function Module, Category Name: _MC . . . . . . . . . . . . . . . .
EtherCAT Master Function Module, Category Name: _EC . . . . . . . . . . . . . .
EtherNet/IP Function Module, Category Name: _EIP . . . . . . . . . . . . . . . . . .

A-49
A-60
A-61
A-65
A-66
A-73

A-5 Attributes of CPU Unit Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-81

NJ-series CPU Unit Software Users Manual (W501)

A-1

App

The appendices provide the CPU Unit specifications, real processing times of tasks,
system-defined variable lists, and other supplemental information for the body of this
manual.

Appendices

A-6 Contents of Memory Used for CJ-series Units . . . . . . . . . . . . . . . . . . . . . .A-85

A-6-1
A-6-2
A-6-3
A-6-4
A-6-5

CIO Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-85

Internal I/O Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-87
Holding Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-88
DM Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-88
EM Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-89

A-7 Variable Memory Allocation Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-90

A-7-1
A-7-2

Variable Memory Allocation Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-90

Important Case Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-98

A-8 Registering a Symbol Table on the CX-Designer . . . . . . . . . . . . . . . . . . .A-102

A-9 Enable/Disable EtherCAT Slaves and Axes . . . . . . . . . . . . . . . . . . . . . . .A-105
A-9-1
A-9-2
A-9-3
A-9-4
A-9-5
A-9-6
A-9-7

Project Settings When Using EtherCAT Slaves and Axes . . . . . . . . . . . . . .A-105

Using Instructions to Enable/Disable EtherCAT Slaves and Axes . . . . . . . . .A-105
System-defined Variables That Indicate EtherCAT Slave or Axis Status . . .A-106
Enabling/Disabling Execution of Program . . . . . . . . . . . . . . . . . . . . . . . . . . .A-107
Checking Enabled/Disabled Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-107
Settings with the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-107
Examples of Applications of Enabling/Disabling EtherCAT Slaves
and Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-108

A-10 Size Restrictions for the User Program . . . . . . . . . . . . . . . . . . . . . . . . . .A-111

A-10-1
A-10-2

User Program Object Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-111

Counting User Program Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-114

A-11 Replacing CPU Units with Unit Version 1.02 or Earlier . . . . . . . . . . . . . .A-116
A-11-1
A-11-2
A-11-3

Uploading the Data from the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-116

Connecting the New CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-119
Downloading the Data to the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-120

A-12 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-124

A-12-1
A-12-2
A-12-3

A-2

Relationship between Unit Versions of CPU Units

and Sysmac Studio Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-124
Functions That Were Added or Changed for Each Unit Version . . . . . . . . . .A-126
Performance Improvements for Unit Version Upgrades . . . . . . . . . . . . . . . .A-128

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-1

Specifications
This section gives the specifications of the NJ-series Controllers.

A-1-1

General Specifications
Item

NJ501-

NJ301-

Mounted in a panel

Grounding method

Ground to less than 100 .

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)

0 to 55C

Ambient operating humidity

10% to 90% (with no condensation)

Atmosphere

Must be free from corrosive gases.

Ambient storage temperature

20 to 75C (excluding battery)

Altitude

2,000 m max.

Pollution degree

2 or less: Conforms to JIS B 3502 and IEC 61131-2.

Noise immunity

2 kV on power supply line (Conforms to IEC 61000-4-4.)

Overvoltage category

Category II: Conforms to JIS B 3502 and IEC 61131-2.

EMC immunity level

Zone B

App

Conforms to JIS C 60068-2-6.

Vibration resistance

5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz,

Acceleration of 9.8 m/s2, 100 min in X, Y, and Z directions (10 sweeps of 10 min each = 100 min total)
Conforms to JIS C 60068-2-27.

Shock resistance

Battery

Life

5 years at 25C

Model

Applicable standards

147 m/s2, 3 times in X, Y, and Z directions (100 m/s2

for Relay Output Units)

*1

CJ1W-BAT01
cULus, EC Directives, NK, LR and KC*2

*1 Refer to the OMRON website (http://www.ia.omron.com/) or contact your OMRON representative for the most
recent applicable standards for each model.
*2 The KC complies with a CPU Unit with a unit version of 1.01 or later.

NJ-series CPU Unit Software Users Manual (W501)

A-3

A-1-1 General Specifications

Operating
environment

Ambient operating temperature

A-1 Specifications

Enclosure

Appendices

A-1-2

Performance Specifications
NJ501-

NJ301-

Item
15
Processing time

Instruction execution times

Memory capacity for variables

Programming

Data types
Memory for CJseries Units
(Can be specified with AT
specifications
for variables.)
Maximum number of connectable Units

Unit configuration

Math instructions (for long real data)

26 ns or more

42 ns or more

Size

20 MB

5 MB

Number of POU definitions

3,000

750

Number of POU instances

9,000*

3,000*

Retain attri-

Size

2 MB

0.5 MB

butes*2

Number of variables

10,000

5,000*

No Retain attri-

Size

4 MB

2 MB

butes*3

Number of variables

90,000

22,500

Number of data types

2,000

1,000

CIO Area

6,144 words (CIO 0 to CIO 6143)

Work Area

512 words (W0 to W511)

Holding Area

1,536 words (H0 to H1535)

DM Area

32,768 words (D0 to D32767)

Quantity

32,768 words 25 banks (E0_00000 to E18_32767)

EM Area

32,768 words 4 banks (E0_00000 to E3_32767)

Maximum per CPU Rack or Expansion Rack

10

Entire controller

40
3

I/O capacity

Maximum number of I/O points on CJ-series Units

2,560

Power Supply
Unit for CPU
Rack and
Expansion
Racks

Model

NJ-P3001
AC power supply

Power OFF
detection time

DC power supply

Maximum number of used real axes

Maximum number of axes for single-axis control

22 to 25 ms
64 axes

32 axes

16 axes

15 axes (*)

64 axes

32 axes

16 axes

8 axes

64 axes for
single-axis
control

32 axes for
single-axis
control

16 axes for
single-axis
control

15 axes for single-axis

control (*)

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

4 axes

32 axes groups

Motion control period

The same control period as that is used for the process data communications cycle for EtherCAT.

Number of cam
data points

Maximum points per cam table

65,535 points

Maximum points for all cam

tables

1,048,560 points

262,140 points

640 tables

160 tables

Maximum number of cam tables

A-4

*5

30 to 45 ms

Maximum number of axes groups

Cams

Peripheral
USB port

11

3.0 ns or more

Maximum number of controlled axes*4

Motion
control

12

1.9 ns or more

Maximum number of Expansion Racks

Number of controlled axes

13

Ladder diagram instructions (LD, AND, OR, and

OUT)

Program capacity*1

14

Position units

Pulse, mm, m, nm, degree, and inch

Override factors

0.00% or 0.01% to 500.00%

Supported services

Sysmac Studio connection

Physical layer

USB 2.0-compliant B-type connector

Transmission distance

5 m max.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

NJ501-

NJ301-

Item
15

Built-in
EtherNet/IP port

13

12

11

Physical layer

10BASE-T/100BASE-TX

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

32

Packet interval*6

1 to 10,000 ms in 1.0-ms increments (*)

Can be set for each connection.

Permissible communications band

3,000 pps*7 (including heartbeat) (*)

Maximum number of tag sets

32

Tag types

Network variables, CIO, Work, Holding, DM, and EM Areas

Number of tags per connection (i.e., per tag set)

8 (7 tags if Controller status is included in the tag set.)

Maximum link data size per node (total size for all
tags)

19,200 bytes

Maximum data size per connection

600 bytes

Maximum number of registrable tag sets

32 (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*8

Supported

CIP message
service: Explicit
messages

UCMM (nonconnection
type)

32 (clients plus server)

Maximum number of clients that

can communicate at one time

32

Maximum number of servers

that can communicate at one
time

32

Number of TCP sockets

30 (*)

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, and branching

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

192

Maximum process data size

Inputs: 5,736 bytes

Outputs: 5,736 bytes
However, the maximum number of process data frames is 4.

Maximum process data size per slave

Inputs: 1,434 bytes

Outputs: 1,434 bytes

Communications cycle

500, 1,000, 2,000, or 4,000 s (*)

Sync jitter

1s max.

Internal clock

*1
*2
*3
*4
*5
*6

At ambient temperature of 55C: 3.5 to +0.5 min error per month

At ambient temperature of 25C: 1.5 to +1.5 min error per month
At ambient temperature of 0C: 3 to +1 min error per month

Execution objects and variable tables (including variable names)

Does not include Holding, DM, and EM Area memory for CJ-series Units.
Does not include CIO and Work Area memory for CJ-series Units.
This is the total for all axis types.
This is the total number of axes that are set as servo axes or encoder axes and are also set as used axes.
Data will be refreshed at the set interval, regardless of the number of nodes.

NJ-series CPU Unit Software Users Manual (W501)

A-5

A-1-2 Performance Specifications

Class 3 (number of connections)

App

Built-in
EtherNet/IP port

There are no restrictions if an Ethernet switch is used.

Maximum number of connections

A-1 Specifications

CIP service: Tag

data links (cyclic
communications)

Built-in
EtherCAT
port

14

Appendices

*7
*8

pps means packets per second, i.e., the number of communications packets that can be sent or received in one second.
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.

Note Items that are marked with asterisks in the table are improvements that were made during version upgrades. Refer to A12 Version Information for information on version upgrades.

A-1-3

Function Specifications
Item

NJ501-

I/O refresh and the user program are executed in units that
are called tasks. Tasks are used to specify execution conditions and execution priority.

Function

Periodically
executed
tasks
Tasks

Conditionally executed tasks

(*)

Setup

POUs (program organization units)

Programming languages

Maximum number of primary periodic tasks

Maximum number of
periodic tasks

Maximum number of
event tasks

32

Execution conditions

Programming

System Service Monitoring Settings

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.
Ladder diagrams *1 and structured text (ST)

Types
Namespaces are used to create named groups of POU definitions.
External
access of
variables

Basic data
types

Data types

Network variables

The function which allows access from the HMI, host computers, or other Controllers

Boolean

BOOL

Bit strings

BYTE, WORD, DWORD, and LWORD

Integers

INT, SINT, DINT, LINT, UINT, USINT, UDINT, and ULINT

Real numbers

REAL and LREAL

Durations

TIME

Dates

DATE

Times of day

TIME_OF_DAY

Dates and times

DATE_AND_TIME

Text strings

STRING

Derivative data types

Function

Structures

A-6

When Activate Event Task instruction is executed or when

condition expression for variable is met
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).

Namespaces (*)

Variables

NJ301-

Structures, Unions, and Enumerations

A derivative data type that groups together data with different data types.

Maximum number of
members

2,048

Nesting maximum levels

Member data types

Basic data types, structures, unions, enumerations, or array

variables

Specifying member offsets (*)

You can use member offsets to place structure members at

any memory locations.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Item

NJ501-
Function

Union
Data types

Enumeration

Programming

Maximum number of
members

Member data types

BOOL, BYTE, WORD, DWORD, and LWORD

Function

A derivative data type that uses text strings called enumerators to express variable values.

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
Array specifi- dimensions
cations
Maximum number of elements
Array specifications for
FB instances
Range specifications

3
65,535
Supported
You can specify a range for a data type in advance. The data
type can take only values that are in the specified range.

App

You can use user libraries.

Control modes

Position control, Velocity control, and 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
velocity control
Single-axis
torque control

Motion
control
Single axes

Single-axis
synchronized 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.

Velocity control

Velocity control is performed in Position Control Mode.

Cyclic synchronous
velocity control

A velocity command is output each control period in Velocity

Control Mode.
The torque of the motor is controlled.

Torque 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

Single-axis
manual operation

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.

Powering the Servo

The Servo in the Servo Drive is turned ON to enable axis

motion.

Jogging

An axis is jogged at a specified target velocity.

NJ-series CPU Unit Software Users Manual (W501)

A-7

A-1-3 Function Specifications

Libraries (*)

Single-axis
position control

A-1 Specifications

Data type
attributes

NJ301-

A derivative data type that enables access to the same data

with different data types.

Appendices

Item

Single axes

Auxiliary
functions for
single-axis
control

Motion
control

Multi-axes
coordinated
control

Axes groups

Auxiliary
functions for
multi-axes
coordinated
control

Common
items

A-8

Cams

NJ501-

NJ301-

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 specified

parameters (*)

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.

Start velocity*

You can set the initial velocity when axis motion starts.

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.

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.

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.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Item

Parameters

Writing MC settings
Changing axis parameters (*)

Some of the axis parameters can be accessed or changed

from the user program.
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.

Automatic acceleration/deceleration control

Jerk is set for the acceleration/deceleration curve for an axis

motion or axes group motion.

Changing the acceleration and deceleration

rates

You can change the acceleration or deceleration rate even

during acceleration or deceleration.

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 an axis.

Velocity, acceleration
rate, deceleration rate,
torque, interpolation
velocity, interpolation
acceleration rate, and
interpolation deceleration rate

Absolute encoder support

You can use an OMRON 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.
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

External interface signals

EtherCAT
slaves

Unit (I/O)
management

Maximum number of slaves

Basic I/O

Chattering and noise

countermeasures

192
Input response times are set.
You can use NX Units through the Communications Coupler
Unit.

NX Units*
Maximum number of Units
CJ-series
Units

You can set and monitor warning values for each axis and
each axes group.

Basic I/O
Units

40

Chattering and noise

countermeasures

Input response times are set.

Load short-circuit protection and I/O disconnection detection

Alarm information for Basic I/O Units is read.

NJ-series CPU Unit Software Users Manual (W501)

A-9

A-1-3 Function Specifications

You can set an in-position range and in-position check time

to confirm when positioning is completed.

App

In-position check

A-1 Specifications

Motion
control

NJ301-

Count modes

Acceleration/deceleration control

Auxiliary
functions

NJ501-

Some of the axis parameters or axes group parameters are

overwritten temporarily.

Appendices

Item

NJ501-

Peripheral USB port

Communications protocol
CIP communications
service

EtherNet/IP
port
TCP/IP applications

Communications
Supported
services

EtherCAT
port

TCP/IP and UDP/IP

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.

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 (*)

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.

Process data communications

Control information is exchanged in cyclic communications

between the EtherCAT master and slaves.

SDO communications

Control information is exchanged in noncyclic event communications between the EtherCAT master and slaves. The following application protocol is supported. CoE (CANopen
over EtherCAT)

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).

Packet monitoring

The frames that are sent by the master and the frames that
are received by the master can be saved. The data that is
saved can be viewed with WireShark or other applications.

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

Communications instructions

Operation
management

NJ301-

A port for communications with various kinds of Support

Software running on a personal computer.

RUN output contacts

SDO messages that conform to the CANopen standard can

be sent to slaves via EtherCAT
FTP client instructions (*), CIP communications instructions,
socket communications instructions, SDO message instructions, no-protocol communications instructions, and protocol
macro instructions
The output on the NJ-P3001 Power Supply Unit turns ON
in RUN mode.
Events are recorded in the logs listed on the right.

System
management

Categories
Event logs

Access event log,

User-defined event log

Maximum number of events per event

log

A-10

System event log,

1,024

512

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Item

NJ501-

NJ301-

Programs, function blocks, functions, and global variables

can be changed online. More than one operators can
change POUs individually via network.

Online editing
Forced refreshing
Maximum
number of
forced variables

The user can force specific variables to TRUE or FALSE.

Device variables for
EtherCAT slaves

64

Device variables for CJseries Units and variables with AT specifications

64

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

Single triggered trace

When the trigger condition is met, the specified number of

samples are taken and then tracing stops automatically.

Continuous trace

Data tracing is executed continuously and the trace data is

collected by the Sysmac Studio.

Types

Maximum number of records

10,000

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.

48 variables

When BOOL variable changes to TRUE or FALSE

Comparison of non-BOOL variable with a constant
Trigger conditions

Delay

Reliability
functions

Trigger position setting: A slider is used to set the percentage of sampling before and after the trigger condition is met.
The operation of the CPU Unit is emulated in the Sysmac
Studio.

Simulation

Maintenance

Comparison Method: Equals (=), Greater than (>), Greater

than or equals (), Less Than (<), Less than or equals (),
Not equal ()

Connections
to HMIs

Connected port

Sysmac Studio connection

Connected port

Built-in EtherNet/IP port

Peripheral USB port or built-in EtherNet/IP port

Controller
errors

Levels

Major faults, partial faults, minor faults, observation, and

information

Changing levels (*)

Supported.

User-defined
errors

Function

User-defined errors are registered in advance and then

records are created by executing instructions.

Levels

Self-diagnosis

NJ-series CPU Unit Software Users Manual (W501)

A-11

A-1-3 Function Specifications

Data tracing

Maximum number of simultaneous data

traces

App

Debugging

A-1 Specifications

MC Test Run

Appendices

Item

NJ501-

CPU Unit names and serial IDs

Security

Protecting
software
assets and
preventing
operating
mistakes

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.

Protection

Number of groups (*)

Verification of user program execution
ID
Storage type

SD Memory Card
functions

Backing up
data (*)

Application

SD Memory
Card backups

5
The user program cannot be executed without entering a
user program execution ID from the Sysmac Studio for the
specific hardware (CPU Unit).
SD card or SDHC card

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.

File operations from the Sysmac Studio

You can perform file operations for Controller files in the SD

Memory Card and read/write general-purpose 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.

Operating
methods

Protection

CPU Unit front-panel DIP

switch

Backup, verification, and restoration operations are performed by manipulating the front-panel DIP switch on the
CPU Unit.

Specification with system-defined variables

Backup and verification operations are performed by manipulating system-defined variables.

SD Memory Card Dialog

Box in Sysmac Studio

Backup and verification operations are performed from the

SD Memory Card Dialog Box of the Sysmac Studio.

Special instruction (*)

The special instruction is used to backup data.

Disabling backups to SD
Memory Cards

Backing up data to a SD Memory Card is prohibited.

Sysmac Studio Controller backups

*1

NJ301-

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.

The Sysmac Studio is used to backup, restore, or verify Controller data.

Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)

Note Items that are marked with asterisks in the table were added for version upgrades. Refer to A-12 Version Information for
information on version upgrades.

A-12

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Calculating Guidelines for the Real

Processing Times of Tasks
This section describes how to calculate guidelines for the average real processing times of tasks on
paper.
You must use the physical Controller to check the real processing times of tasks and task execution
times. For details, refer to 5-3 Task Design Methods and I/O Response Times.
Precautions for Safe Use

Periodic tasks will be interrupted for the execution of tasks with higher execution priorities. The
real processing time of a task does not include the time for which the task is interrupted. It is the
task execution time that gives the actual time from when the task is started until it is finished,
including the interrupted time. For a detailed description of the differences between the real processing times of tasks and the task execution times, refer to Meaning of the Task Execution Time
and the Real Processing Time of the Task on page 5-50.

A-2-1

Calculating the Average Real Processing Times of Tasks

The average real processing time of a task is the total of the I/O refresh processing time, user program
execution time, motion control processing time and common processing time.
Average real processing time of task = I/O refresh processing time + User program execution time +
Motion control processing time + Common processing time
The following processing is performed.

Processing

Processing contents

Primary
periodic
task

Priority-16
periodic
task

Priority-17
and priority-18 periodic tasks

I/O refresh processing

I/O is refreshed for CJ-series Units

(Basic I/O Units, Special I/O Units, and
CPU Bus Units) and EtherCAT slaves.

Performed.

Performed.

Not performed.

User program execution

Programs assigned to tasks are executed in the order that they are
assigned.

Performed.

Performed.

Performed.

Motion control processing

Motion control commands from the

user program are executed.
Motion control outputs are processed.

Performed.

Not performed.

Not performed.

NJ-series CPU Unit Software Users Manual (W501)

A-13

A-2-1 Calculating the Average Real Processing Times of Tasks

Additional Information

App

The execution times in the physical Controller depends on the logic operations that are performed in the user program, the presence of communications commands and data links, on
whether data tracing is performed, and on other factors.
Before starting actual operation, you must test performance under all foreseeable conditions on
the actual system and make sure that the task periods are not exceeded and that suitable communications performance is achieved.

A-2 Calculating Guidelines for the Real Processing Times of Tasks

A-2

Appendices

Primary
periodic
task

Priority-16
periodic
task

Priority-17
and priority-18 periodic tasks

System com- Variable refresh processing (if there

mon proare accessing tasks) is performed.
cessing 1
Motion input processing
Data trace processing

Performed.

Performed.

Performed.

System com- Variable refresh processing (if there

mon proare refreshing tasks) is performed.
cessing 2
Variable access processing external to
the Controller to ensure concurrency
with task execution

Performed.

Performed.

Performed.

System over- Other system common processing

head time

Performed.

Performed.

Performed.

Processing

Common
processing
time

Processing contents

Guidelines are provided below for calculating the various processing times.

I/O Refresh Processing Time

Use the following formula for the I/O refresh processing time.
I/O refresh processing time = I/O refresh overhead time
+ (Larger of the EtherCAT slave processing time and the CJ-series Unit
processing time)
The following describes how to determine the I/O refresh overhead time, EtherCAT slave processing
time, and CJ-series Unit processing time used in the above formula.

I/O Refresh Overhead Time

The I/O refresh overhead time is given by the following table, depending on whether there are EtherCAT slaves and CJ-series Units.
EtherCAT slaves
Present
None

CJ-series Units

Present

I/O refresh overhead time [s]

60
30

EtherCAT Slave Processing Time

Use the following formula for the EtherCAT slave processing time.
(I/O refresh time for each EtherCAT slave Number of slaves) - 70 [s]
In the above formula, represents the total processing time for all EtherCAT slaves.
If the result that is calculated from the above formula is a negative number, the EtherCAT slave processing time is regarded as 0 s.
The method for calculating the I/O refresh time for each EtherCAT slave is provided later.

A-14

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Use the following formula for the CJ-series Unit processing time.
(I/O refresh time for each CJ-series Unit Number of Units) - 230 [s]
In the above formula, represents the total processing time for all CJ-series Units.
If the result that is calculated from the above formula is a negative number, the CJ-series Unit processing time is regarded as 0 s.
The method for calculating the I/O refresh time for each CJ-series Unit is provided later.
If any of the following CJ-series Units is used, add 230 s to the result that is calculated from the
above formula, regardless of the number of Units.
CJ1W-PH41U Analog Input Unit with Universal Inputs
CJ1W-AD04U Analog Input Unit with Universal Inputs

App

CJ1W-PDC15 Analog Input Unit with Universal Inputs

CJ1W-V680C11 ID Sensor Unit
CJ1W-V680C12 ID Sensor Unit

I/O Refresh Time for EtherCAT Slaves

The I/O refresh time for EtherCAT slaves is found by individually calculating the I/O refresh time for
each EtherCAT slave and then adding them together.
The I/O refresh time for each EtherCAT slave is calculated from the input processing data size and output processing data size.
Refer to the manuals for the specific EtherCAT slaves for their input processing data size and output
processing data size.
The formula for calculating the I/O refresh time for an EtherCAT slave is as follows:
I/O refresh time = Tout Dout + Tin Din + Tref Dinout + 1.24 [s]
: Output processing time per byte
: Output processing data size in bytes
: Input processing time per byte
: Input processing data size in bytes
: Refresh processing time per byte
: Larger of the input and output process data size in bytes

The values of the output processing time, input processing time, and refresh processing time in the
above formula are fixed. They are determined by the model of the CPU Unit as given in the following
table.

CPU Unit
NJ501-
NJ301-

Tout: Output processing time per

byte [s]
0.004
0.005

NJ-series CPU Unit Software Users Manual (W501)

Tin: Input processing time per byte [s]

0.011
0.013

Tref: Refresh processing

time per byte [s]
0.082
0.082

A-15

A-2-1 Calculating the Average Real Processing Times of Tasks

CJ1W-CRM21 CompoNet Master Unit

Tout
Dout
Tin
Din
Tref
Dinout

A-2 Calculating Guidelines for the Real Processing Times of Tasks

CJ-series Unit Processing Time

Appendices

I/O Refresh Times for CJ-series Units

This section gives the I/O refresh times for CJ-series Units.

Basic I/O Units

The following table gives the I/O refresh times for Basic I/O Units that are used on the CPU Rack.
The I/O refresh times for these Units on Expansion Racks are approx. 1.5 times the values that are
given in the table.
Unit name
8/16-point DC Input Units
32-point DC Input Units
64-point DC Input Units
8/16-point AC Input Units
16-point Interrupt Input Unit
16-point Quick-response Input
Unit
Relay Contact Output Units
Triac Output Unit
8/16-point Transistor Output
Units
32-point Transistor Output
Units
64-point Transistor Output
Units
24-VDC Input/Transistor Output
Units (16 inputs/16 outputs)
24-VDC Input/Transistor Output
Units (32 inputs/32 outputs)
TTL I/O Unit
B7A Interface Units

Model numbers

I/O refresh time per Unit

[s]

CJ1W-ID201/211/212
CJ1W-ID231/232/233
CJ1W-ID261/262
CJ1W-IA201/111
CJ1W-INT01
CJ1W-IDP01

1
2
4
1
1
1

CJ1W-OC201/211
CJ1W-OA201
CJ1W-OD201/202/203/204//211/212/213

1
1
1

CJ1W-OD231/232/233/234

CJ1W-OD261/262/263

CJ1W-MD231/232/233

CJ1W-MD261/263

CJ1W-MD563
CJ1W-B7A04
CJ1W-B7A14
CJ1W-B7A22

4
4
4
4

Special I/O Units

The following table gives the I/O refresh times for Special I/O Units that are used on the CPU Rack.
The I/O refresh times for these Units on Expansion Racks are approx. 1.5 times the values that are
given in the table.
Unit name
Isolated-type Units with Universal Inputs
Analog Input Units
Analog Output Units
Analog I/O Units
Isolated-type Units with Universal Inputs

CJ1W-AD04U

Isolated-type DC Input Unit

CJ1W-PDC15

Temperature Control Units

CJ1W-TC
CJ1W-V680C11
CJ1W-V680C12
CJ1W-CT021

ID Sensor Units
High-speed Counter Unit

A-16

Model numbers

CJ1W-AD041-V1/081-V1/042
CJ1W-DA021/041/042V/08V/08C
CJ1W-MAD42
CJ1W-PH41U

I/O refresh time per Unit

[s]
66
24
24
24
80 (180)*1
60 (100)*1
114
76
86
54

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Model numbers

*2 The number of allocated words is the total number of I/O area words that are allocated to all of the slaves.

CPU Bus Units

The following table gives the I/O refresh times for CPU Bus Units. The times are the same regardless of whether the Units are used on the CPU Rack or an Expansion Rack.
Unit name

I/O refresh time per Unit

[s]

CJ1W-SCU42
CJ1W-SCU32
CJ1W-SCU22
CJ1W-DRM21

2.5*1

App

Serial Communications Units

Model numbers

*2 The number of allocated words is the total number of I/O area words that are allocated to all of the slaves.

User Program Execution Time

The user program execution time depends on the specific instructions multiplied by the numbers of
instructions used.
As a guideline, instructions are divided into three groups and the number of instructions in each group
is used for measurements and estimates.
Standard instructions
Arithmetic instructions for LREAL data
Trigonometric instructions for LREAL data
Different instructions are used in a ladder diagram and in ST. Refer to Execution Time for Standard Ladder Diagram Instructions on page A-18 and Instruction Configuration for Standard ST Instructions on
page A-19 for information on the instruction configuration.

Simple Estimate
For the number of instructions in each group, read the execution time for each group from the following graphs and calculate the total.
Execution time for standard instructions
Execution time for arithmetic instructions for LREAL data
Execution time for trigonometric instructions for LREAL data
This will allow you to estimate the execution time of the user program.

NJ-series CPU Unit Software Users Manual (W501)

A-17

A-2-1 Calculating the Average Real Processing Times of Tasks

2.5 + 0.1 Number of allocated words

EtherNet/IP Unit
CJ1W-EIP21
7.0 + 0.8 Number of tags
*1 The following maximum time is added if a protocol macro is executed:
0.1 Number of refresh words [s]
DeviceNet Unit

A-2 Calculating Guidelines for the Real Processing Times of Tasks

I/O refresh time per Unit

[s]
CJ1W-CRM21
Communications mode 0
34
Communications mode 1
52
Communications mode 2
88
CompoNet Master Unit
Communications mode 3
84
Communications mode 8 14 + (1.0 Number of allocated words)
*1 The values in parentheses are the I/O refresh times when an expansion allocation area is used.
Unit name

Appendices

Execution Time for Standard Ladder Diagram Instructions

2000
1800

Execution time (s)

1600
NJ301-

1400
1200

NJ501-

1000
800
600
400
200
0
0

10000

20000

30000

40000

50000

60000

70000

80000

90000 100000

Total number of instructions

Instruction Configuration for Standard Ladder Diagram Instructions

The instruction execution ratio for this configuration is 20%.

Types of instructions

Percent of
instructions [%]

Instructions

Ladder diagram instructions

LD, AND, OUT, SET, and RESET

Comparison instructions
Timer and counter instructions

Percent of execution time in

instruction
group [%]

81.0%

40.2%

EQ and LT

4.1%

8.3%

Timer, TON/TOF, and CTU/CTD

1.6%

7.3%

Math instructions

+, -, *, /, ADD, SUB, MUL, and DIV

2.4%

6.5%

BCD conversion instructions and

data conversion instructions

INT_TO_DINT and
WORD_BCD_TO_UINT

0.2%

1.2%

Bit string processing instructions

AND and OR

6.2%

13.0%

Data movement instructions

MOVE

4.6%

23.5%

100.0%

100.0%

Total

Execution Times for Ladder Diagram Arithmetic and Trigonometric

Instructions for LREAL Data
200
180
NJ501-

160
Execution time (s)

140
NJ301-

NJ301-

120
100
80
60
NJ501-

40
20
0
0

100

200

300

400

500

600

700

800

900

1000

Total number of instructions

Trigonometric instructions for LREAL data

Arithmetic instructions for LREAL data

Configuration of Arithmetic Instructions for LREAL Data

A-18

NJ-series CPU Unit Software Users Manual (W501)

Appendices
A-2 Calculating Guidelines for the Real Processing Times of Tasks

Instructions

Percent of instructions [%]

Addition instructions for LREAL data

20.0%

Subtraction instructions for LREAL data

20.0%

Multiplication instructions for LREAL data

30.0%

Division instructions for LREAL data

30.0%

Total

100.0%

Configuration of Trigonometric Instructions for LREAL Data

Instructions

Percent of instructions [%]

Sin of LREAL data

16.7%

Cos of LREAL data

16.7%

Tan of LREAL data

16.7%

Sin

16.7%

of LREAL data

16.7%

Tan1 of LREAL data

16.7%

Total

App

Cos1 of LREAL data

100.0%

2000
1800

Execution time (s)

1600
NJ301-

1400
1200
1000

NJ501-

800
600
400
200
0
0

5000

10000

15000

20000

25000

30000

35000

Total number of instructions

Instruction Configuration for Standard ST Instructions

Types of instructions

Instructions

ST constructs

IF ELSIF END_IF

Percent of
instructions [%]
75.4%

Percent of execution time in

instruction
group [%]
41.6%

Comparison instructions

EQ and LT

5.2%

8.7%

Timer and counter instructions

Timer, TON/TOF, and CTU/CTD

2.1%

18.8%

Math instructions

+, -, *, and /

3.1%

10.2%

BCD conversion instructions and

data conversion instructions

INT_TO_DINT and
WORD_BCD_TO_UINT

0.2%

1.6%

Bit string processing instructions

AND and OR

8.0%

11.7%

Data movement instructions

:=

5.9%

7.3%

100.0%

100.0%

Total

NJ-series CPU Unit Software Users Manual (W501)

A-19

A-2-1 Calculating the Average Real Processing Times of Tasks

Execution Time for Standard ST Instructions

Appendices

Execution Times for ST Arithmetic and Trigonometric Instructions for LREAL

Data
200
180
NJ501-

160
NJ301-
Execution time (s)

140
120
100
NJ301-

80
60
40

NJ501-

20
0
0

100

200

300

400

500

600

700

800

900

1000

Total number of instructions

Trigonometric instructions for LREAL data

Arithmetic instructions for LREAL data

Configuration of Arithmetic Instructions for LREAL Data

Instructions

Percent of instructions [%]

Addition instructions for LREAL data

20.0%

Subtraction instructions for LREAL data

20.0%

Multiplication instructions for LREAL data

30.0%

Division instructions for LREAL data

30.0%

Total

100.0%

Configuration of Trigonometric Instructions for LREAL Data

Instructions
Sin of LREAL data

16.7%

Cos of LREAL data

16.7%

Tan of LREAL data

16.7%

Sin1 of LREAL data

16.7%

Cos1 of LREAL data

16.7%

Tan1 of LREAL data

16.7%

Total

A-20

Percent of instructions [%]

100.0%

NJ-series CPU Unit Software Users Manual (W501)

Appendices

The motion control processing time depends on the number of servo axes and virtual servo axes that
are used. For the number of servo and virtual servo axes, read the motion control processing time from
the following graph.
NJ301-
120

500

100

400
Unit version 1.01
or earlier
300
Unit
version 1.02
or later

200

Unit version 1.01

or earlier

Processing time (s)

Processing time (s)

NJ501-
600

80
Unit version 1.02
or later

60
40
20

100

16

24 32 40 48
Number of axes

56

64

3
4
5
6
Number of axes

App

The common processing time is the following values by the total time for system overhead, system
common processing 1, and system common processing 2. The common processing time depends on
the type of task.
Common processing times [s] (reference values)
NJ501-

Primary periodic task

150

Periodic task

10

*1

NJ301-
240*2
32

*1 The processing time is 265 s for a CPU Unit with unit version 1.01 or earlier.
*2 The processing time is 360 s for a CPU Unit with unit version 1.01 or earlier.

NJ-series CPU Unit Software Users Manual (W501)

A-21

A-2-1 Calculating the Average Real Processing Times of Tasks

Common Processing Time

Type of task

A-2 Calculating Guidelines for the Real Processing Times of Tasks

Motion Control Processing Time

Appendices

A-2-2

Example of Calculating the Average Real Processing Time of a

Task and Setting the Task Period

Example of Calculating the Average Real Processing Times of Tasks

If you are using an NJ501- CPU Unit with a unit version of 1.02, first find the average real processing time of the task for the following conditions. The task is the primary periodic task.
Item
Slaves/Units that are
used

User program

Motion control processing

Conditions

EtherCAT slaves

GX-ID1611 (Ver. 1.1) Input Slave: 1

GX-OD1611 (Ver. 1.1) Output Slave: 1
R88D- (Ver. 2.1) Servomotors: 4

CJ-series Units (on CPU

Rack)

Language

Ladder diagrams

Standard instruction configuration

Number of instructions: 5,000

Arithmetic instructions for

LREAL data

Number of instructions: 200

Trigonometric instructions
for LREAL data

Number of instructions: 100

Number of axes

CJ1W-ID211 DC Input Unit: 1

CJ1W-OD211 Transistor Output Unit: 1
CJ1W-AD042 Analog Input Unit: 1
CJ1W-DA021 Analog Output Unit: 1
CJ1W-SCU42 Serial Communications Unit: 1
(Protocol macros are not used.)

I/O Refresh Time

I/O refresh overhead time:
The I/O refresh overhead time is 60 s because the EtherCAT slaves are connected.

EtherCAT slave processing time:

The following table gives the Tout (output processing time per byte), Tin (input processing time per
byte), and Tref (refresh processing time per byte) values when an NJ501- CPU Unit is used.
Tout: Output processTin: Input processing time per byte [s]
ing time per byte [s]
0.004
0.011

Tref: Refresh processing time

per byte [s]
0.082

The following table gives the Dout (output processing data size), Din (input processing data size),
and Dinout (larger of the input and output data size) values of the GX-ID1611 (Ver. 1.1) Input Slave,
GX-OD1611 (Ver. 1.1) Output Slave, and R88D- (Ver. 2.1) Servomotors.
EtherCAT slave
GX-ID1611 (Ver. 1.1)
GX-OD1611 (Ver. 1.1)
R88D- (Ver. 2.1)

A-22

Dout: Output processing data size in bytes

0
2
23

Din: Input processing

Dinout: Larger of the
data size in bytes
input and output data size
3
3
1
2
26
26

NJ-series CPU Unit Software Users Manual (W501)

Appendices
A-2 Calculating Guidelines for the Real Processing Times of Tasks

The I/O refresh time for the GX-ID1611 is given as follows.

I/O refresh time for the GX-ID1611
= Tout Dout + Tin Din + Tref Dinout + 1.24
= 0.004 0 + 0.011 3 + 0.082 3 + 1.24
= 1.49 [s]

Similarly, the I/O refresh time for the GX-OD1611 is given as follows.
I/O refresh time for the GX-OD1611 = Tout Dout + Tin Din + Tref Dinout + 1.24
= 0.004 2 + 0.011 1 + 0.082 2 + 1.24
= 1.42 [s]

Again, the I/O refresh time for the R88D- is given as follows.
I/O refresh time for the R88D-
= Tout Dout + Tin Din + Tref Dinout + 1.24
= 0.004 23 + 0.011 26 + 0.082 26 + 1.24
= 3.75 [s]

CJ-series Unit processing time:

The following table gives the I/O refresh time per Unit for the CJ1W-ID211 DC Input Unit, CJ1WOD211 Transistor Output Unit, CJ1W-AD042 Analog Input Unit, CJ1W-DA021 Analog Output Unit,
and CJ1W-SCU42 Serial Communications Unit that are used on the CPU Rack.
Model
CJ1W-ID211
CJ1W-OD211
CJ1W-AD042
CJ1W-DA021
CJ1W-SCU42

I/O refresh time per Unit [s]

1
1
24
24
2.5

Because the number of Units is all one, the CJ-series Unit processing time is regarded as 0 s.
CJ-series Unit processing time = (I/O refresh time for each CJ-series Unit Number of Units) - 230
= 1 1 + 1 1 + 24 1 + 24 1 + 2.5 1 - 230
= -177.5 [s]
Because the result that is calculated from the above formula is a negative number, the CJ-series
Unit processing time is regarded as 0 s.

NJ-series CPU Unit Software Users Manual (W501)

A-23

A-2-2 Example of Calculating the Average Real Processing Time of a Task and Setting the Task Period

Because the result that is calculated from the above formula is a negative number, the EtherCAT
slave processing time is regarded as 0 s.

App

From these values, the EtherCAT slave processing time is calculated by the following formula.
EtherCAT slave processing time = (I/O refresh time for each EtherCAT slave Number of salves) - 70
= (1.49 1 + 1.42 1 + 3.75 4) - 70
= -52.09 [s]

Appendices

The following values of the I/O refresh overhead time, EtherCAT slave processing time, and CJseries Unit processing time are found by the above calculations.
Item
I/O refresh overhead time
EtherCAT slave processing time
CJ-series Unit processing time

Value [s]
60
0
0

From these values, the I/O refresh time is calculated by the following formula.
I/O refresh time
= I/O refresh overhead time + (Larger of the EtherCAT slave processing
time and the CJ-series Unit processing time)
= 60 + 0
= 60 [s]

User Program Execution Time

The graphs show the following values.
Standard instruction configuration
From the graph of the execution time for standard ladder diagram instructions, the user program
execution time of 5,000 instructions for the NJ501- is 100 s.
Arithmetic instructions for LREAL data
From the graph of the execution time for ladder diagram arithmetic and trigonometric instructions
for LREAL data, the user program execution time of 200 instructions for the NJ501- is
20 s.
Trigonometric instructions for LREAL data
From the graph of the execution time for ladder diagram arithmetic and trigonometric instructions
for LREAL data, the user program execution time of 100 instructions for the NJ501- is
27 s.

Therefore, the user program execution time is the total of the above values, which is given by the following formula.
User program execution time
= 100 + 20 + 27
= 147 [s]

Motion Control Processing Time

From the graph of the execution time for motion control processing, the execution time of the motion
control processing for four axes for the NJ501- with a unit version 1.02 is read as 46 s.

Common Processing Time

Because the task is the primary periodic task, the common processing time for the NJ501-
is 150 s.

Therefore, the average real processing time of the task is given by the following formula.
Average real processing time of task = I/O refresh processing time + User program execution time + Motion control processing time + Common processing time
= 60 + 147 + 46 + 150
= 403 [s]

A-24

NJ-series CPU Unit Software Users Manual (W501)

Appendices

The task period is set based on the average real processing time of the task that is calculated as above.
The task is the primary periodic task.
The value of the task period must be larger than the average real processing time of the task that you
calculated. More specifically, you should allow sufficient margin and set the task period value to at least
1.1 times as large as the average real processing time of the task.
Task period Average real processing time of task 1.1
Because the average real processing time of the task that is calculated above is 403 s, the task period
is set to 500 s, which is larger than 1.1 times the average time.
The task execution times in the physical Controller depends on the logic operations that are performed
in the user program, the presence of communications commands and data links, on whether data tracing is performed, and on other factors. The task execution time for a periodic task depends on whether
it is interrupted for the execution of tasks with higher execution priorities.
Use the physical Controller and verify the task execution time with the Task Execution Time Monitor.

A-2 Calculating Guidelines for the Real Processing Times of Tasks

Setting the Task Period

App
A-2-2 Example of Calculating the Average Real Processing Time of a Task and Setting the Task Period

NJ-series CPU Unit Software Users Manual (W501)

A-25

Appendices

A-3

System-defined Variables
System-defined variables are assigned specific functions by the system. They are registered in the
global variable table, or the local variable table for each POU, in advance.
These variables cannot be changed. Some of the variables start with an underbar and some start with
P_.
Some of the system-defined variables are read-only and some are read/write.
You read and write the variables with the user program, with communications from external devices,
with the Sysmac Studio, or with an NS-series PT.
Basically, system-defined variables are classified according to the function modules. The variables start
with the following category names.
Function module

Category name

System-defined variables for the overall

NJ-series Controller

None

PLC Function Module

_PLC
_CJB

Motion Control Function Module

_MC

EtherCAT Master Function Module

_EC

EtherNet/IP Function Module

_EIP

The variables are described in the tables of this appendix as shown below.
Variable name
This is the systemdefined variable
name. The prefix
gives the category
name.

Meaning
This is the meaning of the variable.

Function

Data type

The function of the variable is described.

The data
type of the
variable is
given.

Range of
values
The range of
values that the
variable can
take is given.

Reference
The page of
the individual
systemdefined variable specifications table
is given.

A version in parentheses in the Variable name column is the unit version of the CPU Unit when the system-defined variable was added.

A-3-1

System-defined Variables for the Overall NJ-series Controller

(No Category)

Functional Classification: Clock

Variable name
_CurrentTime

A-26

Meaning
System Time

Function

Data type

Contains the CPU Units internal clock data.

DATE_
AND_
TIME

Range of
values
DT#1970-0101-00:00:00 to
DT#2106-0206-23:59:59

Reference
page A-49

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Functional Classification: Tasks

Variable name
_TaskName_
Active

Meaning
Task Active Flag

Function
TRUE during task execution.

Data type

Range of
values

Reference

TRUE or
FALSE

page A-49

TIME

Depends on
data type.

page A-50

TIME

Depends on
data type.

page A-50

TIME

Depends on
data type.

page A-50

UDINT

Depends on
data type.

page A-50

BOOL

TRUE or
FALSE

page A-51

UDINT

Depends on
data type.

page A-51

FALSE when task execution is not in progress.

Note You cannot use this system-defined
variable in the user program. It is used
only to access task status for data tracing from the Sysmac Studio.

_TaskName_
LastExecTime

Last Task
Execution Time

Contains the task execution time the last time

the task was executed (unit: 0.1 s).
Note You cannot use this system-defined
variable in the user program. It is used
only to access task status for data tracing from the Sysmac Studio.

_TaskName_
MaxExecTime

Maximum Task
Execution Time

Contains the maximum value of the task execution time (unit: 0.1 s).

Minimum Task
Execution Time

Contains the minimum value of the task execution time (unit: 0.1 s).
Note You cannot use this system-defined
variable in the user program. It is used
only to access task status for data tracing from the Sysmac Studio.

_TaskName_
ExecCount

Task Execution
Count

Contains the number of executions of the

task.
If 4294967295 is exceeded, the value returns
to 0 and counting is continued.
Note You cannot use this system-defined
variable in the user program. It is used
only to access task status for data tracing from the Sysmac Studio.

_TaskName_
Exceeded

Task Period
Exceeded Flag

TRUE if the task period was exceeded.

FALSE if task execution was completed within
the task period.
Note You cannot use this system-defined
variable in the user program. It is used
only to access task status for data tracing from the Sysmac Studio.

_TaskName_
ExceedCount

Task Period
Exceeded Count

Contains the number of times that the period

was exceeded.
If the present value exceeds the maximum
value of the data type, the present value
returns to 0 and the count is continued.
If 4294967295 is exceeded, the value returns
to 0 and counting is continued.
Note You cannot use this system-defined
variable in the user program. It is used
only to access task status for data tracing from the Sysmac Studio.

NJ-series CPU Unit Software Users Manual (W501)

A-27

A-3-1 System-defined Variables for the Overall NJ-series Controller (No Category)

_TaskName_
MinExecTime

App

Note You cannot use this system-defined

variable in the user program. It is used
only to access task status for data tracing from the Sysmac Studio.

A-3 System-defined Variables

BOOL

Appendices

Functional Classification: Errors

Variable name
_ErrSta

Meaning
Controller Error
Status

Function

Data type

TRUE if there is a Controller error.

Range of
values

Reference

WORD

16#0000 to
16#C0F0

page A-51

WORD

16#0000 to
16#00FF

page A-52

FALSE if there is no Controller error.

Note Do not use this variable in the user program. There may be a delay in updating
it and concurrency problems in relation
to the error status of the function module. Use this variable only to access
status through communications from an
external device. Refer to information on
the meanings of the error status bits at
the end of this appendix for details.

_AlarmFlag

User-defined
Error Status

The bit corresponding to the event level is

TRUE while there is a user-defined error. Bits
00 to 07 correspond to user fault levels 1 to 8.
This variable contains 0000 hex when there is
no user-defined error.

Functional Classification: SD Memory Card

Variable name
_Card1Ready

Meaning
SD Memory Card
Ready Flag

Function

Data type

TRUE when the SD Memory Card is recognized.

Range of
values

Reference

BOOL

TRUE or
FALSE

page A-52

BOOL

TRUE or
FALSE

page A-52

BOOL

TRUE or
FALSE

page A-52

BOOL

TRUE or
FALSE

page A-53

BOOL

TRUE or
FALSE

page A-53

BOOL

TRUE or
FALSE

page A-53

FALSE when the SD Memory Card is not recognized.

TRUE: The Card can be used.
FALSE: The Card cannot be used.
_Card1Protect

SD Memory Card
Write
Protected Flag

TRUE when the SD Memory Card is writeprotected with the LOCK switch.
TRUE: Write protected.
FALSE: Not write protected.

_Card1Err

SD Memory Card
Error Flag

TRUE when an unusable SD Memory Card is

inserted or a format error occurs.
TRUE: There is an error
FALSE: There is no error

_Card1Access

SD Memory Card
Access Flag

TRUE during SD Memory Card access.

TRUE: Card is being accessed.
FALSE: Card is not being accessed.
The system updates the flag every 100 ms.
Because of this, access to the SD Memory
Card is shown by this flag with a delay of up to
100 ms. We therefore do not recommend the
use of this variable in the user program.

_Card1Deteriorated

SD Memory Card
Life
Warning Flag

TRUE when the life of the SD Memory Card is

exceeded.

SD Memory Card
Power Interruption Flag

TRUE when the power supply to the CPU Unit

was interrupted during access to the SD
Memory Card.

TRUE: The life of the Card has been

exceeded.
FALSE: The Card can still be used.

_Card1PowerFail

TRUE: Power was interrupted during SD

Memory Card access.
FALSE: Normal

A-28

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Variable name
Member name
_Card1BkupCmd
(Ver.1.03)
ExecBkup

Meaning

Function

SD Memory Card
Backup Commands
Execute Backup
Flag

Data type

Range of
values

_sBKUP_
CMD
Change this variable to TRUE to back up Controller data to an SD Memory Card.

Reference
page A-53

BOOL

TRUE or
FALSE

page A-54

BOOL

TRUE or
FALSE

page A-54

BOOL

TRUE or
FALSE

page A-54

STRING(64)

Depends on
data type.

page A-54

Note You cannot use this system-defined

variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.
CancelBkup

Cancel Backup
Flag

Change this variable to TRUE to cancel backing up data to an SD Memory Card.

Note You cannot use this system-defined
variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.

ExecVefy

Execute Verify
Flag

Change this variable to TRUE to compare the

Controller data to a backup file in the SD
Memory Card.
Note You cannot use this system-defined
variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.

CancelVefy

Cancel Verify
Flag

Change this variable to TRUE to cancel comparing the Controller data to a backup file in
the SD Memory Card.
Note You cannot use this system-defined
variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.

DirName

Directory Name

Used to specify the directory name in the SD

Memory Card for which to back up or verify
data.
Note You cannot use this system-defined
variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.

NJ-series CPU Unit Software Users Manual (W501)

A-29

A-3-1 System-defined Variables for the Overall NJ-series Controller (No Category)

page A-53

App

TRUE or
FALSE

A-3 System-defined Variables

BOOL

Appendices

Variable name
Member name
_Card1BkupSta
(Ver. 1.03)
Done

Meaning

Function

Data type

SD Memory Card
Backup Status
Done Flag

_sBKUP_
STA
TRUE when a backup is completed.

Active Flag

TRUE when a backup is in progress.

Error Flag

TRUE when processing a backup ended in an

error.

page A-55
TRUE or
FALSE

page A-55

BOOL

TRUE or
FALSE

page A-55

BOOL

TRUE or
FALSE

page A-55

Note You cannot use this system-defined

variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.
Err

Reference

BOOL

Note You cannot use this system-defined

variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.
Active

Range of
values

Note You cannot use this system-defined

variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.
_Card1VefySta
(Ver. 1.03)
Done

SD Memory Card
Verify Status
Done Flag

_sVEFY_
STA
TRUE when a verification is completed.

BOOL

TRUE or
FALSE

page A-55

BOOL

TRUE or
FALSE

page A-56

BOOL

TRUE or
FALSE

page A-56

BOOL

TRUE or
FALSE

page A-56

Note You cannot use this system-defined

variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.
Active

Active Flag

TRUE when a verification is in progress.

Note You cannot use this system-defined
variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.

VefyRslt

Verify Result Flag

TRUE if the data was the same. FALSE if differences were found.

page A-55

Note You cannot use this system-defined

variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.
Err

Error Flag

TRUE when processing a verification ended

in an error.
Note You cannot use this system-defined
variable in the user program. Use it in
CIP message communications when
sending a command from an HMI or
host computer.

A-30

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Functional Classification: Backup

Variable name
_BackupBusy
(Ver. 1.03)

Meaning

Function

Backup Function
Busy Flag

TRUE when a backup, restoration, or verification is in progress.

Data type
BOOL

Range of
values
TRUE or
FALSE

Reference
page A-56

Functional Classification: Power Supply

_PowerOnHour

Meaning
Total Power ON
Time

Function
Contains the total time that the power has
been ON.

Data type

Range of
values

Reference

UDINT

0 to
4294967295

page A-57

UDINT

0 to
4294967295

page A-57

BOOL

TRUE or
FALSE

page A-57

Contains the total time that the CPU Unit has

been ON in 1-hour increments.
To reset this value, overwrite the current value
with 0.
The value is not updated after it reaches
4294967295.

A-3 System-defined Variables

Variable name

This variable is not initialized at startup.

Power
Interruption
Count

To reset this value, overwrite the current value

with 0.
The value is not updated after it reaches
4294967295.
This variable is not initialized at startup.
_RetainFail

Retention
Failure Flag

TRUE at the following time (failure of retention

during power interruptions).
When an error is detected in the batterybackup memory check at startup.
FALSE at the following times (no failure of
retention during power interruptions).
When no error is detected in the batterybackup memory check at startup.
When the user program is downloaded.
When the Clear All Memory operation is
performed.
Note When the encoder home offset data is
not retained, the status is given in the
error status of the axis variable, and not
in this flag.

NJ-series CPU Unit Software Users Manual (W501)

A-31

A-3-1 System-defined Variables for the Overall NJ-series Controller (No Category)

Contains the number of times that the power

supply has been interrupted. The value is
incremented by 1 each time the power supply
is interrupted after the first time that the power
was turned ON.

App

_PowerOnCount

Appendices

Functional Classification: Programming

Variable name

Meaning

Function

Data type

Range of
values

Reference

P_On

Always TRUE
Flag

This flag is always TRUE.

BOOL

TRUE

page A-57

P_Off

Always FALSE
Flag

This flag is always FALSE.

BOOL

FALSE

page A-58

P_CY

Carry Flag

This flag is updated by some instructions.

BOOL

TRUE or
FALSE

page A-58

P_First_RunMode

First RUN Period

Flag

This flag is TRUE for only one task period

after the operating mode of the CPU Unit is
changed from PROGRAM mode to RUN
mode if execution of the program is in progress.

BOOL

TRUE or
FALSE

page A-58

BOOL

TRUE or
FALSE

page A-58

BOOL

TRUE or
FALSE

page A-58

This flag remains FALSE if execution of the

program is not in progress.
Use this flag to perform initial processing
when the CPU Unit begins operation.
Note You cannot use this system-defined
variable inside functions.
P_First_Run
(Ver.1.08)

First Program
Period Flag

This flag is TRUE for one task period after

execution of the program starts.
Use this flag to perform initial processing
when execution of a program starts.
Note You cannot use this system-defined
variable inside functions.

P_PRGER

Instruction Error
Flag

This flag changes to and remains TRUE when

an instruction error occurs in the program or
in a function/function block called from the
program.
After this flag changes to TRUE, it stays
TRUE until the user program changes it back
to FALSE.

Functional Classification: Communications

Variable name

Function

_Port_numUsingPort

Number of Used
Ports

Gives the number of internal logical ports that

are currently used. You can use this variable
when you debug the user program.

USINT

0 to 32

page A-59

_Port_isAvailable

Network Communications Instruction Enabled Flag

Indicates whether there is an available internal logical port.

BOOL

FALSE or
TRUE

page A-59

FINS/TCP Connection Status

Gives the FINS/TCP connection status.

WORD

16#0000 to
16#FFFF

page A-59

_FINSTCPConnSta

A-32

Data type

Range of
values

Meaning

Reference

TRUE when an internal logical port is available. Otherwise FALSE.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Functional Classification: Version

Variable name
_UnitVersion
(Ver.1.08)

Meaning
Unit Version

Function
The unit version of the CPU Unit is stored.
The integer part of the unit version is stored in
element number 0.

Data type
ARRAY[0..1
] OF USINT

Range of
values
0 to 99

Reference
page A-59

The fractional part of the unit version is stored

in element number 1.
A-3 System-defined Variables

Example 1) If the unit version is 1.08, 1 is

stored in element number 0 and 8 is stored
in element number 1.
Example 2) If the unit version is 1.10, 1 is
stored in element number 0 and 10 is stored
in element number 1.

A-3-2

PLC Function Module, Category Name: _PLC

Functional Classification: Debugging

Member

Meaning

Function

.IsStart

_sTRACE_
STA
Trace Busy Flag

TRUE when a trace starts.

.IsTrigger

Trace
Completed Flag

TRUE when a trace is completed.

Trace Trigger
Monitor Flag

TRUE when the trigger condition is met.

Reference
page A-60

BOOL

TRUE or
FALSE

page A-60

BOOL

TRUE or
FALSE

page A-60

BOOL

TRUE or
FALSE

page A-60

BOOL

TRUE or
FALSE

page A-61

Note You cannot use this system-defined

variable in the user program. It is used
only to monitor the status of data tracing from the Sysmac Studio.
.IsComplete

Range of
values

Note You cannot use this system-defined

variable in the user program. It is used
only to monitor the status of data tracing from the Sysmac Studio.
FALSE when the next trace starts.
Note You cannot use this system-defined
variable in the user program. It is used
only to monitor the status of data tracing from the Sysmac Studio.

.ParamErr

Trace
Parameter Error
Flag

TRUE when a trace starts, but there is an

error in the trace settings.
FALSE when the settings are normal.
Note You cannot use this system-defined
variable in the user program. It is used
only to monitor the status of data tracing from the Sysmac Studio.

Functional Classification: Errors

Variable name
_PLC_ErrSta

Meaning
PLC Function
Module Error Status

Function
TRUE when there is a Controller error that
involves the PLC Function Module.

Data type
WORD

Range of
values
16#0000 to
16#00F0

Reference
page A-61

FALSE when there is no Controller error that

involves the PLC Function Module.
Refer to information on the meanings of the
error status bits at the end of this appendix for
details.

NJ-series CPU Unit Software Users Manual (W501)

A-33

A-3-2 PLC Function Module, Category Name: _PLC

_PLC_TraceSta[0..3]

Data type

App

Variable name

Appendices

A-3-3

PLC Function Module, Category Name: _CJB

Functional Classification: I/O Bus Status

Variable name

Meaning

_CJB_MaxRackNo

Largest Rack
Number

Contains the largest rack number of the

Expansion Racks that are detected by the
Controller.

UINT

Largest Slot
Number

Contains one higher than the largest slot

number with a CJ-series Unit on each of the
Racks that are detected by the Controller.

ARRAY
[0..3]
OF UINT

_CJB_MaxSlotNo

Function

Data type

Range of
values
0 to 3

Reference
page A-61

0: Only CPU
Rack.
0 to 10

page A-61

0: No CJseries Unit
mounted.

Functional Classification: I/O Bus Errors

Variable name
_CJB_ErrSta

_CJB_MstrErrSta

_CJB_UnitErrSta

_CJB_InRespTm

A-34

Meaning

Function

Data type

I/O Bus Error

Status

Gives the I/O bus error status.

I/O Bus Master

Error Status

Gives the I/O bus master error status.

I/O Bus Unit Error

Status

Gives the error status of the I/O Bus Unit.

Basic Input Unit

Input Response
Times

Contains the response times of the Basic

Input Units.

Reference

WORD

16#0000 to
16#C0F0

page A-62

WORD

16#0000 to
16#00F0

page A-62

ARRAY
[0..3, 0..9]
OF WORD

16#0000 to
16#80F0

page A-62

ARRAY
[0..3, 0..9]
OF UNIT

0 to 320

page A-62

Note Do not use this variable in the user program. There may be a delay in updating
it. Use this variable only to access status through communications from an
external device. Refer to information on
the meanings of the error status bits at
the end of this appendix for details.

Note Do not use this variable in the user program. There may be a delay in updating
it. Use this variable only to access status through communications from an
external device. Refer to information on
the meanings of the error status bits at
the end of this appendix for details.

Note Do not use this variable in the user program. There may be a delay in updating
it. Use this variable only to access status through communications from an
external device. Refer to information on
the meanings of the error status bits at
the end of this appendix for details.

Range of
values

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Functional Classification: Auxiliary Area Bits for CJ-series Units

Variable name
_CJB_IOUnitInfo

Meaning
Basic I/O Unit
Information

Function
Shows the status of the Basic I/O Unit alarm
output (load short-circuit protection).
TRUE: Load short-circuit
FALSE: No load short-circuit

_CJB_CBU00InitSta

The corresponding variable is TRUE during

initialization of the CPU Bus Unit.

Range of
values

Reference
page A-63

BOOL

TRUE or
FALSE

page A-63

BOOL

TRUE or
FALSE

page A-63

BOOL

TRUE or
FALSE

page A-63

BOOL

TRUE or
FALSE

page A-64

BOOL

TRUE or
FALSE

page A-64

BOOL

TRUE or
FALSE

page A-64

The corresponding variable changes to

FALSE when the initialization is completed.

_CJB_CBU15InitSta

The numbers in the variables indicate the unit

numbers of the applicable Units.
_CJB_SIO00InitSta
to

Special I/O Unit

Initializing Flags

The corresponding variable is TRUE during

initialization of the Special I/O Unit.
The corresponding variable changes to
FALSE when the initialization is completed.

_CJB_SIO95InitSta

The numbers in the variables indicate the unit

numbers of the applicable Units.
_CJB_CBU00Restart
to

CPU Bus Unit

Restart Bits

_CJB_CBU15Restart

The CPU Bus Unit is restarted when the corresponding variable changes to TRUE. (It is
changed to FALSE by the system after the
CPU Bus Unit is restarted.)
The numbers in the variables indicate the unit
numbers of the applicable Units.
If you change the Restart Flag to TRUE with
an instruction, the restart process begins from
refresh processing in the next task period.

_CJB_SIO00Restart
to

Special I/O Unit

Restart Bits

_CJB_SIO95Restart

The Special I/O Unit is restarted when the

corresponding variable changes to TRUE. (It
is changed to FALSE by the system after the
Special I/O Unit is restarted.)
The numbers in the variables indicate the unit
numbers of the applicable Units.
If you change the Restart Flag to TRUE with
an instruction, the restart process begins from
refresh processing in the next task period.

_CJB_SCU00P1ChgSta
to
_CJB_SCU00P2ChgSta
_CJB_SCU15P1ChgSta
to
_CJB_SCU15P2ChgSta

Serial Communications Unit 0,

Port 1/2 Settings
Changing Flags
Serial Communications Units 1 to
15, Port 1/2 Settings Changing
Flags

TRUE when the parameters of the specified

port are being changed. TRUE when the
Change Serial Communications Parameter
(SerialSetup) instruction is being executed.
FALSE after the parameters are changed.
It is also possible for the user to indicate a
change in serial port settings by turning ON
the corresponding flag through the execution
of an instruction or a user operation.

NJ-series CPU Unit Software Users Manual (W501)

A-35

A-3-3 PLC Function Module, Category Name: _CJB

TRUE or
FALSE

App

ARRAY
[0..3, 0..9,
0..7] OF
BOOL

A-3 System-defined Variables

to

CPU Bus Unit Initializing Flags

Data type

Appendices

A-3-4

Motion Control Function Module, Category Name: _MC

Functional Classification: Motion Control Functions

Variable name
_MC_ErrSta

Meaning

Function

Motion Control
Function Module
Error Status

Shows the status of errors that are detected in

the Motion Control Function Module.

Range of
values

Data type

Reference

WORD

16#0000 to
16#40F0

page A-65

WORD

16#0000 to
16#00F0

page A-65

Shows the error status for each axis. The status of up to 64 axes is shown.
You can use this variable directly in the user
program. Refer to information on the meanings of the error status bits at the end of this
appendix for details.

ARRAY
[0..63]

16#0000 to
16#00F0

page A-65

Shows the error status for each axes group.

The error status for up to 32 axes groups is
shown.
You can use this variable directly in the user
program. Refer to information on the meanings of the error status bits at the end of this
appendix for details.

ARRAY
[0..31]

16#0000 to
16#00F0

page A-65

Shows the status that is common to the

Motion Control Function Module.

_sCOMMO
N_REF

---

page A-66

_sGROUP_
REF

---

page A-66

_sAXIS_
REF

---

page A-66

You can use this variable directly in the user

program.
Refer to information on the meanings of the
error status bits at the end of this appendix for
details.

_MC_ComErrSta

Common Error
Status

Shows the status of errors that are detected in

common processing for motion control.
You can use this variable directly in the user
program.
Refer to information on the meanings of the
error status bits at the end of this appendix for
details.

_MC_AX_ErrSta

_MC_GRP_ErrSta

_MC_COM

Axis Error
Status

Axes Group Error

Status

Common
Variable

OF WORD

OF WORD

Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for
details on structure members.
_MC_GRP[32]

Axes Group Variables

Used to specify axes groups and shows multiaxes coordinated control status, and multiaxes coordinated control settings for motion
control instructions.
Normally, you use an Axes Group Variable
with a different name.
When you create an axes group on the System Studio, a user-defined axes group variable with a different name is created.
Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for
details on structure members.

_MC_AX[64]

Axis Variables

Used to specify axes and shows single-axis

control status, and single-axis control settings
for motion control instructions.
When you create an axis on the System Studio, a user-defined axis variable with a different name is created.
Normally, you use an Axis Variable with a different name.
Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for
details on structure members.

A-36

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-3-5

EtherCAT Master Function Module, Category Name: _EC

Functional Classification: EtherCAT Communications Errors

Variable name
_EC_ErrSta

Meaning
Built-in
EtherCAT Error

Function

Data type

Reference

16#0000 to
16#00F0

page A-66

16#0000 to
16#00F0

page A-67

WORD

16#0000 to
16#00F0

page A-67

WORD

16#0000 to
16#00F0

page A-67

Refer to information on the meanings of the

error status bits at the end of this appendix for
details.
_EC_PortErr

Communications
Port Error

This system-defined variable provides the col- WORD

lective status of errors in the communications
ports for the EtherCAT master.
Refer to information on the meanings of the
error status bits at the end of this appendix for
details.

_EC_MstrErr

Master Error

App

This system-defined variable provides the collective status of EtherCAT master errors and
slave errors detected by the EtherCAT master.

Slave Error

This system-defined variable provides the collective status of all the error status for EtherCAT slaves.
Refer to information on the meanings of the
error status bits at the end of this appendix for
details.

_EC_SlavErrTbl

Slave Error Table

This system-defined variable gives the error

ARRAY
status for each EtherCAT slave. The error sta- [1..192]
tus is given for each slave in the actual system OF WORD
configuration. This variable array indicates
slaves in which there are errors. Status is provided for each EtherCAT slave node address
(1 to 192). Refer to information on the meanings of the error status bits at the end of this
appendix for details.

16#0000 to
16#00F0

page A-67

_EC_MacAdrErr

MAC Address
Error

TRUE if there is an illegal MAC address.

BOOL

TRUE or
FALSE

page A-68

_EC_LanHwErr

Communications
Controller Error

TRUE if there is a communications controller

hardware error.

BOOL

TRUE or
FALSE

page A-68

_EC_LinkOffErr

Link OFF Error

TRUE if the communications controller link is

not established.

BOOL

TRUE or
FALSE

page A-68

_EC_NetCfgErr

Network
Configuration
Information Error

TRUE if there is illegal network configuration

information.

BOOL

TRUE or
FALSE

page A-68

_EC_NetCfgCmpErr

Network
Configuration
Verification Error

TRUE if the network configuration information

does not match the actual network configuration.

BOOL

TRUE or
FALSE

page A-68

_EC_NetTopologyErr

Network
Configuration
Error

TRUE if there is a network configuration error

(too many devices connected or ring connection).

BOOL

TRUE or
FALSE

page A-68

_EC_PDCommErr

Process Data
Communications
Error

TRUE if there is an unexpected slave disconnection or connection or if a slave WDT error

is detected during process data communications.

BOOL

TRUE or
FALSE

page A-69

_EC_PDTimeoutErr

Process Data
Reception
Timeout Error

TRUE if a timeout occurs while receiving process data.

BOOL

TRUE or
FALSE

page A-69

NJ-series CPU Unit Software Users Manual (W501)

A-37

A-3-5 EtherCAT Master Function Module, Category Name: _EC

Refer to information on the meanings of the

error status bits at the end of this appendix for
details.
_EC_SlavErr

A-3 System-defined Variables

This system-defined variable provides the col- WORD

lective status of errors in the EtherCAT Master
Function Module.

Range of
values

Appendices

Variable name

Meaning

Function

Data type

Range of
values

Reference

_EC_PDSendErr

Process Data
Transmission
Error

TRUE if there is a process data transmission

error (cannot send within the process data
communications cycle or transmission jitter is
over the limit).

BOOL

TRUE or
FALSE

page A-69

_EC_SlavAdrDupErr

Slave Node
Address
Duplicated Error

TRUE if the same node address is set for

more than one slave.

BOOL

TRUE or
FALSE

page A-69

_EC_SlavInitErr

Slave
Initialization Error

TRUE if there is an error in an initialization

command addressed to a slave.

BOOL

TRUE or
FALSE

page A-69

_EC_SlavAppErr

Slave
Application Error

TRUE if there is an error in the slaves application status register.

BOOL

TRUE or
FALSE

page A-69

_EC_MsgErr

EtherCAT
Message Error

TRUE when a message is sent to a slave that

does not support messages or when there is
an error in the format of the response to a
message that was sent to a slave.

BOOL

TRUE or
FALSE

page A-70

_EC_SlavEmergErr

Emergency Message Detected

TRUE if the master detects an emergency

message that was sent by a slave.

BOOL

TRUE or
FALSE

page A-70

_EC_CommErrTbl

Communications
Error Slave Table

Slaves are given in the table in the order of

slave node addresses. The corresponding
slave element is TRUE if the master detected
an error for the slave.

ARRAY
[1..192]
OF BOOL

TRUE or
FALSE

page A-70

A-38

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Additional Information
Typical Relationships for the Built-in EtherCAT Error Flags
Variable
Name
_EC_ErrSta

Meaning

_EC_PortErr

_EC_MstrErr

Variable Name

Meaning

_EC_MacAdrErr

MAC Address Error

_EC_LanHwErr

Communications
Controller Error

_EC_LinkOffErr

Link OFF Error

Master
Error

_EC_NetCfgErr

Network Configuration Information Error

_EC_NetCfgCmpErr

Network Configuration Verification Error

_EC_NetTopologyErr

Network Configuration Error

_EC_PDCommErr

Process Data Communications Error

_EC_PDTimeoutErr

Process Data Reception Timeout

_EC_PDSendErr

Process Data Transmission Error

_EC_SlavAdrDupErr

Slave Node Address

Duplicated Error

_EC_SlavInitErr

Slave Initialization
Error

_EC_SlavAppErr

Slave Application
Error

_EC_CommErrTbl

Communications
Error Slave Table

_EC_MsgErr

EtherCAT Message
Error

_EC_SlavEmergErr

Emergency Message
Detected

_EC_SlavErrTbl

Slave Error Table

Slave
Error

Partial fault
level

Minor fault
level

Observation

Defined by
the slave.

Note The values of all system-defined variables that are related to errors in EtherCAT communications do not
change until the cause of the error is removed and then the error in the Controller is reset with the troubleshooting functions of the Sysmac Studio or the ResetECError instruction.

NJ-series CPU Unit Software Users Manual (W501)

A-39

A-3-5 EtherCAT Master Function Module, Category Name: _EC

Communications
Port Error

Event level

App

_EC_SlavErr

Meaning

A-3 System-defined Variables

Built-in
EtherCAT
Error

Variable
Name

Appendices

Functional Classification: EtherCAT Communications Status

Variable name

Data type

Range of
values

Meaning

Function

Reference

_EC_RegSlavTbl

Registered Slave
Table

This table indicates the slaves that are registered in the network configuration information.
Slaves are given in the table in the order of
slave node addresses. The element for a
slave is TRUE if the corresponding slave is
registered.

ARRAY
[1..192]
OF BOOL

TRUE or
FALSE

page A-70

_EC_EntrySlavTbl

Network
Connected Slave
Table

This table indicates which slaves are connected to the network. Slaves are given in the
table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave has entered the network.

ARRAY
[1..192]
OF BOOL

TRUE or
FALSE

page A-71

_EC_MBXSlavTbl

Message Communications
Enabled Slave
Table

This table indicates the slaves that can perform message communications. Slaves are
given in the table in the order of slave node
addresses.

ARRAY
[1..192]
OF BOOL

TRUE or
FALSE

page A-71

ARRAY
[1..192]
OF BOOL

TRUE or
FALSE

page A-71

ARRAY
[1..192]
OF BOOL

TRUE or
FALSE

page A-71

ARRAY
[1..192]
OF BOOL

TRUE or
FALSE

page A-72

BOOL

TRUE or
FALSE

page A-72

The element for a slave is TRUE if message

communications are enabled for it (pre-operational, safe-operation, or operational state).
Note Use this variable to confirm that message communications are possible for
the relevant slave before you execute
message communications with an
EtherCAT slave.
_EC_PDSlavTbl

Process Data
Communicating
Slave Table

This table indicates the slaves that are performing process data communications. Slaves
are given in the table in the order of slave
node addresses.
The element for a slave is TRUE if process
data of the corresponding slave is enabled
(operational) for both slave inputs and outputs.
Note Use this variable to confirm that the
data for the relevant slave is valid
before controlling an EtherCAT slave.

_EC_DisconnSlavTbl

Disconnected
Slave Table

Slaves are given in the table in the order of

slave node addresses.
The element for a slave is TRUE if the corresponding slave was disconnected.

_EC_DisableSlavTbl

Disabled Slave
Table

Slaves are given in the table in the order of

slave node addresses.
The element for a slave is TRUE if the corresponding slave is disabled.

_EC_PDActive

Process Data
Communications
Status

TRUE when process data communications

are performed with all slaves*.

_EC_PktMonStop

Packet
Monitoring
Stopped

TRUE when packet monitoring is stopped.

BOOL

TRUE or
FALSE

page A-72

_EC_LinkStatus

Link Status

TRUE if the communications controller link

status is Link ON.

BOOL

TRUE or
FALSE

page A-72

_EC_PktSaving

Saving Packet
Data File

Shows whether a packet data file is being

saved.

BOOL

TRUE or
FALSE

page A-72

BOOL

TRUE or
FALSE

page A-73

* Disabled slaves are not included.

TRUE: Packet data file being saved.

FALSE: Packet data file not being saved.
_EC_InDataInvalid

Input Data Disabled

TRUE when process data communications

are not normal and the input data is not valid.

Note All system-defined variables that are related to the status of EtherCAT communications give the current status.

A-40

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-3-6

EtherNet/IP Function Module, Category Name: _EIP

Functional Classification: EtherNet/IP Communications Errors

Variable name
_EIP_ErrSta

Meaning

Function

Built-in
EtherNet/IP Error

This is the error status variable for the built-in

EtherNet/IP port.

Data type

Range of
values

Reference

16#0000 to
16#00F0

page A-73

WORD

16#0000 to
16#00F0

page A-73

It represents the following error flags.

_EIP_PortErr (Communications Port Error)
_EIP_CipErr (CIP Communications Error)
_EIP_TcpAppErr (TCP Application Communications Error)
Note Refer to information on the meanings of
the error status bits at the end of this
appendix for details.
_EIP_PortErr

Communications
Port Error

This is the error status variable for the communications port.

App

It represents the following error flags.

_EIP_MacAdrErr (MAC Address Error)
_EIP_LanHwErr (Communications Controller Error)

A-3-6 EtherNet/IP Function Module, Category Name: _EIP

_EIP_EtnCfgErr (Basic Ethernet Setting

Error)
_EIP_IPAdrCfgErr (TCP/IP Basic Setting
Error)
_EIP_IPAdrDupErr (IP Address Duplication
Error)
_EIP_BootpErr (BOOTP Server Error)
_EIP_IPRTblErr (TCP/IP Advanced Setting
Error)
Note If a Link OFF or Built-in EtherNet/IP
Processing Error occurs, it is recorded
in the event log and then the corresponding bit turns ON. Refer to information on the meanings of the error
status bits at the end of this appendix
for details.

NJ-series CPU Unit Software Users Manual (W501)

A-3 System-defined Variables

WORD

A-41

Appendices

Variable name
_EIP_CipErr

Meaning
CIP Communications Error

Function

Data type

This is the error status variable for CIP communications.

Range of
values

Reference

WORD

16#0000 to
16#00F0

page A-74

WORD

16#0000 to
16#00F0

page A-74

BOOL

TRUE or
FALSE

page A-74

BOOL

TRUE or
FALSE

page A-74

BOOL

TRUE or
FALSE

page A-75

BOOL

TRUE or
FALSE

page A-75

BOOL

TRUE or
FALSE

page A-75

BOOL

TRUE or
FALSE

page A-75

It represents the following error flags.

_EIP_IdentityErr (Identity Error)
_EIP_TDLinkCfgErr (Tag Data Link Setting
Error)
_EIP_TDLinkOpnErr (Tag Data Link Connection Failed)
_EIP_TDLinkErr (Tag Data Link Communications Error)
_EIP_TagAdrErr (Tag Name Resolution
Error)
_EIP_MultiSwONErr (Multiple Switches ON
Error)
Note If a Tag Resolution Error occurs, it is
recorded in the event log and this variable changes to TRUE. Refer to information on the meanings of the error
status bits at the end of this appendix
for details.
_EIP_TcpAppErr

TCP
Application Communications Error

This is the error status variable for TCP application communications.

It represents the following error flags.
_EIP_TopAppCfgErr (TCP/IP Setting Error)
_EIP_NTPSrvErr (NTP Server Connection
Error)
_EIP_DNSSrvErr (DNS Server Connection
Error)
Note Refer to information on the meanings of
the error status bits at the end of this
appendix for details.

_EIP_MacAdrErr

MAC Address
Error

Indicates that an error occurred when the

MAC address was read at startup.
TRUE: Error
FALSE: Normal

_EIP_LanHwErr
_EIP_EtnCfgErr

Communications
Controller Error

TRUE: The communications controller failed.

Basic Ethernet
Setting Error

TRUE: The Ethernet communications speed

setting (Speed/Duplex) is incorrect. Or, a read
operation failed.

FALSE: Normal

FALSE: Normal
_EIP_IPAdrCfgErr

TCP/IP Basic
Setting Error

TRUE:
There is an illegal IP address setting.
A read operation failed.
The IP address obtained from the BOOTP
server is inconsistent.
The DNS settings are not correct.
FALSE: Normal

_EIP_IPAdrDupErr

IP Address Duplication Error

_EIP_BootpErr

BOOTP Server
Error

TRUE: The same IP address is assigned to

more than one node.
FALSE: Other than the above.
TRUE: There was a failure to connect to the
BOOTP server (timeout).
FALSE: The BOOTP is not enabled, or
BOOTP is enabled and an IP address was
normally obtained from the BOOTP server.

A-42

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Variable name
_EIP_IPRTblErr

Meaning
TCP/IP
Advanced
Setting Error

Function
TRUE: There is an error in one of the following settings. Or, a read operation failed.

Data type

Range of
values

Reference

BOOL

TRUE or
FALSE

page A-75

BOOL

TRUE or
FALSE

page A-76

BOOL

TRUE or
FALSE

page A-76

BOOL

TRUE or
FALSE

page A-76

BOOL

TRUE or
FALSE

page A-76

BOOL

TRUE or
FALSE

page A-76

BOOL

TRUE or
FALSE

page A-77

BOOL

TRUE or
FALSE

page A-77

BOOL

TRUE or
FALSE

page A-77

BOOL

TRUE or
FALSE

page A-77

IP router table settings

Hosts settings
FALSE: Normal

_EIP_IdentityErr

Identity Error

FALSE: Normal
_EIP_TDLinkCfgErr

Tag Data Link

Setting Error

_EIP_TDLinkOpnErr

Tag Data Link

Connection
Failed

TRUE: The tag data link settings are incorrect. Or, a read operation failed.
FALSE: Normal
TRUE: Establishing a tag data link connection
failed due to one of the following causes.
The information registered for a target node
in the tag data link parameters is different
from the actual node information.

App

There was no response from the remote

node.
FALSE: Other than the above.
Tag Data Link
Communications
Error

TRUE: A timeout occurred in a tag data link

connection.

_EIP_TagAdrErr

Tag Name
Resolution Error

TRUE: Tag resolution failed (i.e., the address

could not be identified from the tag name).
The following causes are possible.

FALSE: Other than the above.

The size of the network-published variable

does not agree with the tag setting.
The I/O direction that is set in the tag data
link settings does not agree with the I/O
direction of the variable in the CPU Unit.
There is no network-published variable in
the CPU Unit that corresponds to the tag
setting.
FALSE: Other than the above.
_EIP_MultiSwONErr

Multiple Switches
ON Error

_EIP_TcpAppCfgErr

TCP/IP Setting
Error

TRUE: More than one data link start/stop

switch changed to TRUE at the same time.
FALSE: Other than the above.
TRUE: At least one of the set values for a
TCP/IP application (FTP, NTP, SNMP) is
incorrect. Or, a read operation failed.
FALSE: Normal

_EIP_NTPSrvErr

NTP Server Connection Error

TRUE: The NTP client failed to connect to the

server (timeout).
FALSE: NTP is not set or the connection was
successful.

_EIP_DNSSrvErr

DNS Server Connection Error

TRUE: The DNS client failed to connect to the

server (timeout).
FALSE: DNS is not enabled. Or, DNS is
enabled and the connection was successful.

NJ-series CPU Unit Software Users Manual (W501)

A-43

A-3-6 EtherNet/IP Function Module, Category Name: _EIP

_EIP_TDLinkErr

A-3 System-defined Variables

TRUE: The identity information (which you

cannot overwrite) is not correct. Or, a read
operation failed.

Appendices

Additional Information
Hierarchical Relationship of System-defined Variables Related to EtherNet/IP Errors
The system-defined variables that are related to EtherNet/IP errors have the following hierarchical relationship. For example, if the value of any of the _EIP_PortErr, _EIP_CipErr, or
_EIP_TcpAppErr variables in the second level is TRUE, then the _EIP_ErrSta variable in the first
level also changes to TRUE. Therefore, you can check the values of system-defined variables in
a higher level to see if an error has occurred for a variable in a lower level.
Level 1

Level 2

Variable

Name

_EIP_ErrSta

Built-in EtherNet/IP Error

Variable
_EIP_PortErr

_EIP_CipErr

_EIP_TcpAppErr

A-44

Level 3
Name

Variable

Communications Port Error

CIP Communications Error

TCP Application Communications Error

Name

_EIP_MacAdr
Err

MAC Address Error

_EIP_LanHwErr

Communications Controller Error

_EIP_EtnCfgErr

Basic Ethernet Settings Error

_EIP_IPAdrCfg
Err

TCP/IP Basic Setting

Error

_EIP_IPAdrDupErr

IP Address Duplication Error

_EIP_BootpErr

BOOTP Server Error

_EIP_IPRTblErr

TCP/IP Advanced
Setting Error

_EIP_Identity
Err

Identity Error

_EIP_TDLink
CfgErr

Tag Data Link Setting

Error

_EIP_TDLink
OpnErr

Tag Data Link Connection Failed

_EIP_TDLink
Err

Tag Data Link Communications Error

_ EIP_TagAdr
Err

Tag Name Resolution

Error

_EIP_MultiSw
ONErr

Multiple Switches ON
Error

_EIP_TcpApp
CfgErr

TCP/IP Setting Error

_EIP_NTPSrv
Err

NTP Server Connection Error

_EIP_DNSSrv
Err

DNS Server Connection Error

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Functional Classification: EtherNet/IP Communications Status

Variable name
_EIP_EtnOnlineSta

Meaning
Online

Function
TRUE: The built-in EtherNet/IP ports communications can be used. (The link is ON
and IP address is defined. Also, there are
no errors.)

Data type

Range of
values

Reference

TRUE or
FALSE

page A-77

BOOL

TRUE or
FALSE

page A-78

BOOL

TRUE or
FALSE

page A-78

ARRAY
[0..255] OF
BOOL

TRUE or
FALSE

page A-78

ARRAY
[0..255] OF
BOOL

TRUE or
FALSE

page A-78

ARRAY
[0..255] OF
BOOL

TRUE or
FALSE

page A-78

FALSE: The built-in EtherNet/IP ports communications is disabled due to an error in

initial processing, restart processing, or link
OFF status.
_EIP_TDLinkRunSta

Tag Data Link

Communications
Status

TRUE: At least one connection is in normal

operation.

_EIP_TDLinkAllRunSta

All Tag Data Link

Communications
Status

TRUE: Tag data links are communicating in

all connections as the originator.

Registered
Target Node
Information

This variable gives a list of nodes for which

built-in EtherNet/IP connections are registered.
This variable is valid only when the built-in
EtherNet/IP port is the originator.

_EIP_RegTargetSta [255]

FALSE: Other than the above.

FALSE: An error occurred in at least one

connection.

App

Array[x] is FALSE: The connection to the

node with a target node ID of x is not registered.
Normal Target
Node
Information

This variable gives a list of nodes that have

normally established built-in EtherNet/IP
connections.
Array[x] is TRUE: The connection to the
node with a target node ID of x was established normally.
Array[x] is FALSE: The connection to the
node with a target node ID of x was not
established, or an error occurred.

_EIP_TargetPLCModeSta
[255]

Target PLC Operating Mode

This variable shows the operating status of

the target node Controllers that are connected with the built-in EtherNet/IP port as
the originator.
The array elements are valid only when the
corresponding Normal Target Node Information is TRUE. If the corresponding Normal Target Node Information is FALSE, the
Target Node Controller Operating Information indicates the previous operating status.
Array[x] is TRUE: This is the operating state
of the target Controller with a node address
of x.
Array[x] is FALSE: Other than the above.

NJ-series CPU Unit Software Users Manual (W501)

A-45

A-3-6 EtherNet/IP Function Module, Category Name: _EIP

Array[x] is TRUE: The connection to the

node with a target node ID of x is registered.

_EIP_EstbTargetSta [255]

A-3 System-defined Variables

BOOL

Appendices

Variable name
_EIP_TargetPLCErr [255]

Range of
values

Meaning

Function

Data type

Reference

Target PLC Error

Information

This variable shows the error status (logical

OR of fatal and non-fatal errors) of the target node Controllers that are connected
with the built-in EtherNet/IP ports as the
originator. The array elements are valid only
when the corresponding Normal Target
Node Information is TRUE. The immediately preceding value is retained if this variable is FALSE.

ARRAY
[0..255] OF
BOOL

TRUE or
FALSE

page A-79

ARRAY
[0..255] OF
BOOL

TRUE or
FALSE

page A-79

Array[x] is TRUE: A fatal or non-fatal error

occurred in the target Controller with a target node ID of x.
Array[x] is FALSE: Other than the above.
_EIP_TargetNodeErr [255]

Target Node
Error
Information

This variable indicates that the connection

for the Registered Target Node Information
was not established or that an error
occurred in the target Controller. The array
elements are valid only when the Registered Target Node Information is TRUE.
Array[x] is TRUE: A connection was not normally established with the target node for a
target node ID of x (the Registered Target
Node Information is TRUE and the Normal
Target Node Information is FALSE), or a
connection was established with the target
node but an error occurred in the target
Controller.
Array[x] is FALSE: The target node is not
registered for a target node ID of x (the
Registered Target Node Information is
FALSE), or a connection was normally
established with the target node (the Registered Target Node Information is TRUE and
the Normal Target Node Information is
TRUE).
An error occurred in the target Controller
(the Target PLC Error Information is
TRUE.).

_EIP_NTPResult

NTP Operation
Information

Use the GetNTPStatus instruction to read

the NTP operation information from the user
program. Direct access is not possible.

_sNTP_
RESULT

page A-79

.ExecTime

NTP Last
Operation Time

Gives the last time that NTP processing

ended normally. The time that was obtained
from the NTP server is stored when the
time is obtained normally. The time is not
stored if it is not obtained from the NTP
server normally.

DATE_
AND_
TIME

Depends
on data
type.

page A-79

BOOL

TRUE or
FALSE

page A-80

Note Do not use this variable in the user

program. There may be a delay in
updating it. Use this variable only to
access status through communications from an external device.
.ExecNormal

NTP Operation
Result

TRUE: Indicates an NTP normal end.

FALSE: Indicates that NTP operation ended
in an error or has not been executed even
once.
Note Do not use this variable in the user
program. There may be a delay in
updating it. Use this variable only to
access status through communications from an external device.

A-46

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Additional Information
Communications Status with Target Node

Value of
_EIP_RegTarget
Sta
TRUE

TRUE

Value of
_EIP_TargetPLCErr

Value of
_EIP_TargetNodeErr

Communications
status with target
node

FALSE

A connection with
the target node was
established normally and there is
no error in the target PLC.

TRUE

TRUE

A connection with
the target node was
established but
there is an error in
the target PLC.

FALSE

Disabled

TRUE

A connection with
the target node was
not established normally.

Disabled

Disabled

Disabled

The information is
not valid because
the target node is
not registered.

Functional Classification: EtherNet/IP Communications Switches

Variable name
_EIP_TDLinkStartCmd

Meaning
Tag Data Link
Communications
Start Switch

Function
Change this variable to TRUE to start tag
data links.

Data type

Range of
values

Reference

BOOL

TRUE or
FALSE

page A-80

BOOL

TRUE or
FALSE

page A-80

It automatically changes back to FALSE

after tag data link operation starts.
Note Do not force this switch to change to
FALSE from the user program or from
the Sysmac Studio. It changes to
FALSE automatically.

_EIP_TDLinkStopCmd

Tag Data Link

Communications
Stop Switch

Change this variable to TRUE to stop tag

data links.
It automatically changes back to FALSE
after tag data link operation stops.
Note Do not force this switch to change to
FALSE from the user program or from
the Sysmac Studio. It changes to
FALSE automatically.

A-3-7

Meanings of Error Status Bits

The meanings of the individual bits in the following error status are the same.
_ErrSta (Controller Error Status)
_PLC_ErrSta (PLC Function Module Error Status)

NJ-series CPU Unit Software Users Manual (W501)

A-47

A-3-7 Meanings of Error Status Bits

FALSE

App

FALSE

Value of
_EIP_EstbTargetSta

A-3 System-defined Variables

The communications status with the target node of an NJ-series Controller is shown by the combination of the values of four system-defined variables, _EIP_PegTargetSta (Registered Target
Node Information), _EIP_EstbTargetSta (Normal Target Node Information), _EIP_TargetPLCErr
(Target PLC Error Information), and _EIP_TargetNodeErr (Target Node Error Information), as
shown in the following table.

Appendices

_CJB_ErrSta (I/O Bus Error Status)

_CJB_MstrErrSta (I/O Bus Master Error Status)
_CJB_UnitErrSta (I/O Bus Unit Error Status)
_MC_ErrSta (Motion Control Function Module Error Status)
_MC_ComErrSta (MC Common Error Status)
_MC_AX_ErrSta (Axis Error Status)
_MC_GRP_ErrSta (Axes Group Error Status)
_EC_ErrSta (Built-in EtherCAT Error)
_EC_PortErr (Communications Port Error)
_EC_MstrErr (Master Error)
_EC_SlavErr (Slave Error)
_EC_SlavErrTbl (Slave Error Table)
_EIP_ErrSta (Built-in EtherNet/IP Error)
_EIP_PortErr (Communications Port Error)
_EIP_CipErr (CIP Communications Error)
_EIP_TcpAppErr (TCP Application Communications Error)
The meaning of the bits are shown in the following table.
However, do not use the following variables in the user program:_ErrSta (Controller Error Status),
_CJB_ErrSta (I/O Bus Error Status), _CJB_MstrErrSta (I/O Bus Master Error Status), and
_CJB_UnitErrSta (I/O Bus Master Unit Status). There may be a delay in updating them and concurrency problems in relation to the error status of the function module.
Use these variables only to access status through communications from an external device.
15

Bit:

14

13

12

11

10

WORD

Bit
15

Meaning
Master-detected error: This bit indicates whether the master detected a Controller error in the Unit/slave for the
error status of the Controller error.
TRUE: The master detected a Controller error.
FALSE: The master has not detected a Controller error.
(Valid for _CJB_U_ErrSta and _EC_SlvErrTbl.)

14

Collective slave error status: This bit indicates if a Controller error was detected for levels (e.g., a Unit, slave,
axis, or axes group) that are lower than the event source (i.e., for a function module).
TRUE: A Controller error has occurred at a lower level.
FALSE: A Controller error has not occurred at a lower level.
(Valid for _CJB_ErrSta, _MC_ErrSta, and _EC_ErrSta.)

8 to 13

Reserved.

This bit indicates whether a major fault level Controller error has occurred.
TRUE: A major fault level Controller error has occurred.
FALSE: A major fault level Controller error has not occurred.

This bit indicates whether a partial fault level Controller error has occurred.
TRUE: A partial fault level Controller error has occurred.
FALSE: A partial fault level Controller error has not occurred.

This bit indicates whether a minor fault level Controller error has occurred.
TRUE: A minor fault level Controller error has occurred.
FALSE: A minor fault level Controller error has not occurred.

This bit indicates whether an observation level Controller error has occurred.
TRUE: An observation level Controller error has occurred.
FALSE: An observation level Controller error has not occurred.

0 to 3

A-48

Reserved.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Specifications for Individual Systemdefined Variables

The specifications for each system-defined variable are given as described below.
Members (for
structures)

The member names are given for

structure only.

Meaning

This is the meaning of the variable.

Global/local

Global: Global variable, Local: Local

variable

Function

The function of the variable is described.

Data type

The data type of the variable is given.

Range of values

The range of values that the variable can take is given.

R/W access

R: Read only,
RW: Read/write

Retained

The Retain attribute of the variable is given.

Network Publish

The Network Publish attribute of the

variable is given.

Usage in user program

Whether you
can use the variable directly in
the user program is specified.

Related instructions

The instructions that are related to the variable are given.

A-4-1

If you cannot use the variable directly in the user program, the instructions
that access the variable are given.

System-defined Variables for the Overall NJ-series Controller

(No Category)

Functional Classification: Clock

Variable name

_CurrentTime

Meaning

System Time

Function

This variable contains the CPU Units internal clock data.

Data type

DATE_AND_TIME

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Clock instructions

Global/local

Global

Range of values

DT#1970-01-01-00:00:00 to
DT#2106-02-06-23:59:59

Network Publish

Published.

Global/local

Global

Functional Classification: Tasks

Variable name

_TaskName_Active

Meaning

Task Active Flag

Function

TRUE during task execution.

FALSE when task execution is not in progress.
Note You cannot use this system-defined variable in the user program. It is used only to access task status for
data tracing from the Sysmac Studio.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Not possible.

Related instructions

ActEventTask

Range of values

TRUE or FALSE

Network Publish

Not published.

You can access this variable from the user program only with the following
instruction.
Task_IsActive

NJ-series CPU Unit Software Users Manual (W501)

A-49

A-4-1 System-defined Variables for the Overall NJ-series Controller (No Category)

This is the system-defined variable name. The prefix

gives the category name.

App

Variable name

A-4 Specifications for Individual System-defined Variables

A-4

Appendices

Variable name

_TaskName_LastExecTime

Meaning

Last Task Execution Time

Function

Contains the task execution time the last time the task was executed (unit: 0.1 s).

Global/local

Global

Note You cannot use this system-defined variable in the user program. It is used only to access task status for
data tracing from the Sysmac Studio.
Data type

TIME

Range of values

Depends on data type.

R/W access

Retained

Not retained.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.

Network Publish

Not published.

GetMyTaskStatus

Variable name

_TaskName_MaxExecTime

Meaning

Maximum Task Execution Time

Function

Contains the maximum value of the task execution time (unit: 0.1 s).

Global/local

Global

Note You cannot use this system-defined variable in the user program. It is used only to access task status for
data tracing from the Sysmac Studio.
Data type

TIME

Range of values

Depends on data type.

Network Publish

Not published.

R/W access

Retained

Not retained.

Usage in user program

Not supported.

Related instructions

You can access this variable from the user program only with the following
instruction.
GetMyTaskStatus

Variable name

_TaskName_MinExecTime

Meaning

Minimum Task Execution Time

Function

Contains the minimum value of the task execution time (unit: 0.1 s).

Global/local

Global

Note You cannot use this system-defined variable in the user program. It is used only to access task status for
data tracing from the Sysmac Studio.
Data type

TIME

R/W access

Retained

Not retained.

Range of values

Depends on data type.

Network Publish

Not published.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.
GetMyTaskStatus

Variable name

_TaskName_ExecCount

Meaning

Task Execution Count

Function

Global/local

Global

Contains the number of executions of the task.

If 4294967295 is exceeded, the value returns to 0 and counting is continued.
Note You cannot use these system-defined variables in the user program. It is used only to access task status for
data tracing from the Sysmac Studio.

Data type

UDINT

Range of values

Depends on data type.

R/W access

Retained

Not retained.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.

Network Publish

Not published.

GetMyTaskStatus

A-50

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_TaskName_Exceeded

Meaning

Task Period Exceeded Flag

Function

TRUE if the task period was exceeded.

Global/local

Global

FALSE if task execution was completed within the task period.

Note You cannot use this system-defined variable in the user program. It is used only to access task status for
data tracing from the Sysmac Studio.
Data type

BOOL

Range of values

TRUE or FALSE

Network Publish

Not published.

R/W access

Retained

Not retained.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.
GetMyTaskStatus

Variable name

_TaskName_ExceedCount

Meaning

Task Period Exceeded Count

Function

Global/local

Global

Contains the number of times that the period was exceeded.

If the present value exceeds the maximum value of the data type, the present value returns to 0 and the count is
continued.

Note You cannot use this system-defined variable in the user program. It is used only to access task status for
data tracing from the Sysmac Studio.
UDINT

R/W access

Retained

Not retained.

Range of values

Depends on data type.

Network Publish

Not published.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.
GetMyTaskStatus

Functional Classification: Errors

Variable name

_ErrSta

Meaning

Controller Error Status

Function

Global/local

Global

TRUE if there is a Controller error.

FALSE if there is no Controller error.
Note Do not use this variable in the user program. There may be a delay in updating it and concurrency problems in relation to the status of the function module. Use this variable only to access status through communications from an external device. Refer to A-3-7 Meanings of Error Status Bits for the meanings of the
error status bits.

Data type

WORD

R/W access

Retained

Not retained.

Usage in user program

Not possible.

Related instructions

ResetPLCError

Range of values

16#0000 to 16#C0F0

Network Publish

Published.

ResetCJBError
ResetECError
ResetMCError
MC_Reset
MC_GroupReset
You can access this variable from the user program only with the following
instructions.
GetPLCError
GetCJBError
GetECError
GetMCError
GetEIPError

NJ-series CPU Unit Software Users Manual (W501)

A-51

A-4-1 System-defined Variables for the Overall NJ-series Controller (No Category)

Data type

App

If 4294967295 is exceeded, the value returns to 0 and counting is continued.

A-4 Specifications for Individual System-defined Variables

Variable name

Appendices

Variable name

_AlarmFlag

Meaning

User-defined Error Status

Function

The bit corresponding to the event level is TRUE while there is a user-defined error.

Global/local

Global

Bits 00 to 07 correspond to user fault levels 1 to 8.

This variable contains 0000 hex when there is no user-defined error.
Data type

WORD

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

SetAlarm

Range of values

16#0000 to 16#00FF

Network Publish

Published.

ResetAlarm
GetAlarm

Functional Classification: SD Memory Card

Variable name

_Card1Ready

Meaning

SD Memory Card Ready Flag

Function

TRUE when the SD Memory Card is recognized.

Global/local

Global

FALSE when an SD Memory Card is not recognized.

TRUE: The Card can be used.
FALSE: The Card cannot be used.
Data type

BOOL

R/W access

Retained

Retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_Card1Protect

Meaning

SD Memory Card Write Protected Flag

Function

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

TRUE when the SD Memory Card is write-protected with the LOCK switch.
TRUE: Write protected.
FALSE: Not write protected.

Data type

BOOL

R/W access

Retained

Retained.

Range of values

TRUE or FALSE

Network Publish

Published.

Usage in user program

Possible.

Related instructions

---

Variable name

_Card1Err

Meaning

SD Memory Card Error Flag

Function

TRUE when an unusable SD Memory Card is inserted or a format error occurs.

Global/local

Global

TRUE: There is an error

FALSE: There is no error
Data type

BOOL

R/W access

Retained

Retained.

Usage in user program

Possible.

Related instructions

---

A-52

Range of values

TRUE or FALSE

Network Publish

Published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_Card1Access

Meaning

SD Memory Card Access Flag

Function

TRUE during SD Memory Card access.

Global/local

Global

TRUE: Card is being accessed.

FALSE: Card is not being accessed.
The system updates the flag every 100 ms. Because of this, access to the SD Memory Card is shown by this flag
with a delay of up to 100 ms. We therefore do not recommend the use of this variable in the user program.
Data type

BOOL

R/W access

Retained

Retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_Card1Deteriorated

Meaning

SD Memory Card Life Warning Flag

Function

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

TRUE when the life of the SD Memory Card is exceeded.

If this variable changed to TRUE, replace the SD Memory Card.

A-4 Specifications for Individual System-defined Variables

Variable name

Read/write operation may fail if the SD Memory Card is not replaced.

App

TRUE: The life of the Card has been exceeded.

FALSE: The Card can still be used.
Data type

BOOL

TRUE or FALSE

Network Publish

Published.

Global/local

Global

R/W access

Retained

Retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_Card1PowerFail

Meaning

SD Memory Card Power Interruption Flag

Function

TRUE when the power supply to the CPU Unit was interrupted during access to the SD Memory Card.
TRUE: Power was interrupted during SD Memory Card access.
FALSE: Normal.

Data type

BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

RW

Retained

Retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_Card1BkupCmd*1

Member name

.ExecBkup

Meaning

Execute Backup Flag

Global/local

Global

Function

Change this variable to TRUE to back up Controller data to an SD Memory Card.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
when sending a command from an HMI or host computer.

Data type

Structure: _sBKUP_CMD, Member: BOOL

Range of values

TRUE or FALSE

R/W access

R/W

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

A-53

A-4-1 System-defined Variables for the Overall NJ-series Controller (No Category)

Range of values

Appendices

Variable name

_Card1BkupCmd*1

Member name

.CancelBkup

Meaning

Cancel Backup Flag

Global/local

Global

Function

Change this variable to TRUE to cancel backing up data to an SD Memory Card.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
when sending a command from an HMI or host computer.

Data type

Structure: _sBKUP_CMD, Member: BOOL

Range of values

TRUE or FALSE

R/W access

R/W

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1BkupCmd*1

Member name

.ExecVefy

Meaning

Execute Verify Flag

Global/local

Global

Function

Change this variable to TRUE to compare the Controller data to a backup file in the SD Memory Card.
Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
when sending a command from an HMI or host computer.

Data type

Structure: _sBKUP_CMD, Member: BOOL

Range of values

TRUE or FALSE

R/W access

R/W

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1BkupCmd*1

Member name

.CancelVefy

Meaning

Cancel Verify Flag

Global/local

Global

Function

Change this variable to TRUE to cancel comparing the Controller data to a backup file in the SD Memory Card.
Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
when sending a command from an HMI or host computer.

Data type

Structure: _sBKUP_CMD, Member: BOOL

Range of values

TRUE or FALSE

R/W access

R/W

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1BkupCmd*1

Member name

.DirName

Meaning

Directory Name

Global/local

Global

Function

Used to specify the directory name in the SD Memory Card for which to back up data.
Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
when sending a command from an HMI or host computer.

Data type

Structure: _sBKUP_CMD, Member: STRING(64)

Range of values

Depends on data type.

R/W access

R/W

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.

A-54

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_Card1BkupSta*1

Member name

.Done

Meaning

Done Flag

Global/local

Global

Function

TRUE when a backup is completed.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
to read the status from an HMI or host computer.

Data type

Structure: _sBKUP_STA, Member: BOOL

Range of values

TRUE or FALSE

R/W access

Read

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1BkupSta*1

Member name

.Active

Meaning

Active Flag

Global/local

Global

Function

TRUE when a backup is in progress.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
to read the status from an HMI or host computer.
Range of values

TRUE or FALSE

Read

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1BkupSta*1

Member name

.Err

Meaning

Error Flag

Global/local

Global

Function

TRUE when processing a backup ended in an error.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
to read the status from an HMI or host computer.

Data type

Structure: _sBKUP_STA, Member: BOOL

Range of values

TRUE or FALSE

R/W access

Read

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1VefySta*1

Member name

.Done

Meaning

Done Flag

Global/local

Global

Function

TRUE when a verification is completed.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
to read the status from an HMI or host computer.

Data type

Structure: _sVEFY_STA, Member: BOOL

Range of values

TRUE or FALSE

R/W access

Read

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

A-55

A-4-1 System-defined Variables for the Overall NJ-series Controller (No Category)

Structure: _sBKUP_STA, Member: BOOL

R/W access

App

Data type

A-4 Specifications for Individual System-defined Variables

Variable name

Appendices

Variable name

_Card1VefySta*1

Member name

.Active

Meaning

Active Flag

Global/local

Global

Function

TRUE when a verification is in progress.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
to read the status from an HMI or host computer.

Data type

Structure: _sVEFY_STA, Member: BOOL

Range of values

TRUE or FALSE

R/W access

Read

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1VefySta*1

Member name

.VefyRslt

Meaning

Verify Result Flag

Global/local

Global

Function

TRUE if the data was the same. FALSE if differences were found.
Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
to read the status from an HMI or host computer.

Data type

Structure: _sVEFY_STA, Member: BOOL

Range of values

TRUE or FALSE

R/W access

Read

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.
Variable name

_Card1VefySta*1

Member name

.Err

Meaning

Error Flag

Global/local

Global

Function

TRUE when processing a verification ended in an error.

Note You cannot use this system-defined variable in the user program. Use it in CIP message communications
to read the status from an HMI or host computer.

Data type

Structure: _sVEFY_STA, Member: BOOL

Range of values

TRUE or FALSE

R/W access

Read

Retained

Not retained.

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

---

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.

Functional Classification: Backup

Variable name

_BackupBusy*1

Meaning

Backup Function Busy Flag

Global/local

Function

TRUE when a backup, restoration, or verification is in progress.

Data type

BOOL

R/W access

Read

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Global

Range of values

TRUE or FALSE

Network Publish

Published.

*1 This system-defined variable was added for unit version 1.03 of the CPU Unit.

A-56

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-4 Specifications for Individual System-defined Variables

Functional Classification: Power Supply

Variable name

_PowerOnHour

Meaning

Total Power ON Time

Function

Global/local

Global

Contains the total time that the power has been ON.
Contains the total time that the CPU Unit has been ON in 1-hour increments.
To reset this value, overwrite the current value with 0.
The value is not updated after it reaches 4294967295.
This variable is not initialized at startup.

Data type

UDINT

Range of values

0 to 4294967295

Network Publish

Published.

Global/local

Global

R/W access

RW

Retained

Retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_PowerOnCount

Meaning

Power Interruption Count

Function

Contains the number of times that the power supply has been interrupted.

To reset this value, overwrite the current value with 0.

This variable is not initialized at startup.
Data type

UDINT

Range of values

0 to 4294967295

Network Publish

Published.

Global/local

Global

R/W access

R/W

Retained

Retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_RetainFail

Meaning

Retention Failure Flag

Function

TRUE at the following times (failure of retention during power interruptions).

When an error is detected in the battery-backup memory check at startup.
FALSE at the following times (no failure of retention during power interruptions).
When no error is detected in the battery-backup memory check at startup.
When the user program is downloaded.
When the Clear All Memory operation is performed.
Note When the encoder home offset data is not retained, the status is given in the error status of the axis variable, and not in this flag.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

TRUE or FALSE

Network Publish

Not published.

Global/local

Global

Range of values

TRUE

Network Publish

Not published.

Functional Classification: Programming

Variable name

P_On

Meaning

Always TRUE Flag

Function

This flag is always TRUE.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

NJ-series CPU Unit Software Users Manual (W501)

A-57

A-4-1 System-defined Variables for the Overall NJ-series Controller (No Category)

The value is not updated after it reaches 4294967295.

App

The value is incremented by 1 each time the power supply is interrupted after the first time that the power was
turned ON.

Appendices

Variable name

P_Off

Meaning

Always FALSE Flag

Function

This flag is always FALSE.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

P_CY

Meaning

Carry Flag

Global/local

Function

This flag is updated by some instructions.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

P_First_RunMode

Global

Range of values

FALSE

Network Publish

Not published.

Global/local

Local

Range of values

TRUE or FALSE

Network Publish

Not published.

Global/local

Local

Meaning

First RUN Period Flag

Function

This flag is TRUE for only one task period after the operating mode of the CPU Unit is changed from PROGRAM
mode to RUN mode if execution of the program is in progress.
This flag remains FALSE if execution of the program is not in progress.
Use this flag to perform initial processing when the CPU Unit begins operation.
Note You cannot use this system-defined variable inside functions.

Data type

BOOL

R/W access

Retained

Not retained.

Range of values

TRUE or FALSE

Network Publish

Not published.

Usage in user program

Possible.

Related instructions

---

Variable name

P_First_Run*1

Meaning

First Program Period Flag

Global/local

Local

Function

This flag is TRUE for one task period after execution of the program starts.
Use this flag to perform initial processing when execution of a program starts.
Note You cannot use this system-defined variable inside functions.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

TRUE or FALSE

Network Publish

Not published.

*1 This system-defined variable was added for unit version 1.08 of the CPU Unit.
Variable name

P_PRGER

Meaning

Instruction Error Flag

Function

This flag changes to and remains TRUE when an instruction error occurs in the program or in a function/function
block called from the program. After this flag changes to TRUE, it stays TRUE until the user program changes it
back to FALSE.

Data type

BOOL

Global/local

R/W access

RW

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-58

Local

Range of values

TRUE or FALSE

Network Publish

Not published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Variable name

_Port_numUsingPort

Meaning

Number of Used Ports

Function

Gives the number of internal logical ports that are currently used.

Global/local

Global

You can use this variable when you debug the user program.
Data type

USINT

R/W access

Retained

Not retained.

Range of values

0 to 32

Network Publish

Not published.

Usage in user program

Possible.

Related instructions

Communications instructions (ExecPMCR, SerialSend, SerialRcv, Send,

Rcv, and SendCmd)

Variable name

_Port_isAvailable

Meaning

Network Communications Instruction Enabled Flag

Function

Indicates whether there is an available internal logical port.

Global/local

Global

TRUE when an internal logical port is available. Otherwise FALSE.

Data type

BOOL

Range of values

TRUE or FALSE

Network Publish

Not published.

Retained

Not retained.

Possible.

Related instructions

Communications instructions (ExecPMCR, SerialSend, SerialRcv, Send,

Rcv, and SendCmd)

Variable name

_FINSTCPConnSta

Meaning

FINS/TCP Connection Status

Function

Gives the FINS/TCP connection status.

Data type

WORD

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Global/local

Global

Range of values

16#0000 to 16#FFFF

Network Publish

Published.*1

*1 The network for CPU Units with unit version 1.07 or earlier is not published.

Functional Classification: Version

Variable name

_UnitVersion*1

Meaning

Unit Version

Function

The unit version of the CPU Unit is stored.

Global/local

Global

The integer part of the unit version is stored in element number 0.

The fractional part of the unit version is stored in element number 1.
Example 1) If the unit version is 1.08, 1 is stored in element number 0 and 8 is stored in element number 1.
Example 2) If the unit version is 1.10, 1 is stored in element number 0 and 10 is stored in element number 1.
Data type

ARRAY[0..1] OF USINT

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

0 to 99

Network Publish

Published.

*1 This system-defined variable was added for unit version 1.08 of the CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

A-59

A-4-1 System-defined Variables for the Overall NJ-series Controller (No Category)

Usage in user program

App

R/W access

A-4 Specifications for Individual System-defined Variables

Functional Classification: Communications

Appendices

A-4-2

PLC Function Module, Category Name: _PLC

Functional Classification: Debugging

Variable name

_PLC_TraceSta[0..3]

Members

.IsStart

Meaning

Trace Busy Flag

Global/local

Global

Function

TRUE when a trace starts.

Note You cannot use these system-defined variables in the user program. It is used only to monitor the status of
data tracing from the Sysmac Studio.

Data type

Structure: _sTRACE_STA, Members: BOOL

Range of values

TRUE or FALSE

R/W access

Retained

Retained.

Network Publish

Not published.

Usage in user program

Not possible.

Related instructions

TraceTrig
TraceSamp
You can access this variable from the user program only with the following
instruction.
GetTraceStatus

Variable name

_PLC_TraceSta[0..3]

Members

.IsComplete

Meaning

Trace Completed Flag

Global/local

Global

Function

TRUE when a trace is completed.

Note You cannot use this system-defined variable in the user program. It is used only to monitor the status of
data tracing from the Sysmac Studio.

Data type

Structure: _sTRACE_STA, Members: BOOL

Range of values

TRUE or FALSE

R/W access

Retained

Retained.

Network Publish

Not published.

Usage in user program

Not possible.

Related instructions

TraceTrig
TraceSamp
You can access this variable from the user program only with the following
instruction.
GetTraceStatus

Variable name

_PLC_TraceSta[0..3]

Members

.IsTrigger

Meaning

Trace Trigger Monitor Flag

Global/local

Global

Function

TRUE when the trigger condition is met.

FALSE when the next trace starts.
Note You cannot use these system-defined variables in the user program. It is used only to monitor the status of
data tracing from the Sysmac Studio.

Data type

Structure: _sTRACE_STA, Members: BOOL

Range of values

TRUE or FALSE

R/W access

Retained

Retained.

Network Publish

Not published.

Usage in user program

Not possible.

Related instructions

TraceTrig
TraceSamp
You can access this variable from the user program only with the following
instruction.
GetTraceStatus

A-60

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_PLC_TraceSta[0..3]

Members

.ParamErr

Meaning

Trace Parameter Error Flag

Global/local

Global

Function

TRUE when a trace starts, but there is an error in the trace settings.
FALSE when the settings are normal.
Note You cannot use these system-defined variables in the user program. It is used only to monitor the status of
data tracing from the Sysmac Studio.

Data type

Structure: _sTRACE_STA, Members: BOOL

Range of values

TRUE or FALSE

R/W access

Retained

Retained.

Network Publish

Not published.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.
GetTraceStatus

Functional Classification: Errors

Variable name

_PLC_ErrSta

Meaning

PLC Function Module Error Status

Function

TRUE when there is a Controller error that involves the PLC Function Module.

Global/local

Global

App

FALSE when there is no Controller error that involves the PLC Function Module.
Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD
R

Retained

Not retained.

Usage in user program

Possible.

Related instructions

GetPLCError

16#0000 to 16#00F0

Network Publish

Published.

A-4-3 PLC Function Module, Category Name: _CJB

R/W access

Range of values

You can use the following instruction to clear this variable.

ResetPLCError

A-4-3

PLC Function Module, Category Name: _CJB

Functional Classification: I/O Bus Status

Variable name

_CJB_MaxRackNo

Meaning

Largest Rack Number

Function

Contains the largest rack number of the Expansion Racks that are detected by the Controller.

Data type

UINT

Global/local

Range of values

Global

0 to 3
0 means there are no Expansion
Racks.

Network Publish

Published.

Global/local

Global

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_CJB_MaxSlotNo

Meaning

Largest Slot Number

Function

Contains one higher than the largest slot number with a CJ-series Unit on each of the Racks that are detected by
the Controller.

Data type

ARRAY [0..3] OF UINT

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

0 to 10

Network Publish

Published.

0: No CJ-series Unit mounted.

NJ-series CPU Unit Software Users Manual (W501)

A-4 Specifications for Individual System-defined Variables

Variable name

A-61

Appendices

Functional Classification: I/O Bus Errors

Variable name

_CJB_ErrSta

Meaning

I/O Bus Error Status

Function

Gives the I/O bus error status.

Global/local

Global

Note Do not use this variable in the user program. There may be a delay in updating it and concurrency problems may occur. Use this variable only to access status through communications from an external device.
Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

Range of values

16#0000 to 16#00F0

R/W access

Retained

Not retained.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.

Network Publish

Published.

GetCJBError
You can use the following instruction to clear this variable.
ResetCJBError

Variable name

_CJB_MstrErrSta

Meaning

I/O Bus Master Error Status

Function

Gives the I/O bus master error status.

Global/local

Global

Note Do not use this variable in the user program. There may be a delay in updating it and concurrency problems may occur. Use these variables only to access status through communications from an external
device. Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.
GetCJBError
You can use the following instruction to clear this variable.
ResetCJBError

Variable name

_CJB_UnitErrSta

Meaning

I/O Bus Unit Error Status

Function

Gives the error status of the I/O Bus Unit.

Global/local

Global

Note Do not use this variable in the user program. There may be a delay in updating it and concurrency problems may occur. Use this variable only to access status through communications from an external device.
Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

ARRAY [0..3, 0..9] OF WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#80F0

Network Publish

Published.

Usage in user program

Not possible.

Related instructions

You can access this variable from the user program only with the following
instruction.
GetCJBError
You can clear this variable with the following instruction.
ResetCJBError

Variable name

_CJB_InRespTm

Meaning

Basic Input Unit Input Response Times

Function

Contains the response times of the Basic I/O Units.

Data type

ARRAY [0..3, 0..9] OF UINT

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-62

Global/local

Global

Range of values

0 to 320

Network Publish

Published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-4 Specifications for Individual System-defined Variables

Functional Classification: Auxiliary Area Bits for CJ-series Units

Variable name

_CJB_IOUnitInfo

Meaning

Basic I/O Unit Information

Function

Shows the status of the Basic I/O Unit alarm output (load short-circuit protection).

Global/local

Global

TRUE: Load short-circuit

FALSE: No load short-circuit
Data type

ARRAY [0..3, 0..9, 0..7] OF BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Auxiliary
Area
addresses

Words

A50 to A69

Bits

A50.00 to A69.15

Variable name

Range of values

TRUE or FALSE

Network Publish

Not published.

Global/local

Global

_CJB_CBU00InitSta
to
CPU Bus Unit Initializing Flags

Function

App

_CJB_CBU15InitSta
Meaning

The corresponding variable is TRUE during initialization of the CPU Bus Unit.
The corresponding variable changes to FALSE when the initialization is completed.

A-4-3 PLC Function Module, Category Name: _CJB

The numbers in the variables indicate the unit numbers of the applicable Units.
Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

ResetUnit

Auxiliary
Area
addresses

Words

A302

Bits

A302.00 to A302.15

Variable name

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

_CJB_SIO00InitSta
to
_CJB_SIO95InitSta

Meaning

Special I/O Unit Initializing Flags

Function

The corresponding variable is TRUE during initialization of the Special I/O Unit.
The corresponding variable changes to FALSE when the initialization is completed.
The numbers in the variables indicate the unit numbers of the applicable Units.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

ResetUnit

Auxiliary
Area
addresses

Words

A330 to A335

Bits

A330.00 to A335.15

Variable name

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

_CJB_CBU00Restart
to
_CJB_CBU15Restart

Meaning

CPU Bus Unit Restart Bits

Function

The CPU Bus Unit is restarted when the corresponding variable changes to TRUE. (It is changed to FALSE by the
system after the CPU Bus Unit is restarted.)
The numbers in the variables indicate the unit numbers of the applicable Units.
If you change the Restart Flag to TRUE with an instruction, the restart process begins from refresh processing in
the next task period.

NJ-series CPU Unit Software Users Manual (W501)

A-63

Appendices

Data type

BOOL

R/W access

RW

Retained

Not retained.

Usage in user program

Possible.

Related instructions

ResetUnit

Auxiliary
Area
addresses

Words

A501

Bits

A501.00 to A501.15

Variable name

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

_CJB_SIO00Restart
to
_CJB_SIO95Restart

Meaning

Special I/O Unit Restart Bits

Function

The Special I/O Unit is restarted when the corresponding variable changes to TRUE. (It is changed to FALSE by
the system after the CPU Bus Unit is restarted.)
The numbers in the variables indicate the unit numbers of the applicable Units.
If you change the Restart Flag to TRUE with an instruction, the restart process begins from refresh processing in
the next task period.

Data type

BOOL

R/W access

RW

Retained

Not retained.

Usage in user program

Possible.

Related instructions

ResetUnit

Auxiliary
Area
addresses

Words

A502 to A507

Bits

A502.00 to A507.15

Variable name

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

_CJB_SCU00P1ChgSta
_CJB_SCU00P2ChgSta
to
_CJB_SCU15P1ChgSta
_CJB_SCU15P2ChgSta

Meaning

Serial Communications Unit 0, Port 1/2 Settings

Changing Flags

Serial Communications Units 1 to 15, Port 1/2 Settings

Changing Flags

Function

TRUE when the parameters of the specified port are being changed. TRUE when the Change Serial Communications Parameter (SerialSetup) instruction is being executed.
FALSE after the parameters are changed.
It is also possible for the user to indicate a change in serial port settings by turning ON the corresponding flag
through the execution of an instruction or a user operation.

Data type

BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

RW

Retained

Not retained.

Usage in user program

Possible.

Related instructions

SerialSetUp

Auxiliary
Area
addresses

Words

Port on Serial Communications Unit with unit number 0: A620

Bits

Port on Serial Communications Unit with unit number 0: A620.01 to A620.02

Ports on Serial Communications Unit with unit numbers 1 to 15: A621 to A635
Ports on Serial Communications Unit with unit numbers 1 to 15: A621.01 to A635.02

A-64

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-4 Specifications for Individual System-defined Variables

A-4-4

Motion Control Function Module, Category Name: _MC

Functional Classification: Motion Control Functions

Variable name

_MC_ErrSta

Meaning

Motion Control Function Module Error Status

Function

Global/local

Global

Shows the status of errors that are detected in the Motion Control Function Module.
You can use this variable directly in the user program.
Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.

Data type

WORD

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

GetMCError

Range of values

16#0000 to 16#40F0

Network Publish

Published.

Global/local

Global

ResetMCError
MC_Reset
MC_GroupReset

_MC_ComErrSta

Meaning

Common Error Status

Function

Shows the status of errors that are detected in common processing for motion control.

App

Variable name

A-4-4 Motion Control Function Module, Category Name: _MC

You can use this variable directly in the user program.

Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

GetMCError

Variable name

_MC_AX_ErrSta

Meaning

Axis Error Status

Function

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Global/local

Global

ResetMCError

Shows the error status for each axis.

The status of up to 64 axes is given.
You can use this variable directly in the user program.
Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.

Data type

ARRAY [0..63] OF WORD

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

GetMCError

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Global/local

Global

ResetMCError
MC_Reset

Variable name

_MC_GRP_ErrSta

Meaning

Axes Group Error Status

Function

Shows the error status for each axes group.

The error status for up to 32 axes groups is shown.
You can use this variable directly in the user program.
Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.

Data type

ARRAY [0..31] OF WORD

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

GetMCError

Range of values

16#0000 to 16#00F0

Network Publish

Published.

ResetMCError
MC_GroupReset

NJ-series CPU Unit Software Users Manual (W501)

A-65

Appendices

Variable name

_MC_COM

Meaning

Common Variable

Function

Shows the status that is common to the Motion Control Function Module.

Global/local

Global

Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on structure
members.
Data type

_sCOMMON_REF

Range of values

---

Network Publish

Published.

Global/local

Global

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_MC_GRP[32]

Meaning

Axes Group Variables

Function

Used to specify axes groups and shows multi-axes coordinated control status, and multi-axes coordinated control
settings for motion control instructions.
When you create an axes group on the System Studio, a user-defined axes group variable with a different name is
created.
Normally, you use an Axes Group Variable with a different name.
Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on structure
members.

Data type

_sGROUP_REF

Range of values

---

Network Publish

Published.

Global/local

Global

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_MC_AX[64]

Meaning

Axis Variables

Function

Used to specify axes and shows single-axis control status, and single-axis control settings for motion control
instructions.
When you create an axis on the System Studio, a user-defined axis variable with a different name is created.
Normally, you use an Axis Variable with a different name.
Refer to the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on structure
members.

Data type

_sAXIS_REF

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-4-5

Range of values

---

Network Publish

Published.

EtherCAT Master Function Module, Category Name: _EC

Functional Classification: EtherCAT Communications Errors

Variable name

_EC_ErrSta

Meaning

Built-in EtherCAT Error

Function

This system-defined variable provides the collective status of errors in the EtherCAT Master Function Module.

Global/local

Global

Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Possible.

Related instructions

Get EtherCAT Error Status

GetECError
Reset EtherCAT Controller Error
ResetECError

A-66

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_EC_PortErr

Meaning

Communications Port Error

Function

This system-defined variable provides the collective status of errors in the communications ports for the EtherCAT
master.

Global/local

Global

Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

Range of values

16#0000 to 16#00F0

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Get EtherCAT Error Status

GetECError
Reset EtherCAT Controller Error
ResetECError

Variable name

_EC_MstrErr

Meaning

Master Error

Function

This system-defined variable provides the collective status of EtherCAT master errors and slave errors detected
by the EtherCAT master.

Global/local

Global

A-4 Specifications for Individual System-defined Variables

Variable name

Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Possible.

Related instructions

Get EtherCAT Error Status

A-4-5 EtherCAT Master Function Module, Category Name: _EC

WORD

R/W access

App

Data type

GetECError
Reset EtherCAT Controller Error
ResetECError

Variable name

_EC_SlavErr

Meaning

Slave Error

Function

This system-defined variable provides the collective status of all the error status for EtherCAT slaves.

Global/local

Global

Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Possible.

Related instructions

Get EtherCAT Error Status

GetECError
Reset EtherCAT Controller Error
ResetECError

Variable name

_EC_SlavErrTbl

Meaning

Slave Error Table

Function

This system-defined variable gives the error status for each EtherCAT slave.

Global/local

Global

The error status is given for each slave in the actual system configuration.
This variable array indicates slaves in which there are errors. Status is provided for each EtherCAT slave node
address (1 to 192).
Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

Array [1..192] OF WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Possible.

Related instructions

Get EtherCAT Error Status

GetECError
Reset EtherCAT Controller Error
ResetECError

NJ-series CPU Unit Software Users Manual (W501)

A-67

Appendices

Variable name

_EC_MacAdrErr

Meaning

MAC Address Error

Function

TRUE if there is an illegal MAC address.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

Variable name

Global/local

Range of values

TRUE or FALSE

Network Publish

Published.

ResetECError

_EC_LanHwErr

Meaning

Communications Controller Error

Function

TRUE if there is a communications controller hardware error.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

Variable name

_EC_LinkOffErr

Meaning

Link OFF Error

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

ResetECError

Global/local

Function

TRUE if the communications controller link is not established.

Data type

BOOL

Global

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

ResetECError

Variable name

_EC_NetCfgErr

Meaning

Network Configuration Information Error

Function

TRUE if there is illegal network configuration information.

Data type

BOOL

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

Variable name

Global

ResetECError

_EC_NetCfgCmpErr

Meaning

Network Configuration Verification Error

Function

TRUE if the network configuration information does not match the actual network configuration.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

Variable name

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

ResetECError

_EC_NetTopologyErr

Meaning

Network Configuration Error

Function

TRUE if there is a network configuration error (too many devices connected or ring connection).

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

A-68

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

ResetECError

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_EC_PDCommErr

Meaning

Process Data Communications Error

Function

TRUE if there is an unexpected slave disconnection or connection or if a slave WDT error is detected during process data communications.

Data type

BOOL

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

ResetECError

Variable name

_EC_PDTimeoutErr

Meaning

Process Data Reception Timeout Error

Function

TRUE if a timeout occurs while receiving process data.

Data type

BOOL

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

A-4 Specifications for Individual System-defined Variables

Variable name

ResetECError

App

Variable name

_EC_PDSendErr

Meaning

Process Data Transmission Error

Function

TRUE if there is a process data transmission error (cannot send within the process data communications period
or transmission jitter is over the limit).

Data type

BOOL

Global/local

TRUE or FALSE

Network Publish

Published.

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

ResetECError

Variable name

_EC_SlavAdrDupErr

Meaning

Slave Node Address Duplicated Error

Function

TRUE if the same node address is set for more than one slave.

Data type

BOOL

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

ResetECError

Variable name

_EC_SlavInitErr

Meaning

Slave Initialization Error

Function

TRUE if there is an error in an initialization command addressed to a slave.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

ResetECError

Variable name

_EC_SlavAppErr

Meaning

Slave Application Error

Function

TRUE if there is an error in the slaves application status register.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

ResetECError

A-69

A-4-5 EtherCAT Master Function Module, Category Name: _EC

Range of values

R/W access

NJ-series CPU Unit Software Users Manual (W501)

Global

Appendices

Variable name

_EC_MsgErr

Meaning

EtherCAT Message Error

Function

TRUE when a message is sent to a slave that does not support messages or when there is an error in the format
of the response to a message that was sent to a slave.

Global/local

Global

Data type

BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

CoE messages (Read CoE SDO)

EC_CoESDORead
CoE messages (Write CoE SDO)
EC_CoESDOWrite

Variable name

_EC_SlavEmergErr

Meaning

Emergency Message Detected

Function

TRUE if the master detects an emergency message that was sent by a slave.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

Variable name

_EC_CommErrTbl

Meaning

Communications Error Slave Table

Function

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

ResetECError

Global/local

Global

Slaves are given in the table in the order of slave node addresses.
The corresponding slave element is TRUE if the master detected an error for the slave.

Data type

Array [1..192] OF BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Reset EtherCAT Controller Error

ResetECError

Note The values of all system-defined variables that are related to errors in EtherCAT communications do not change until the
cause of the error is removed and then the error in the Controller is reset with the troubleshooting functions of the Sysmac Studio or the ResetECError instruction.

Functional Classification: EtherCAT Communications Status

Variable name

_EC_RegSlavTbl

Meaning

Registered Slave Table

Function

This table indicates the slaves that are registered in the network configuration information.

Global/local

Global

Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is registered.
Data type

Array [1..192] OF BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-70

Range of values

TRUE or FALSE

Network Publish

Published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_EC_EntrySlavTbl

Meaning

Network Connected Slave Table

Function

This table indicates which slaves are connected to the network.

Global/local

Global

Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave has entered the network.
Data type

Array [1..192] OF BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EC_MBXSlavTbl

Meaning

Message Communications Enabled Slave Table

Function

This table indicates the slaves that can perform message communications.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if message communications are enabled for it (pre-operational, safe-operation,
or operational state).

Data type

Array [1..192] OF BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Disconnect EtherCAT Slave

EC_DisconnectSlave
Connect EtherCAT Slave
EC_ConnectSlave

Variable name

_EC_PDSlavTbl

Meaning

Process Data Communicating Slave Table

Function

This is a table that indicates the slaves that are performing process data communications.

Global/local

Global

Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if process data of the corresponding slave is enabled (operational) for both slave
inputs and outputs.
Note Use this variable to confirm that the data for the relevant slave is valid before controlling an EtherCAT slave.
Data type

Array [1..192] OF BOOL

R/W access

Retained

Not retained.

Range of values

TRUE or FALSE

Network Publish

Published.

Usage in user program

Possible.

Related instructions

Disconnect EtherCAT Slave

EC_DisconnectSlave
Connect EtherCAT Slave
EC_ConnectSlave

Variable name

_EC_DisconnSlavTbl

Meaning

Disconnected Slave Table

Function

Slaves are given in the table in the order of slave node addresses.

Global/local

Global

The element for a slave is TRUE if the corresponding slave was disconnected.
Data type

Array [1..192] OF BOOL

R/W access

Retained

Not retained.

Range of values

TRUE or FALSE

Network Publish

Published.

Usage in user program

Possible.

Related instructions

Disconnect EtherCAT Slave

EC_DisconnectSlave
Connect EtherCAT Slave
EC_ConnectSlave

NJ-series CPU Unit Software Users Manual (W501)

A-71

A-4-5 EtherCAT Master Function Module, Category Name: _EC

R/W access

App

Note Use this variable to confirm that message communications are possible for the relevant slave before you
execute message communications with an EtherCAT slave.

A-4 Specifications for Individual System-defined Variables

Variable name

Appendices

Variable name

_EC_DisableSlavTbl

Meaning

Disabled Slave Table

Function

Slaves are given in the table in the order of slave node addresses.

Global/local

Global

The element for a slave is TRUE if the corresponding slave is disabled.

Data type

Array [1..192] OF BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EC_PDActive

Meaning

Process Data Communications Status

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Function

TRUE when process data communications are performed with all slaves*.

Data type

BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Disconnect EtherCAT Slave

EC_DisconnectSlave
Connect EtherCAT Slave
EC_ConnectSlave

* Disabled slaves are not included.

Variable name

_EC_PktMonStop

Meaning

Packet Monitoring Stopped

Function

TRUE when packet monitoring is stopped.

Global/local

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Stop Packet Monitor

Global

Range of values

TRUE or FALSE

Network Publish

Published.

EC_StopMon
Start Packet Monitor
EC_StartMon

Variable name

_EC_LinkStatus

Meaning

Link Status

Global/local

Function

TRUE if the communications controller link status is Link ON.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EC_PktSaving

Meaning

Saving Packet Data File

Function

Shows whether a packet data file is being saved.

Global

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Range of values

TRUE or FALSE

Network Publish

Published.

TRUE: Packet data file being saved.

FALSE: Packet data file not being saved.
Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

Saving Packet Data File

A-72

EC_SaveMon

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_EC_InDataInvalid

Meaning

Input Data Invalid

Function

TRUE when process data communications are not normal and the input data is not valid.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Global/local

A-4 Specifications for Individual System-defined Variables

Variable name

Global

Range of values

TRUE or FALSE

Network Publish

Published.

Note All system-defined variables that are related to the status of EtherCAT communications give the current status.

A-4-6

EtherNet/IP Function Module, Category Name: _EIP

Functional Classification: EtherNet/IP Communications Errors

Variable name

_EIP_ErrSta

Meaning

Built-in EtherNet/IP Error

Function

Global/local

Global

This is the error status variable for the built-in EtherNet/IP port.

App

It represents the following error flags.

_EIP_PortErr (Communications Port Error)
_EIP_CipErr (CIP Communications Error)

A-4-6 EtherNet/IP Function Module, Category Name: _EIP

_EIP_TcpAppErr (TCP Application Communications Error)

Note Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Possible.

Related instructions

You can access this variable from the user program with the following
instruction.
GetEIPError

Variable name

_EIP_PortErr

Meaning

Communications Port Error

Function

This is the error status variable for the communications port.

Global/local

Global

It represents the following error flags.

_EIP_MacAdrErr (MAC Address Error)
_EIP_LanHwErr (Communications Controller Error)
_EIP_EtnCfgErr (Basic Ethernet Setting Error)
_EIP_IPAdrCfgErr (TCP/IP Basic Setting Error)
_EIP_IPAdrDupErr (IP Address Duplication Error)
_EIP_BootpErr (BOOTP Server Error)
_EIP_IPRTblErr (TCP/IP Advanced Setting Error)
Note If a link OFF or Built-in EtherNet/IP Processing Error occurs, it is recorded in the event log and then corresponding bit turns ON. Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status
bits.
Data type

WORD

Range of values

16#0000 to 16#00F0

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

You can access this variable from the user program with the following
instruction.
GetEIPError

NJ-series CPU Unit Software Users Manual (W501)

A-73

Appendices

Variable name

_EIP_CipErr

Meaning

CIP Communications Error

Function

This is the error status variable for CIP communications.

Global/local

Global

It represents the following error flags.

_EIP_IdentityErr (Identity Error)
_EIP_TDLinkCfgErr (Tag Data Link Setting Error)
_EIP_TDLinkOpnErr (Tag Data Link Connection Failed)
_EIP_TDLinkErr (Tag Data Link Communications Error)
_EIP_TagAdrErr (Tag Name Resolution Error)
_EIP_MultiSwOnErr (Multiple Switches ON Error)
Note If a Tag Resolution Error occurs, it is recorded in the event log and this variable changes to TRUE. Refer to
A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.
Data type

WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Possible.

Related instructions

You can access this variable from the user program with the following
instruction.
GetEIPError

Variable name

_EIP_TcpAppErr

Meaning

TCP Application Communications Error

Function

Global/local

Global

This is the error status variable for TCP application communications.

It represents the following error flags.
_EIP_TcpAppCfgErr (TCP/IP Setting Error)
_EIP_NTPSrvErr (NTP Server Connection Error)
_EIP_DNSSrvErr (DNS Server Connection Error)
Note Refer to A-3-7 Meanings of Error Status Bits for the meanings of the error status bits.

Data type

WORD

R/W access

Retained

Not retained.

Range of values

16#0000 to 16#00F0

Network Publish

Published.

Usage in user program

Possible.

Related instructions

You can access this variable from the user program with the following
instruction.
GetEIPError

Variable name

_EIP_MacAdrErr

Meaning

MAC Address Error

Function

Indicates that an error occurred when the MAC address was read at startup.

Global/local

Global

TRUE: Error
FALSE: Normal
Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_LanHwErr

Meaning

Communications Controller Error

Function

TRUE: The communications controller failed.

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

FALSE: Normal
Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-74

Range of values

TRUE or FALSE

Network Publish

Published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_EIP_EtnCfgErr

Meaning

Basic Ethernet Setting Error

Function

TRUE: The Ethernet communications speed setting (Speed/Duplex) is incorrect. Or, a read operation failed.

Global/local

A-4 Specifications for Individual System-defined Variables

Variable name

Global

FALSE: Normal
Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_IPAdrCfgErr

Meaning

TCP/IP Basic Setting Error

Function

TRUE:

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

There is an illegal IP address setting.

A read operation failed.
The IP address obtained from the BOOTP server is inconsistent.
The DNS settings are not correct.
FALSE: Normal

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_IPAdrDupErr

Meaning

IP Address Duplication Error

Function

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

TRUE: The same IP address is assigned to more than one node.

FALSE: Other than the above.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_BootpErr

Meaning

BOOTP Server Error

Function

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

TRUE: There was a failure to connect to the BOOTP server (timeout).

FALSE: The BOOTP is not enabled, or BOOTP is enabled and an IP address was normally obtained from the
BOOTP server.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Variable name

_EIP_IPRTblErr

Meaning

TCP/IP Advanced Setting Error

Function

TRUE: There is an error in one of the following settings. Or, a read operation failed.
IP router table settings
Hosts settings
FALSE: Normal.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

NJ-series CPU Unit Software Users Manual (W501)

Range of values

TRUE or FALSE

Network Publish

Published.

A-75

A-4-6 EtherNet/IP Function Module, Category Name: _EIP

BOOL

R/W access

App

Data type

Appendices

Variable name

_EIP_IdentityErr

Meaning

Identity Error

Function

TRUE: The identity information (which you cannot overwrite) is not correct. Or, a read operation failed.

Global/local

Global

FALSE: Normal.
Data type

BOOL

R/W access

Retained

Not retained.

Range of values

TRUE or FALSE

Network Publish

Published.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TDLinkCfgErr

Meaning

Tag Data Link Setting Error

Global/local

Global

Function

TRUE: The tag data link settings are incorrect. Or, a read operation failed.
FALSE: Normal.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TDLinkOpnErr

Meaning

Tag Data Link Connection Failed

Function

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

TRUE: Establishing a tag data link connection failed due to one of the following causes.
The information registered for a target node in the tag data link parameters is different from the actual node
information.
There was no response from the remote node.
FALSE: Other than the above.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TDLinkErr

Meaning

Tag Data Link Communications Error

Function

TRUE: A timeout occurred in a tag data link connection.

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

FALSE: Other than the above.

Data type

BOOL

R/W access

Retained

Not retained.

Range of values

TRUE or FALSE

Network Publish

Published.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TagAdrErr

Meaning

Tag Name Resolution Error

Global/local

Global

Function

TRUE: Tag resolution failed (i.e., the address could not be identified from the tag name). The following causes are
possible.
The size of the network-published variable does not agree with the tag setting.
The I/O direction that is set in the tag data link settings does not agree with the I/O direction of the variable in the CPU Unit.
There is no network-published variable in the CPU Unit that corresponds to the tag setting.
FALSE: Other than the above.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-76

Range of values

TRUE or FALSE

Network Publish

Published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_EIP_MultiSwONErr

Meaning

Multiple Switches ON Error

Function

TRUE: More than one data link start/stop switch changed to TRUE at the same time.

Global/local

Global

FALSE: Other than the above.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Variable name

_EIP_TcpAppCfgErr

Meaning

TCP/IP Setting Error

Function

TRUE: At least one of the set values for a TCP/IP application (FTP, NTP, SNMP) is incorrect. Or, a read operation
failed.
FALSE: Normal.

Data type

BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_NTPSrvErr

Meaning

NTP Server Connection Error

Function

TRUE: The NTP client failed to connect to the server (timeout).

App

R/W access

A-4-6 EtherNet/IP Function Module, Category Name: _EIP

FALSE: NTP is not set or the connection was successful.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Variable name

_EIP_DNSSrvErr

Meaning

DNS Server Connection Error

Function

TRUE: The DNS client failed to connect to the server (timeout).

FALSE: DNS is not enabled. Or, DNS is enabled and the connection was successful.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

TRUE or FALSE

Network Publish

Published.

Functional Classification: EtherNet/IP Communications Status

Variable name

_EIP_EtnOnlineSta

Meaning

Online

Function

TRUE: The built-in EtherNet/IP ports communications can be used. (The link is ON and IP address is defined.
Also, there are no errors).

Global/local

Global

FALSE: The built-in EtherNet/IP ports communications is disabled due to an error in initial processing, restart
processing, or link OFF status.
Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

NJ-series CPU Unit Software Users Manual (W501)

A-4 Specifications for Individual System-defined Variables

Variable name

Range of values

TRUE or FALSE

Network Publish

Published.

A-77

Appendices

Variable name

_EIP_TDLinkRunSta

Meaning

Tag Data Link Communications Status

Function

TRUE: At least one connection is in normal operation.

Global/local

Global

FALSE: Other than the above.

Data type

BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TDLinkAllRunSta

Meaning

All Tag Data Link Communications Status

Function

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

TRUE: Tag data links are communicating in all connections as the originator.
FALSE: An error occurred in at least one connection.

Data type

BOOL

R/W access

Retained

Not retained.

Range of values

TRUE or FALSE

Network Publish

Published.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_RegTargetSta [255]

Meaning

Registered Target Node Information

Global/local

Global

Function

This variable gives a list of nodes for which built-in EtherNet/IP connections are registered.
This variable is valid only when the built-in EtherNet/IP port is the originator.
Array[x] is TRUE: The connection to the node with a target node ID of x is registered.
Array[x] is FALSE: The connection to the node with a target node ID of x is not registered.

Data type

ARRAY [0..255] OF BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Variable name

_EIP_EstbTargetSta [255]

Meaning

Normal Target Node Information

Function

This variable gives a list of nodes that have normally established EtherNet/IP connections.
Array[x] is TRUE: The connection to the node with a target node ID of x was established normally.
Array[x] is FALSE: The connection to the node with a target node ID of x was not established, or an error
occurred.

Data type

ARRAY [0..255] OF BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TargetPLCModeSta [255]

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

Meaning

Target PLC Operating Mode

Function

This variable shows the operating status of the target node Controllers that are connected with the built-in EtherNet/IP port as the originator.
The array elements are valid only when the corresponding Normal Target Node Information is TRUE.
If the corresponding Normal Target Node Information is FALSE, the Target Node Controller Operating Information
indicates the previous operating status.
Array[x] is TRUE: This is the operating state of the target Controller with a node address of x.
Array[x] is FALSE: Other than the above.

Data type

ARRAY [0..255] OF BOOL

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-78

Range of values

TRUE or FALSE

Network Publish

Published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

_EIP_TargetPLCErr [255]

Meaning

Target PLC Error Information

Function

This variable shows the error status (logical OR of fatal and non-fatal errors) of the target node Controllers that
are connected with the built-in EtherNet/IP ports as the originator.

Global/local

Global

The array elements are valid only when the corresponding Normal Target Node Information is TRUE.
The immediately preceding value is retained if this variable is FALSE.
Array[x] is TRUE: A fatal or non-fatal error occurred in the target Controller with a target node ID of x.
Array[x] is FALSE: Other than the above.
Data type

ARRAY [0..255] OF BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TargetNodeErr

Meaning

Target Node Error Information

Function

This variable indicates that the connection for the Registered Target Node Information was not established or that
an error occurred in the target Controller.
Array[x] is TRUE: A connection was not normally established with the target node for a target node ID of x (the
Registered Target Node Information is TRUE and the Normal Target Node Information is FALSE), or a connection
was established with the target node but an error occurred in the target Controller.

Data type

ARRAY [0..255] OF BOOL

Range of values

TRUE or FALSE

Network Publish

Published.

R/W access

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_NTPResult

Members

.ExecTime

Meaning

NTP Last Operation Time

Global/local

Global

Function

Gives the last time that NTP processing ended normally.

The time that was obtained from the NTP server is stored when the time is obtained normally.
The time is not stored if it is not obtained from the NTP server normally.
Note Do not use this variable in the user program. There may be a delay in updating it. Use this variable only to
access status through communications from an external device.

Data type

Structure: _sNTP_RESULT

Range of values

Depends on data type.

Network Publish

Published.

Members: DATE_AND_TIME
R/W access

Retained

Not retained.

Usage in user program

Not possible.

Related instructions

You can read the contents of this variable with the GetNTPStatus instruction.

NJ-series CPU Unit Software Users Manual (W501)

A-79

A-4-6 EtherNet/IP Function Module, Category Name: _EIP

Array[x] is FALSE: The target node is not registered for a target node ID of x (the Registered Target Node Information is FALSE), or a connection was normally established with the target node (the Registered Target Node Information is TRUE and the Normal Target Node Information is TRUE). An error occurred in the target Controller (the
Target PLC Error Information is TRUE).

App

The array elements are valid only when the Registered Target Node Information is TRUE.

A-4 Specifications for Individual System-defined Variables

Variable name

Appendices

Variable name

_EIP_NTPResult

Members

.ExecNormal

Meaning

NTP Operation Result

Global/local

Global

Function

This variable shows if the NTP operation ended normally.

TRUE: Indicates an NTP normal end.
FALSE: Indicates that NTP operation ended in an error or has not been executed even once.
Note Do not use this variable in the user program. There may be a delay in updating it. Use this variable only to
access status through communications from an external device.

Data type

BOOL

R/W access

Retained

Not retained.

Range of values

TRUE or FALSE

Network Publish

Published.

Usage in user program

Not possible

Related instructions

You can read the contents of this variable with the GetNTPStatus instruction.

Functional Classification: EtherNet/IP Communications Switches

Variable name

_EIP_TDLinkStartCmd

Meaning

Tag Data Link Communications Start Switch

Function

Change this variable to TRUE to start tag data links.

Global/local

Global

It automatically changes back to FALSE after tag data link operation starts.
Note Do not force this switch to change to FALSE from the user program or from the Sysmac Studio. It changes
to FALSE automatically.
Data type

BOOL

R/W access

RW

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

Variable name

_EIP_TDLinkStopCmd

Meaning

Tag Data Link Communications Stop Switch

Function

Change this variable to TRUE to stop tag data links.

Range of values

TRUE or FALSE

Network Publish

Published.

Global/local

Global

It automatically changes back to FALSE after tag data link operation stops.
Note Do not force this switch to change to FALSE from the user program or from the Sysmac Studio. It changes
to FALSE automatically.
Data type

BOOL

R/W access

RW

Retained

Not retained.

Usage in user program

Possible.

Related instructions

---

A-80

Range of values

TRUE or FALSE

Network Publish

Published.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-5

Attributes of CPU Unit Data

The following table shows the attributes of the CPU Unit data including the Retain/Non-retain attribute
in the following cases: power interruption, power on, operating mode change, and major fault level Controller error.

CPU Unit data

Retained.

Retained.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained
(with nonvolatile
memory).

Not supported.

Retained.

Retained.

Same as
before
power interruption.

Retained.

Retained.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

CPU Unit
name

Built-in EtherNet/IP port

name

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Task Settings

Device variable

User-defined
variables

User-defined
data types

Overwriting in RUN
mode

PROGRAM/
RUN mode
(online editing)

Supported.

Retained.

PROGRAM
mode

Not supported.

Not supported.

Retained.

PROGRAM
mode

Not supported.

Not supported.

Retained.

PROGRAM/
RUN mode
(online editing)

Supported.

Not supported.

Retained.

PROGRAM/
RUN mode
(online editing)

Supported.

Retained.

Not supported.

Retained.

PROGRAM/
RUN mode

Supported.

Retained.

Supported

Not
retained.

PROGRAM/
RUN mode

Supported.

Retained.

Online editing

Online editing

Online editing

Controller name

NJ-series CPU Unit Software Users Manual (W501)

A-81

App

Same as
before
power interruption.

Operating
modes
permitting
writing

Synchronized data

Retained.

Task
Setup

Data type

When a
Major Fault
Level Controller
Error
occurs

Retained.

POUs and user program

execution ID in user program

Variables

Retained
(with nonvolatile
memory).

Change
between
PROGRAM
mode and
RUN mode

Writing
when write
protection
is enabled

Not supported.

User program

Variable
tables
(but not
variable
values)

When
power is
turned ON

A-5 Attributes of CPU Unit Data

Status changes
Data retention at
power
interruptions

Transferring data
with the
Sysmac
Studio

Appendices

Status changes

CPU Unit data

When
power is
turned ON

Retained
(with nonvolatile
memory).

Writing
when write
protection
is enabled

Operating
modes
permitting
writing

Overwriting in RUN
mode

Change
between
PROGRAM
mode and
RUN mode

When a
Major Fault
Level Controller
Error
occurs

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

CPU Unit
name:
RUN/PROGRAM
mode,
Other settings: PROGRAM
mode

Not supported.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

Write Protection and

other settings: PROGRAM
mode

Supported.

TCP/IP Settings, Built-in

EtherNet/IP
Port Link Settings, Service
Settings.
SNMP Settings, SNMP
Trap Settings,
NTP Settings,
FTP Settings,
and IP Router
Tables

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

PROGRAM
mode

Not supported.

Tag data link

settings for
built-in EtherNet/IP port

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Supported

Not
retained.

PROGRAM/
RUN

Not supported.

Node Address
Settings,
FINS/UDP Settings,
FINS/TCP Settings, FINS
Routing
Tables

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

PROGRAM
mode

Not supported.

Axis assignments, axis

parameter settings, axes
group parameter settings,
MC common parameter
settings

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

PROGRAM
mode

Not supported.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

PROGRAM
mode

Not supported.

Operation Settings

Operation Settings
Error settings

Security
Settings

Protection
Settings at
Startup

Controller Setup
Built-in
EtherNet/IP
Port Settings

FINS Settings

Motion
Control
Setup

Data retention at
power
interruptions

Transferring data
with the
Sysmac
Studio

Cam Data

Synchronized data

Event
Setting
Table

Event
Setting
Table

User-defined
error messages

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

RUN/PROGRAM
mode

Not supported.

Bus configuration

CJ-series
bus configuration

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

I/O table

PROGRAM
mode

Not supported.

A-82

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Status changes

CPU Unit data

Data retention at
power
interruptions

When
power is
turned ON

When a
Major Fault
Level Controller
Error
occurs

Operating
modes
permitting
writing

Overwriting in RUN
mode

Synchronized data

Retained
(in CJseries
Units).

---

Retained.

Retained.

Supported.

Not
retained.

Depends
on the Unit.

Words allocated to CPU

Bus Units,
Example: Controller Link
Data Link
Tables.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Supported.

Not
retained.

RUN/PROGRAM
mode

Supported.

Retained
(with Battery).

Same as
before
power interruption.

Retained.

Retained.

Supported

Retained.

RUN/PROGRAM
mode

Supported.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

PROGRAM
mode

Not supported.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Not supported.

Retained.

PROGRAM
mode

Not supported.

Retained
(by slaves).

---

Retained.

Retained.

Supported.

Retained.

RUN/PROGRAM
mode

Supported.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

Operation Authority Verification

Not supported.

Not
retained.

PROGRAM
mode

Not supported.

Retained
(with nonvolatile
memory).

Same as
before
power interruption.

Retained.

Retained.

User program execution ID in CPU Unit

Not supported.

Not
retained.

PROGRAM
mode

Not supported.

Special
I/O Unit
Settings/CP
U Bus
Unit Settings

CJ-series
Unit Settings

Words allocated in DM
Area
EtherCAT Configuratio
n

EtherCAT Network
Configuration

Network configuration
information.

Master
EtherCAT Settings

EtherCAT Settings
Settings in
Slaves

Present
values of
variables

Contents
of memory used
for CJseries
Units

Values of
nonretained
variables

User-defined
variables and
device variables

Not
retained.

Initial values

Initial values

Initial values

Supported.

Not
retained.

RUN/PROGRAM
mode

Supported.

Values of
retained
variables

User-defined
variables and
device variables

Retained
(with Battery).

Same as
before
power interruption.

Retained.

Retained.

Supported.

Not
retained.

RUN/PROGRAM
mode

Supported.

Not
retained.

16#0000

16#0000

16#0000

Supported.

Not
retained.

RUN/PROGRAM
mode

Supported.

Retained
(with Battery).

Same as
before
power interruption.

Retained.

Retained.

Supported.

Not
retained.

RUN/PROGRAM
mode

Supported.

CIO/WR

HR/DM/EM

NJ-series CPU Unit Software Users Manual (W501)

A-83

App

Data in CJseries Units,

such as protocol macros

A-5 Attributes of CPU Unit Data

Change
between
PROGRAM
mode and
RUN mode

Writing
when write
protection
is enabled

Transferring data
with the
Sysmac
Studio

Appendices

Status changes

CPU Unit data

Event
logs

Internal
clock

Logs

System log
User event log

When
power is
turned ON

Change
between
PROGRAM
mode and
RUN mode

When a
Major Fault
Level Controller
Error
occurs

Writing
when write
protection
is enabled

Operating
modes
permitting
writing

Overwriting in RUN
mode

Synchronized data

Retained
(with Battery).

Same as
before
power interruption.

Retained.

Retained.

Supported.

Not
retained.

Retained
(with Battery).

With Battery:
Retained
(continued), Without Battery:
Not predictable (may
stop).

Retained
(continued).

Retained
(continued).

Supported.

Not
retained.

Retained
(with Battery).

Same as
before
power interruption.

Retained
(continued).

Retained
(continued).

Supported.

Not
retained.

Depends on the specifications of each systemdefined variable.

Absolute encoder home offset

A-84

Data retention at
power
interruptions

Transferring data
with the
Sysmac
Studio

Supported.

RUN/PROGRAM
mode

Supported.

Not supported.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-6

You can specify addresses in the memory used for CJ-series Units for AT specifications for variables.
Details on each area are provided below.

A-6-1

CIO Area

I/O Bits
Description

A-6-1 CIO Area

Addresses
Addresses
Range

Word addresses
CIO 0 to CIO 159

Bit addresses
0.00 to 159.15

Additional Information
You can access this area on NJ-series CPU Units through device variables allocated to I/O ports.
We therefore recommend that you do not use AT specifications to access this area. You should
use AT specifications for the CIO Area only when you specify addresses for some of the Special
Units.

CPU Bus Unit Area

Description
The bits in this area are allocated to control and status information for CJ-series CPU Bus Units.
Each Unit is allocated 25 words based on its unit number. Data in this area is cleared when power is
cycled or when the operating mode is changed between PROGRAM and RUN mode.

Addresses
Addresses
Range

Word addresses
CIO 1500 to CIO 1899

Bit addresses
CIO 1500.00 to CIO 1899.15

Words per Unit

25 words

The words that are allocated are listed in the following table.
Word addresses

Unit Number

CIO 1500 to CIO 1524

CIO 1525 to CIO 1549

to

to

CIO 1875 to CIO 1899

NJ-series CPU Unit Software Users Manual (W501)

App

The bits in this area are allocated to input and output terminals on CJ-series Basic I/O Units. The
number of words (16 bits each) that is required for each CJ-series Basic I/O Unit are allocated in
order based on the position where the Units are connected (from left to right starting from the Unit
that is closest to the CPU Unit). Data in this area is cleared when power is cycled or when the operating mode is changed between PROGRAM and RUN mode.

A-6 Contents of Memory Used for CJ-series Units

Contents of Memory Used for CJseries Units

A-85

Appendices

For details on how to use the allocated words, refer to the operation manual for the CJ-series CPU
Bus Unit.
Precautions for Correct Use
You can access the CPU Bus Unit Area in NJ-series CPU Units through the device variables that
are allocated to I/O ports. We therefore recommend that you do not use AT specifications to
access this area. You should use AT specifications for the CIO Area only when you specify
addresses for some of the Special Units.

Special I/O Unit Area

Description
The bits in this area are allocated to control and status information for CJ-series Special I/O Units.
Each Unit is allocated 10 words based on the unit number for up to a total of 96 Units (unit numbers
0 to 95). Data in this area is cleared when power is cycled or when the operating mode is changed
between PROGRAM and RUN mode.

Addresses
Addresses
Range

Word addresses
CIO 2000 to CIO 2959
(10 words 96 unit
numbers)

Bit addresses
CIO 2000.00 to CIO 2959.15

Words per Unit

10 words

The words that are allocated are listed in the following table.
Word addresses

Unit Number

CIO 2000 to CIO 2009

CIO 2010 to CIO 2019

to

to

CIO 2950 to CIO 2959

95

For details on how to use the allocated words, refer to the operation manual for the CJ-series Special I/O Unit.
Additional Information
You can access the Special I/O Unit Area in NJ-series CPU Units through the device variables
that are allocated to I/O ports. We therefore recommend that you do not use AT specifications to
access this area.

DeviceNet Area
Description
The bits in this area are allocated to the slaves when the remote I/O master function of a DeviceNet
Unit is used (fixed allocations only). Data in this area is cleared when power is cycled or when the
operating mode is changed between PROGRAM and RUN mode.

A-86

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Addresses
Range

Word addresses
CIO 3200 to CIO 3799

Bit addresses
CIO 3200.00 to CIO 3799.15

Words in this area are allocated to slaves for fixed allocations according to fixed allocation setting 1,
2, or 3 in the software switches in the CIO Area. Select one of these fixed areas.
Master to slave output area

Addresses

Slave to master input area

Fixed allocation area 1

CIO 3200 to CIO 3263

CIO 3300 to CIO 3363

Fixed allocation area 2

CIO 3400 to CIO 3463

CIO 3500 to CIO 3563

Fixed allocation area 3

CIO 3600 to CIO 3663

CIO 3700 to CIO 3763

You can allocate memory in the DeviceNet Area even if you use fixed allocations to use the remote
I/O slave function of a DeviceNet Unit.
Master to slave output area

Addresses

Slave to master input area

CIO 3370

CIO 3270

Fixed allocation area 2

CIO 3570

CIO 3470

Fixed allocation area 3

CIO 3770

CIO 3670

App

Fixed allocation area 1

CIO Area Work Areas

Description
You use the bits in these areas only in programming. You cannot use them to input or output data
through external I/O terminals. If you need work bits, you should normally use bits in this area. Data
in this area is cleared when power is cycled or when the operating mode is changed between PROGRAM and RUN mode.

Addresses

Range

A-6-2

Word addresses
CIO 1300 to CIO 1499 and
CIO 3800 to CIO 6143

Bit addresses
CIO 1300.00 to CIO 1499.15 and
CIO 3800.00 to CIO 6143.15

Internal I/O Area

Description
You use the bits in these areas only in programming. You cannot use them to input or output data
through external I/O terminals. If you need work bits, you should normally use bits in this area. Data
in this area is cleared when power is cycled or when the operating mode is changed between PROGRAM and RUN mode.

NJ-series CPU Unit Software Users Manual (W501)

A-87

A-6-2 Internal I/O Area

Refer to the CJ-series DeviceNet Units Operation Manual for NJ-series CPU Unit (Cat. No. W497)
for details.

Addresses

A-6 Contents of Memory Used for CJ-series Units

Addresses

Appendices

Addresses
Addresses
Range

A-6-3

Word addresses
W000 to W511

Bit addresses
W000.00 to W511.15

Holding Area

Description
You use the words and bits in this area only in programming. The status of the words and bits in this
area are retained during power interruptions or when the operating mode is changed between PROGRAM and RUN mode.

Addresses
Addresses
Range

A-6-4

Word addresses
H0 to H511

Bit addresses
H0.00 to H511.15

DM Area

Description
This is a general-purpose data area used to read and write 16-bit words. You can also add a bit
number to address specify bits. Data in this area is retained during power interruption or when the
operating mode is changed between PROGRAM and RUN mode.

Addresses
Addresses
Range

Word addresses
D0 to D32767

Bit addresses
D0.00 to D32767.15

DM Area Words for Special Units

Description
The following words in the DM Area are allocated to initial settings for Special Units.

Addresses
Addresses

Range

Type of CJ-series
Special Unit

Word addresses

Words per Unit

CJ-series Special I/O

Units

D20000 to D29599 (100 words

96 unit numbers)

100 words

CJ-series CPU Bus

Units

D30000 to D31599 (100 words

16 unit numbers)

100 words

The words that are allocated are listed in the following table.
CJ-series Special I/O Units
Word addresses

A-88

Unit Number

D20000 to D20099

D20100 to D20199

to

to

D29500 to D29599

95

NJ-series CPU Unit Software Users Manual (W501)

Appendices

CJ-series CPU Bus Units

Unit Number

D30000 to D30099

D30100 to D30199

to

to

D31500 to D31599

For details on how to use the allocated words, refer to the operation manual for the Special Unit.
Additional Information
You can access the DM Area words that are allocated to Special Units in NJ-series CPU Units
through the device variables that are allocated to I/O ports. We therefore recommend that you do
not use AT specifications to access this area.

EM Area

App

A-6-5

Description

Addresses
Range

Word addresses
NJ501-: E0_0 to E18_32767

Bit addresses
NJ501-: E0_0.00 to E18_3276.15

NJ301-: E0_0 to E3_32767

NJ301-: E0_0.00 to E3_32767.15

Note The number of banks is given in hexadecimal.

NJ-series CPU Unit Software Users Manual (W501)

A-89

A-6-5 EM Area

This is a general-purpose data area used to read and write 16-bit words. You can also add a bit
number to address specify bits. Data in this area is retained during power interruption or when the
operating mode is changed between PROGRAM and RUN mode.

Addresses

A-6 Contents of Memory Used for CJ-series Units

Word addresses

Appendices

A-7

Variable Memory Allocation Methods

You must be aware of the way in which memory is allocated to variables to align the memory locations
of the members of structure or union variables with variables in other devices. Adjustments are necessary mainly when structure variables are used in the following type of communications with other
devices.
When using EtherNet/IP tag data links or CIP messages to access variables between NJ-series CPU
Units and other CPU Units
When using structure variables to exchange data with devices other than CPU Units, such as ID Tags

A-7-1

Variable Memory Allocation Rules

The amount of memory and the memory locations that are allocated for a variable depend on the data
type of the variable. The amount of memory and the memory locations that are allocated for array elements, structure members, and union members depend on the data types, but also on the declarations
that are made for the arrays, structures, and unions.

Data Type Alignment and Memory Allocation Amounts

The data size is determined for each data type. The data size is the minimum amount of memory that is
required to store the value or values of that data type. On the other hand, memory for variables is automatically structured by the Controller for the most efficient access. Therefore, the total amount of memory that is required for variables is not necessarily the total of the data sizes of the variables. For
example, if WORD and DWORD variables are declared, the total of the data sizes is six bytes, but eight
bytes are allocated in memory, as shown in the following figure.
Memory

Variable Table

Bytes
Variable A

First byte
First byte + 1

WORD data: 2 bytes

Name

Data type

WORD

DWORD

First byte + 2
First byte + 3
Variable B

Not used: 2 bytes

First byte + 4
First byte + 5
First byte + 6

DWORD data: 4 bytes

First byte + 7

This information for determining the location of a variable in memory is called the alignment. The alignment is determined for each data type. The amount of memory and the memory locations for the variables are given below.
Item

A-90

Specification

Amount of memory that is allocated

An integral multiple of the alignment. However, the minimum amount of

memory is the data size.

Locations in memory

At an integral multiple of the alignment starting from the start of the variable in memory.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

The alignments and the amounts of memory that are allocated for the basic data types and enumerations are given below.

Alignment [bytes]

BOOL
BYTE, USINT, or SINT
WORD, UINT, or INT
DWORD, UDINT, or DINT
LWORD, ULINT, or LINT
REAL
LREAL
TIME, DATE, TIME_OF_DAY, or DATE_AND_TIME
STRING[N+1]*1
Enumerations

*1 N is the maximum number of characters handled. For example, if a maximum of 10 single-byte characters are
handled, the NULL character is added, so memory for 11 characters must be reserved.

Data type

Structure

Union

Amount of memory that is allocated

(Amount of memory that is allocated for the data type of the
elements) Number of elements*

The largest alignment of all of the

members

The integral multiple of the alignment that is larger than the

total amount of memory that is allocated when the members are arranged in order at integral multiples of the alignment of the data types of the members

The largest alignment of all of the

members

The largest amount of memory that is allocated for any of

the members

* BOOL arrays are an exception. Refer to Precautions for Correct Use, below, for the amount of memory that is
allocated for BOOL arrays.

Precautions for Correct Use

Amount of Memory That Is Allocated for BOOL Arrays
Two bytes are allocated in memory for individual BOOL variables, BOOL structure members, and
BOOL union variables. However, for a BOOL array, two bytes of memory are not allocated for
each element. One bit is allocated in order for each element. For the entire array, a multiple of
two bytes of memory is allocated (including unused bits).
Memory

Variable Table

Bytes
Variable A

First byte
First byte + 1

Variable B First byte + 2

First byte + 3

Two bytes are allocated.

Two bytes are allocated
for 5 elements.

Name

Data type

BOOL

ARRAY[1..5]OF BOOL

ARRAY[0..18]OF BOOL

Variable C First byte + 4

First byte + 5
First byte + 6

Four bytes are allocated

for 19 elements.

First byte + 7

NJ-series CPU Unit Software Users Manual (W501)

A-91

A-7-1 Variable Memory Allocation Rules

Array

Alignment
Same as alignment of the data type
of the elements

App

The elements of arrays and the members of structures and unions are located in memory for the most
efficient access. The alignments and the amounts of memory that are allocated for arrays, structures,
and unions are determined by the variable declarations, as described below.

A-7 Variable Memory Allocation Methods

2
1
2
4
8
4
8
8
1

Amount of memory that

is allocated [bytes]
2
1
2
4
8
4
8
8
N+1

Data type

Appendices

Therefore, the following formula gives the amount of memory that is allocated for a BOOL array.
For 1 to 16 elements, 2 bytes are allocated. For 17 to 32 elements, 4 bytes are allocated.
Number of
elements 1
Amount of memory = 2

16

+2

Truncate the decimal portion of the result

of the calculation in brackets.

Specific examples of the rules for memory allocation for variables of each data type are given below.

Basic Data Types

Variables with One-Byte Alignments (e.g., BYTE)
One byte of memory is allocated for the one-byte alignment.
Example: Two consecutive BYTE variables
Memory

Variable Table

Bytes

Name

Data type

First byte

Variable A, 1 byte

BYTE

First byte + 1

Variable B, 1 byte

BYTE

Variables with Two-byte Alignments (e.g., BOOL and WORD)

Two bytes of memory are allocated for the two-byte alignment.
Example: Two consecutive BOOL variables
First byte +
(integer multiple of 2)
First byte +
(integer multiple of 2)

Variable Table

Memory
Bytes
First byte
Variable A, 2 bytes

First byte + 1
First byte + 2

Name

Data type

BOOL

BOOL

Variable B, 2 bytes

First byte + 3

Variables with Four-byte Alignments (e.g., DWORD)

Four bytes of memory are allocated for the four-byte alignment.
The location of the first byte of data in memory is an integer multiple of four bytes. Therefore, if a
variable with a two-byte alignment, such as WORD data, is inserted, two bytes of unused memory
will remain.
Example: Consecutive variables in the following order: DWORD, WORD, and DWORD
First byte +
(integer multiple of 4)

Variable Table

Memory
Bytes
First byte

Name

Data type

DWORD
WORD
DWORD

First byte + 1
First byte +
First byte + 2
(integer multiple of 2)
First byte + 3

Variable A,

4 bytes

First byte + 4

Variable B,

First byte + 5

2 bytes

First byte +
(integer multiple of 4) First byte + 6
First byte + 7

Not used.

First byte + 8
First byte + 9

Variable C,

First byte + 10

4 bytes

First byte + 11

A-92

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Variables with Eight-byte Alignments (e.g., LWORD)

Example: Consecutive variables in the following order: LWORD, WORD, and LWORD
First byte +
(integer multiple of 8)

Variable Table

Memory

Name

Data type

First byte

LWORD

First byte + 1

WORD

First byte + 2

LWORD

Bytes

Variable A,

First byte + 3

8 bytes

First byte + 4
First byte + 5
First byte +
(integer multiple of 2) First byte + 6
First byte + 7
Variable B,

First byte + 9

2 bytes

App

First byte + 8

A-7 Variable Memory Allocation Methods

Eight bytes of memory are allocated for the eight-byte alignment.

The location of the first byte of data in memory is an integer multiple of eight bytes. Therefore, if a
variable with a two-byte alignment, such as WORD data, is inserted, six bytes of unused memory
will remain. If a variable with a four-byte alignment, such as DWORD data, is inserted, four bytes of
unused memory will remain.

First byte + 10
First byte + 11

A-7-1 Variable Memory Allocation Rules

First byte + 12

Not used.

First byte + 13
First byte +
First byte + 14
(integer multiple of 8)
First byte + 15
First byte + 16
First byte + 17
First byte + 18

Variable C,

First byte + 19

8 bytes

First byte + 20
First byte + 21
First byte + 22
First byte + 23

NJ-series CPU Unit Software Users Manual (W501)

A-93

Appendices

Arrays
A continuous section of memory is allocated for the elements of the array based on the data size of the
data type of the array variable. The alignment of an array is the same as alignment of the data type of
the elements.
Example:

Continuous variables in the following order: two BOOL variable, one BOOL array with five
elements, one BOOL array with 19 elements, and one BOOL array with four elements

First byte +
(integer multiple of 2)
First byte +
(integer multiple of 2)

Variable Table

Memory
Bytes
First byte

Variable A,

First byte + 1

2 bytes

First byte +
First byte + 2
(integer multiple of 2)
First byte + 3
First byte +
First byte + 4
(integer multiple of 2)
First byte + 5

Variable B,
2 bytes
Variable C,

Name

Data type

BOOL

BOOL

ARRAY[1..5]OF BOOL

ARRAY[0..18]OF BOOL

ARRAY[5..8]OF BOOL

2 bytes

First byte + 6
First byte + 7
First byte +
First byte + 8
(integer multiple of 2)
First byte + 9

Variable D,

First byte + 10

Variable E,

First byte + 11

2 bytes

4 bytes

Example: INT array with five elements

First byte +
(integer multiple of 2)
First byte +
A[0]
(integer multiple of 2)

Memory
Bytes

Variable Table

First byte

Name

Data type

Variable A

ARRAY[0..4] OF INT

First byte + 1

First byte +
A[1] First byte + 2
(integer multiple of 2) First byte + 3
First byte +
A[2] First byte + 4
(integer multiple of 2)
First byte + 5

Variable A,
10 bytes

First byte +
A[3] First byte + 6
(integer multiple of 2) First byte + 7
A[4] First byte + 8
First byte + 9

Structures
For a structure variable, the members are located in memory in the order that they are declared. Each
member is located at an integer multiple of the alignment of the data type of the member. Therefore,
there can be unused memory between members or at the end of members. The alignment of a structure is the largest alignment of all of the members. The amount of memory that is allocated is the integral multiple of the alignment that is larger than the total amount of memory that is allocated when the
members are arranged in order at integral multiples of the alignment of the data types of the members.
Example:

The alignments and the amounts of memory that are allocated for the four variable declarations given in the following figure are given in the following table.

Variable

A-94

Alignment [bytes]

Amount of memory that is allocated [bytes]

16

16

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Data Type Definitions

First byte +
(integer multiple of 4)

Memory

Data type

Structure STR_A

A.a

STRUCT

First byte + 1

DINT

First byte + 2

INT

First byte

First byte + 3

Variable A,

Name

Data type

First byte + 4

8 bytes

Structure STR_B

STRUCT

First byte + 5

INT

First byte +
First byte + 6
(integer multiple of 4)
First byte + 7

DINT

A.b

B.c

Not used.

Variable Table

First byte + 8
First byte + 9
First byte + 10
First byte + 11

B.d

Not used.

Variable B,
8 bytes

First byte + 12

First byte + 13
First byte +
(integer multiple of 4) First byte + 14
First byte + 15
C[0].a

A-7 Variable Memory Allocation Methods

Name

Bytes

Name

Data type

Variable A

Structure STR_A

Variable B

Structure STR_B

Variable C

ARRAY[0..1] OF STR_A

Variable D

ARRAY[0..1] OF STR_B

First byte + 16

App

First byte + 17
First byte + 18
First byte + 19
C[0].b

First byte + 20

A-7-1 Variable Memory Allocation Rules

First byte + 21
First byte + 22
First byte + 23
C[1].a

Not used.

Variable C,
16 bytes

First byte + 24
First byte + 25
First byte + 26
First byte + 27

C[1].b

First byte + 28

First byte + 29
First byte +
First byte + 30
(integer multiple of 4)
First byte + 31
D[0].c

Not used.

First byte + 32
First byte + 33
First byte + 34
First byte + 35

D[0].d

Not used.

First byte + 36
First byte + 37

D[1].c

First byte + 38

Variable D,

First byte + 39

16 bytes

First byte + 40
First byte + 41
First byte + 42
First byte + 43

D[1].d

Not used.

First byte + 44
First byte + 45
First byte + 46
First byte + 47

NJ-series CPU Unit Software Users Manual (W501)

A-95

Appendices

Example: The alignments and the amounts of memory that are allocated for the four variable declarations given in the following figure are given in the following table.
Variable

Alignment [bytes]

Amount of memory that is allocated [bytes]

8
Data Type Definitions

Memory
First byte +
(integer multiple of 2)
E.a[0] to E.a[7]

First byte +
(integer multiple of 2)

First byte +
(integer multiple of 2)
G[0].a[0] to G[0].a[7]

First byte + 7

First byte +
(integer multiple of 2)

STRUCT

Variable F,

BYTE

4 bytes

ARRAY[0..7] OF BOOL

Not used.

Variable Table

Not used.
Not used.

Variable G,
8 bytes

Not used.

Name

Data type

Variable E

Structure STR_C

Variable F

Structure STR_D

Variable G

ARRAY[0..1] OF STR_C

Variable H

ARRAY[0..1] OF STR_D

Not used.
Not used.
Not used.

First byte + 20

Variable H,
8 bytes

Not used.

First byte + 22
First byte + 23

A-96

Data type

Structure STR_D

First byte + 18

First byte + 21
H[1].d[0] to H[1].d[7]

Name

First byte + 16

First byte + 19
H[1].c

BYTE

First byte + 14

First byte + 17
H[0].d[0] to H[0].d[7]

Not used.

First byte + 12

First byte + 15
H[0].c

First byte + 10

First byte + 13
G[1].b

ARRAY[0..7] OF BOOL

4 bytes

First byte + 8

First byte + 11
G[1].a[0] to G[1].a[7]

Variable E,

Not used.

First byte + 6

First byte + 9
G[0].b

STRUCT

First byte + 4
First byte + 5

F.d[0] to F.d[7]

Not used.

First byte + 2
First byte + 3

F.c

Data type

Structure STR_C

First byte
First byte + 1

E.b

Name

Bytes

Not used.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Unions

Example:

The alignments and the amounts of memory that are allocated for the four variable declarations given in the following figure are given in the following table.

Variable

Alignment [bytes]

Amount of memory that is allocated [bytes]

8
Data Type Definitions

First byte +
(integer multiple of 4)

Memory
Bytes
First byte

First byte + 1
First byte +
First byte + 2
(integer multiple of 4)
First byte + 3

DWORD

WORD

4 bytes
Name

Data type

Union UNI_B

UNION

First byte + 5

Variable B,

WORD

4 bytes

DWORD

Variable Table

First byte + 8

Name

Data type

Variable A

Union UNI_A

Variable C,

Variable B

Union UNI_B

8 bytes

Variable C

ARRAY[0..1] OF UNI_A

Variable D

ARRAY[0..1] OF UNI_B

First byte + 9
First byte + 10
First byte + 11
C[1].a C[1].b First byte + 12
First byte + 13
First byte +
First byte + 14
(integer multiple of 4)
First byte + 15
D[0].c D[0].d

UNION

First byte + 4

First byte +
First byte + 6
(integer multiple of 4)
First byte + 7
C[0].a C[0].b

Data type

Union UNI_A

A-7-1 Variable Memory Allocation Rules

B.c B.d

Variable A,

Name

App

A.a A.b

First byte + 16
First byte + 17
First byte + 18
First byte + 19

D[1].c D[1].d

First byte + 20

Variable D,
8 bytes

First byte + 21
First byte + 22
First byte + 23

NJ-series CPU Unit Software Users Manual (W501)

A-7 Variable Memory Allocation Methods

For a union variable, the members overlap in the same memory locations. The alignment of a union is
largest alignment of all of the members. The amount of memory that is allocated is the largest amount
of memory that is allocated for any of the members.

A-97

Appendices

A-7-2

Important Case Examples

When you exchange structure variable data between an NJ-series CPU Unit and a remote device, you
must align the memory configuration of the structure variable members with those of the remote device.
This section describes what to do in either the NJ-series CPU Unit or in the remote device.
Additional Information
This is not necessary when you exchange data between NJ-series CPU Units.

Aligning the Memory Configuration with a Remote Device

There are two methods that you can use to align the memory configuration with a remote device. For
example, the differences in the memory configuration for structure variables between an NJ-series
CPU Unit and a CJ-series CPU Unit are shown below.
This section describes how to align the memory configuration for these Units.
Data Type Definitions

Data Type Definitions

Name

Data type

Structure Y

STRUCT

DINT

INT

DINT

NJ-series Structure Variable NJ_X

Bytes
First byte

Variable Table
Name

Data type

Variable NJ_X

Structure Y

First byte + 4

First byte + 6

Not used.

First byte + 8

Name

Data type

Structure Y

STRUCT

DINT

INT

DINT

CJ-series Structure Variable CJ_X

Bytes

Variable Table
Name

First byte

First byte + 4

First byte + 6

Data type

Variable CJ_X Structure Y

Method 1: Changing the Memory Configuration of the Structure Variable in

the NJ-series CPU Unit
With an NJ-series CPU Unit, you can specify member offsets to change the memory configuration of
the members of a structure variable. You can change the memory configuration of the members of a
structure variable in the NJ-series CPU Unit so that it is the same as the memory configuration in a
remote device that the CPU Unit will communicate with. Specify the member offsets for a structure
variable when you register the structure data type.
To communicate with a CJ-series CPU Unit, you can set the offset type to CJ to automatically use
the CJ-series memory structure. You can set the offset type to User to freely set your own offsets.
Version Information
The following table gives the unit version of the CPU Units and the Sysmac Studio version that
are required to specify member offsets.
Unit version of CPU Unit

Sysmac Studio version

1.01 or lower

1.02

1.03 or higher

1.01 or later

Not possible.

Possible.*

Possible.

1.00

Not possible.

Not possible.

Not possible.

* You cannot select the memory offset type. You can set member offsets.

If you change the memory configuration of a structure variable by setting offsets, you must make the
same changes for the same structure variable in other NJ-series CPU Units on the network.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No W504-E1-03 or higher) for the procedure to change the memory configuration of a structure variable.
A-98

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Example: The following example shows how the memory configuration of the structure variable in
the CJ-series CPU Unit is changed to match the memory configuration of the structure variable in
the NJ-series CPU Unit.

A-7 Variable Memory Allocation Methods

App
A-7-2 Important Case Examples

NJ-series CPU Unit Software Users Manual (W501)

A-99

Appendices

Data Type Definitions

Name

Data type

Structure Y

STRUCT

DINT

INT

DINT

Name

Bytes
First byte

Variable Table
Data type

Data Type Definitions

NJ-series Structure
Variable NJ_X

First byte + 4

First byte + 6

Not used.

First byte + 8

Variable NJ_X Structure Y

Name

Data type

Structure Y

STRUCT

DINT

INT

c
Communications is
Variable
Table
not possible
because the memory
Name
configuration is not
Variable CJ_X
the same.

DINT

CJ-series Structure
Variable CJ_X
Bytes
First byte

First byte + 4

First byte + 6

Data type
Structure Y

To align the memory configurations in the NJ-series and CJ-series CPU Units, offsets are set in the Sysmac Studio.

Here, the following offsets are set for member c of data type Y of the structure variable NJ_X.

(1) Offset type is set to CJ.

(3) Bit Offset

Set the location of the first bit of the member variable.
(2) Byte Offset
Set the location of the first byte of the member
from the beginning of the structure variable.
(1) Offset Type
Specify User.
Memory Bytes

Memory Bytes
First byte

First byte
First byte + 1

First byte + 1

Variable a

First byte + 2

First byte + 2

First byte + 3

First byte + 3
First byte + 4

First byte + 4
First byte + 5
First byte + 6
First byte + 7

Variable b

First byte + 9

First byte + 5

Variable c

First byte + 7
The location of
variable c changes
according to the
offsets.

First byte + 8

Variable c

First byte + 9
First byte + 10
First byte + 11

First byte + 11

Set a byte offset of 6 and a bit offset

of 0 (no offset) for variable c.

A-100

Variable b

First byte + 6

Not used.

First byte + 8
First byte + 10

Variable a

(2) Byte Offset

Variable c starts from the 6th byte
from the start of the structure.

(3) Bit Offset

Variable c starts from the 0th
bit from the start of the byte.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Method 2: Changing the Memory Configuration of the Structure Variable in

the Remote Device

Example: The following example shows how the memory configuration of the structure variable in
the CJ-series CPU Unit is changed to match the memory configuration of the structure variable in
the NJ-series CPU Unit.
Data Type Definitions

Data Type Definitions

Name

Data type

Structure Y

STRUCT

DINT

INT

DINT

Variable Table
Data type

Variable NJ_X

Structure Y

Bytes
a

First byte
First byte + 4

First byte + 6

Not used.

First byte + 8
c

Name

Data type

Structure Y

STRUCT

DINT

INT

DINT

Variable Table
Name

Data type

Variable CJ_X

Structure Y

CJ-series Structure Variable CJ_X

Bytes
First byte

First byte + 4

First byte + 6

App

Name

NJ-series Structure Variable NJ_X

Make the following changes to align the memory

configurations in the NJ-series and CJ-series CPU Units.

Name

Data type

NJ-series Structure Variable NJ_X

Bytes

Name

Data type

Structure Y

STRUCT

DINT

INT

CJ-series Structure Variable CJ_X

Bytes

Structure Y

STRUCT

DINT

INT

b2

INT

First byte + 4

b2

INT

First byte + 4

DINT

First byte + 6

b2

DINT

First byte + 6

b2

First byte + 8

First byte + 8

Variable Table

First byte

Variable Table

Name

Data type

Name

Data type

Variable NJ_X

Structure Y

Variable CJ_X

Structure Y

(2) Add the dummy variable b2 that you created in the

CJ-series CPU Unit to the NJ-series CPU Unit as well.

NJ-series CPU Unit Software Users Manual (W501)

First byte

(1) Add a dummy member variable b2 that matches the

unused memory location on the NJ-series CPU Unit.

A-101

A-7-2 Important Case Examples

Data Type Definitions

Data Type Definitions

A-7 Variable Memory Allocation Methods

You can insert a member into the structure variable of the remote device to change it to match the
memory configuration of the structure variable in the NJ-series CPU Unit. Both the memory configuration and the data types must be the same between the two structure variables. You therefore need
to create the same members in both the remote device and the NJ-series CPU Unit.

Appendices

A-8

Registering a Symbol Table on the

CX-Designer
When you connect the NJ-series Controller to an NS-series PT, you can use variables on the CXDesigner to set addresses for the functional objects. The variables are managed in a symbol table. This
section shows how to copy a table of variables from a Microsoft Excel spreadsheet to register them all
at the same time in a symbol table. Refer to the CX-Designer Users Manual (Cat. No. V099) for detailed
information on the CX-Designer.

Use the following format to create a table of variables in a Microsoft Excel spreadsheet.
You must use the same number and arrangement of columns as in the following format. Do not
omit any columns even if they are empty, like the Address type/address and I/O comment columns that are shown below.
Name

Type

HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3

_Card1.BkupCmd.ExecBkup
_Card1.BkupCmd.CancelBkup
_Card1.BkupCmd.ExecVefy
_Card1.BkupCmd.CancelVefy
_Card1.BkupCmd.DirName
_Card1.BkupSta.Done
_Card1.BkupSta.Active
_Card1.BkupSta.Err
_Card1.VefySta.Done
_Card1.VefySta.Active
_Card1.VefySta.VefyRslt
_Card1.VefySta.Err
_BackupBusy

BOOL
BOOL
BOOL
BOOL
STRING(64)
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL

A-102

Address
type/address

Host

I/O comment

Tag
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE

Start the CX-Designer and open the Symbol Table Dialog Box.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Copy the shaded portion of the Microsoft Excel spreadsheet.

Always copy all of the columns that are shown below.
Name

Type

HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3
HOST3

_Card1.BkupCmd.ExecBkup
_Card1.BkupCmd.CancelBkup
_Card1.BkupCmd.ExecVefy
_Card1.BkupCmd.CancelVefy
_Card1.BkupCmd.DirName
_Card1.BkupSta.Done
_Card1.BkupSta.Active
_Card1.BkupSta.Err
_Card1.VefySta.Done
_Card1.VefySta.Active
_Card1.VefySta.VefyRslt
_Card1.VefySta.Err
_BackupBusy

BOOL
BOOL
BOOL
BOOL
STRING(64)
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL

Address
type/address

I/O comment

Tag
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE
TRUE

Right-click in the Symbol Table Dialog Box in the CX-Designer and select Paste from the
menu.

In the Host Selection Dialog Box on the CX-Designer, select the NJ-series Controller host
and then click the OK Button.

NJ-series CPU Unit Software Users Manual (W501)

A-103

App

Host

A-8 Registering a Symbol Table on the CX-Designer

Appendices

The variables are registered in the Symbol Table Dialog Box of the CX-Designer.

A-104

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-9

You can enable and disable EtherCAT slaves and axes using programming instructions. You can use
this for the following types of applications.
Managing more than one machine with different EtherCAT slave configurations and axis compositions with one project on the Sysmac Studio.
Leaving one production line running while you change the EtherCAT slave configuration or axis composition of another line.
This section describes the instructions and system-defined variables that are used and provides some
application examples.
Version Information

Project Settings When Using EtherCAT Slaves and Axes

When you turn ON the power supply or download the project, disable in advance any EtherCAT slaves
that may not be installed in the EtherCAT network. Also, set any axes for those EtherCAT slaves to
unused axes. If any EtherCAT slaves that are not installed on the EtherCAT network are enabled or if
any of their axes are set to used axes, an error will occur when operation is started.
Additional Information
You can also enable and disable EtherCAT slaves in the following Sysmac Studio settings:
Configurations and Setup EtherCAT Network Configuration Enable/Disable Settings. If you use the Sysmac Studio settings, however, you would have to use the Sysmac Studio to change the settings every time or you would have to change the project file depending
on the machine to handle the application that is described later in Application 1: Centralized
Management of Machines with Different EtherCAT Slave Configuration and Axis Composition
on page A-108.
You can disable an EtherCAT slave to enable removing it or installing it on the EtherCAT network.

A-9-2

Using Instructions to Enable/Disable EtherCAT Slaves and Axes

You can use instructions in the user program to enable and disable EtherCAT slaves and axes. Separate instructions are used to enable and disable EtherCAT slaves and to enable and disable axes. Both
instructions are given in the following table.
Item changed
EtherCAT slaves
Axes

Instruction
EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave) instruction
MC_ChangeAxisUse (Change Axis Use) instruction

Version Information
A CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher are required
to use the EC_ChangeEnableSetting and MC_ChangeAxisUse instructions.

NJ-series CPU Unit Software Users Manual (W501)

A-105

A-9-1 Project Settings When Using EtherCAT Slaves and Axes

A-9-1

App

A CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher are required
to use the instructions to enable and disable EtherCAT slaves and axes.

A-9 Enable/Disable EtherCAT Slaves and Axes

Enable/Disable EtherCAT Slaves and

Axes

Appendices

EC_ChangeEnableSetting Instruction
The EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave) instruction is used to enable and disable EtherCAT slaves. You can use the EC_ChangeEnableSetting instruction to enable or disable the
EtherCAT slave with the specified node address. If you cycle the power supply to the Controller after
this instruction is executed, the settings will return to the settings from before instruction execution.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-06 or later) for the detailed
specifications of the EC_ChangeEnableSetting instruction.

MC_ChangeAxisUse Instruction
The MC_ChangeAxisUse (Change Axis Use) instruction is used to enable and disable axes. The
MC_ChangeAxisUse instruction changes the setting of the Axis Use axis parameter of the specified
axis between Used Axis and Unused Axis. If you cycle the power supply to the Controller after this
instruction is executed, the settings will return to the settings from before instruction execution. Refer to
the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508-E1-05 or later) for the
detailed specifications of the MC_ChangeAxisUse instruction.

A-9-3

System-defined Variables That Indicate EtherCAT Slave or Axis

Status

You can check the values of system-defined variables to get the current status of EtherCAT slaves and
axes. The system-defined variables for these are given below.
Accessed status
EtherCAT slaves

Axes

System-defined variable name

_EC_DisableSlavTbl[] (Disabled Slave Table)
_MC_AX[].Cfg.AxEnable (Axis Use)

_EC_DisableSlavTbl[] (Disabled Slave Table)

The _EC_DisableSlavTbl[] (Disabled Slave Table) system-defined variable tells whether each EtherCAT
slave is currently disabled. The node address is specified for the array subscript. The meanings of the
values in _EC_DisableSlavTbl[] (Disabled Slave Table) are given below.
Value
TRUE

FALSE

Meaning
The EtherCAT slave with the specified node address is disabled.
The EtherCAT slave with the specified node address is enabled.

_MC_AX[ ].Cfg.AxEnable (Axis Use)

The _MC_AX[ ].Cfg.AxEnable (Axis Use) system-defined variable tells whether each axis is defined
and whether each axis is used. The axis number is specified for the array subscript. The meanings of
the values in _MC_AX[].Cfg.AxEnable (Axis Use) are given below.
Value
0: _mcNoneAxis
1: _mcUnusedAxis
2: _mcUsedAxis

A-106

Meaning
The specified axis is an undefined axis.
The specified axis is an unused axis.
The specified axis is a used axis.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-9-4

Enabling/Disabling Execution of Program

Function
Enable program
Disable program

Instruction
PrgStart instruction
PrgStop instruction

Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-10 or later) for the detailed
specifications of the PrgStart instruction and PrgStop instruction.
Precautions for Correct Use
When you want to disable the program, first disable the EtherCAT slave and axis which the program is associated with, and then disable the program.

A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required
to use the PrgStart and PrgStop instructions.

Checking Enabled/Disabled Program

You can use the PrgStatus instruction to check the program is enabled or disabled that is associated
with the EtherCAT slave and axis that are enabled and disabled.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-10 or later) for the detailed
specifications of the PrgStatus instruction.
Version Information
A CPU Unit with unit version 1.08 or later and the Sysmac Studio version 1.09 or higher are
required to use the PrgStatus instruction.

A-9-6

Settings with the Sysmac Studio

You can also enable/disable the EtherCAT slaves and axes and set to enable/disable the program at the
start of operation using the Sysmac Studio. Some applications require that EtherCAT slave status, axis
status and program status at the start of operation are set in advance with the Sysmac Studio.

Enabling/Disabling EtherCAT Slaves with Sysmac Studio

Use the following procedure to enable an EtherCAT slave on the Sysmac Studio.

Right-click EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed.

In the Toolbox, right-click the EtherCAT slave you want to connect and select Insert from the menu.
The selected EtherCAT slave is displayed under the EtherCAT master on the EtherCAT Tab
Page. Also, the Parameter Settings Area for the EtherCAT slave is displayed on the right side of
the EtherCAT Tab Page.

NJ-series CPU Unit Software Users Manual (W501)

A-107

A-9-4 Enabling/Disabling Execution of Program

A-9-5

App

Version Information

A-9 Enable/Disable EtherCAT Slaves and Axes

There are certain programs associated with the EtherCAT slaves and axes, which are enabled or disabled. These associated programs must be enabled or disabled as the EtherCAT slaves and axes are
enabled or disabled. To enable or disable the program, use the following instructions in the user program.

Appendices

Set the value of Enable/Disable Settings to Enabled on the Parameter Settings Area for the
EtherCAT slave.

Enabling/Disabling Axis with Sysmac Studio

Use the following procedure to enable an axis on the Sysmac Studio.

Right-click Axis Settings under Configurations and Setup - Motion Control Setup and select
Add - Axis Settings from the menu.
The axis MC_Axis000(0) is added under Axis Settings.

Right-click MC_Axis000(0) and select Edit from the menu.

The Axis Basic Settings Display appears.

Set Axis Use to Used Axis.

Running/Stopping Program at the Start of Operation with Sysmac

Studio
Use the following procedure to execute a program at the start of operation on the Sysmac Studio.

Right-click Task Settings under Configurations and Setup and select Edit from the menu.
The Task Settings Tab Page is displayed.

Click the Program Assignment Settings Button.

The Program Assignment Settings Display appears.

3
A-9-7

Set Initial Status of the program to Run on the Program Assignment Settings Display.

Examples of Applications of Enabling/Disabling EtherCAT

Slaves and Axes

This section provides concrete examples of applications in which EtherCAT slaves and axes are
enabled and disabled.

Application 1: Centralized Management of Machines with Different

EtherCAT Slave Configuration and Axis Composition
Assume that the EtherCAT slaves and axis compositions for the NJ-series Controllers are different for machines
1 and 2 as shown below. These two machines are centrally managed using one Sysmac Studio project.
EtherCAT Slave Configuration and
Axis Composition of Machine 1

CPU
Unit

CPU
Unit

EtherCAT

EtherCAT

EtherCAT slaves, axes

A-108

EtherCAT Slave Configuration and

Axis Composition of Machine 2

EtherCAT slaves, axes

D
Sensor

NJ-series CPU Unit Software Users Manual (W501)

Appendices

EtherCAT
slave
A, B, and C

Installed in
EtherCAT network
Installed.

Enable/disable
setting
Enabled.

Not installed.

Disabled.

Axis Use
Associated programs
parameter setting
Used Axis
Run at the start of operation.
Unused Axis
Stop at the start of operation.

To make changes for machine 2, you use instructions to change the EtherCAT slave enable/disable settings, Axis
Use parameter settings, and the associated program enable/disable settings as shown in the following table.
EtherCAT
slave
A, B, and C
D

Installed in
EtherCAT network
Installed.
Installed.

Enable/disable
setting
Enabled.
Enabled.

Axis Use
Associated programs
parameter setting
Used Axis
Executed.
Used Axis
Executed.

Yes
Machine 1?
No
The EC_ChangeEnableSetting instruction is executed to enable
the slave for node D and the MC_ChangeAxisUse instruction is
executed to change the axis for node D to a used axis.
The program associated with node D is executed by the
PrgStart instruction.

Operation started.

Application 2: Changing the EtherCAT Slave Configuration and Axis

Composition during Operation
In the following figure, production line 1 is left running while the EtherCAT slaves and axis composition
on production line 2 are changed.
CPU
Unit

CPU
Unit
Production line 1 is left running
while the EtherCAT slaves and
axis composition on production
line 2 are changed.

EtherCAT

Production line 1

Production line 1

EtherCAT slaves, axes

EtherCAT slaves, axes

EtherCAT

Production line 2

EtherCAT slaves, axes

NJ-series CPU Unit Software Users Manual (W501)

Production line 2

EtherCAT slaves, axes

A-109

A-9-7 Examples of Applications of Enabling/Disabling EtherCAT Slaves and Axes

External signal input.

App

The user program algorithm is shown in the following figure. A signal is input to the Controller from an
external device to specify whether machine 1 or machine 2 is operated.

A-9 Enable/Disable EtherCAT Slaves and Axes

In the Sysmac Studio project, an EtherCAT Slave Configuration is created for all four EtherCAT slaves
and axes in A, B, C, and D in the figure. Then, on the Sysmac Studio, you set the EtherCAT slave
enable/disable settings, Axis Use parameter settings, and the associated program run/stop status at the
start of operation according to machine 1, as shown in the following table.

Appendices

In the Sysmac Studio project, an EtherCAT slave configuration is created for all seven EtherCAT slaves
and axes in A to G in the figure.
On the Sysmac Studio, set the EtherCAT slave enable/disable settings, Axis Use parameter settings,
and the associated program run/stop status at the start of operation for nodes A to G as shown in the
following table. These are the settings for the configuration before change.
EtherCAT
slave
A and B

Installed in
EtherCAT network
Installed.

Enable/disable
setting
Enabled.

C, E, and D

Installed.

Enabled.

F and G

Not installed.

Disabled.

Axis Use
Associated programs
parameter setting
Used Axis
Run at the start of operation.
Used Axis
Run at the start of operation.
Unused Axis
Stop at the start of operation.

The following procedure is used to change the EtherCAT slaves and axes that are used from C, D, E to
F and G.

1
2
3
4
5
6
7
8

Stop production line 4.

Use the MC_ChangeAxisUse instruction to set the Axis Use parameters for C, D, and E to
Unused Axis.
Use the EC_ChangeEnableSetting instruction to disable the settings for EtherCAT slaves C, D,
and E.
Use the PrgStop instruction to disable the programs associated with C, D and E.
Remove EtherCAT slaves C, D, and E from production line 4.
Install EtherCAT slaves F and G on production line 4.
Use the EC_ChangeEnableSetting instruction to enable the settings for EtherCAT slaves F and
G.
Use the MC_ChangeAxisUse instruction to set the Axis Use parameters for F and G to Used
Axis.

9 Use the PrgStart instruction to enable the programs associated with F and G.
10 Start production line 4 again.
As the result of the above steps, the EtherCAT slave enable/disable settings, Axis Use parameter settings, and the associated programs enable/disable settings are changed as shown below.
EtherCAT
slave
A and B
C, E, and D
F and G

Installed in
EtherCAT network
Installed.
Not installed.
Installed.

Enable/disable
setting
Enabled.
Disabled.
Enabled.

Axis Use
Associated programs
parameter setting
Used Axis
Enabled.
Unused Axis
Disabled.
Used Axis
Enabled.

Precautions for Correct Use

When you want to disable the program, first disable the EtherCAT slave and axis which the program is associated with, and then disable the program.

A-110

NJ-series CPU Unit Software Users Manual (W501)

Appendices

A-10 Size Restrictions for the User

Program

You can check the approximate sizes of the user program and variables with the memory display functions of the Sysmac Studio.
Be careful not to exceed these restrictions when you create the user program. The restrictions that are
given in this section, however, are only reference values for use as guidelines. We recommend that you
ensure ample leeway for the restrictions to allow for the possibility of future user program expansion as
well as for other reasons.
Precautions for Correct Use

User Program Object Restrictions

This section describes the restrictions to user program objects. There are restrictions for the following
objects.
POU
Variables
Data type definitions
Constants (literals)

POU Restrictions
There are restrictions both on POU definitions and POU instances.

POU Definition Restrictions

POU definitions are subject to the following restrictions.
Restriction
Maximum number of programs
Maximum value of the following: Number of function block
definitions + Number of function definitions + Number of ladder diagram sections
Maximum total number of input, output, and in-out variables
in function block and function definitions

NJ-series CPU Unit Software Users Manual (W501)

CPU Unit model

NJ501-
NJ301-
500
500
3,000
750

64

64

A-111

A-10-1 User Program Object Restrictions

A-10-1

App

Errors can occur during online editing even if the user program size restrictions are not
exceeded. This is because even if you change the user program with online editing, other data
that is allocated in the memory of the CPU Unit may remain. If errors occur, change the Controller to PROGRAM mode and transfer the user program to the Controller again to reset the errors.

A-10 Size Restrictions for the User Program

There are size restrictions for the user program due to the limitations of the memory capacity in the
CPU Unit and other factors. If you exceed these restrictions, errors will occur during operation. This
section describes each of the size restrictions of a user program that is created in a CPU Unit.

Appendices

POU Instance Restrictions

POU instances are subject to the following restrictions. The maximum number of POU instances
depends on the model and unit version of the CPU Unit and the version of the Sysmac Studio.
Maximum Number of POU Instances for the NJ501-
Restriction
Maximum number of POU
instances

Version
Sysmac Studio
1.05 or lower
1.06 or higher

CPU Unit model

NJ501-
6,000
9,000

Maximum Number of POU Instances for the NJ301-

Restriction
Maximum number of POU
instances

Unit version/version
CPU Unit
Sysmac Studio
--1.04 or lower
1.03 or earlier
1.05 or higher
1.04 or later

CPU Unit model

NJ301-
1,500
2,400
3,000

Refer to Number of POU Instances on page A-114 for information on counting POU instances.

Restrictions to Variables
There are restrictions to both variable usage and variable definitions.

Restrictions to Variable Usage

The usage of variables is subject to the following restrictions.
Restriction
Maximum total size in Mbytes of variables without a

CPU Unit model

NJ501-
NJ301-
4

Retain attribute*1
Maximum total size*1 in Mbytes of variables with a Retain
attribute
Maximum number of variables*2 without a Retain attribute

0.5

90,000

22,500

*4
10,000
Maximum number of variables*3 with a Retain attribute
Maximum number of network variables
40,000
40,000
*1 The data size of each variable depends on its data type. Refer to 6-3-5 Data Types for the sizes of the data
types.

*2 Refer to Number of Variables without a Retain Attribute on page A-114 for information on counting variables.
*3 Refer to Number of Variables with a Retain Attribute on page A-115 for information on counting variables.
*4 The restriction depends on the Sysmac Studio version and the unit version of the CPU Unit as follows: Sysmac Studio version 1.05 or higher and CPU Unit with unit version 1.04 or later: 5,000
Other combinations: 2,500

Restrictions to Variable Definitions

Variable definitions are subject to the following restrictions.

A-112

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Restriction

1,986
1,986
Maximum size in bytes*1 of a string variable
*1 The NULL character at the end must be counted. Therefore, there are 1,985 single-byte characters in a
string that has a size of 1,986 bytes.

Restrictions to Data Type Definitions

Data type definitions are subject to the following restrictions.
Restriction

CPU Unit model

NJ501-
NJ301-
2,000
1,000
8
8

App

Maximum number*1 of data type definitions

Maximum number of levels in a structure definition
Maximum number of members in a structure
2,048
2,048
definition
Maximum number of members in a union defi4
4
nition
Maximum number of enumerators in an enu2,048
2,048
meration definition
*1 Refer to Number of Data Type Definitions on page A-115 for information on counting data types.

A-10-1 User Program Object Restrictions

Restrictions to Constants (Literals)

The constants (literals) are subject to the following restrictions.
Restriction
Maximum size in bytes of a constant (literal)

NJ-series CPU Unit Software Users Manual (W501)

A-10 Size Restrictions for the User Program

Maximum number of elements per array

Maximum number of dimensions in an array
Maximum value of a subscript (element number) for an
array

CPU Unit model

NJ501-
NJ301-
65,535
65,535
3
3
65,535
65,535

CPU Unit model

NJ501-
NJ301-
1,985
1,985

A-113

Appendices

A-10-2

Counting User Program Objects

This section describes how to count POU instances, variables with a Retain attribute, variables without
a Retain attribute, and data type definitions. The information in this section is provided only as guidelines. The methods for counting objects sometimes varies with the unit version of the CPU Unit. Always
use the Sysmac Studio to confirm that user program object sizes are suitable.

Number of POU Instances

POU instances are counted as described below.

Objects Counted as POU Instances

The following objects are counted as POU instances.
Programs
Function block instances (both user-created instances and instructions are included)
Functions (both user-created instances and instructions are included)

Precautions in Counting POU Instances

Observe the following precautions when you count POU instances.
If n instances of a function block are used for the same function block definition, count them as n
instances.
If the same function is used more than once in the same task, count them as one instance regardless of the actual number of functions.
If the same function is used in different tasks, count them as one instance for each task.

Number of Variables without a Retain Attribute

Variables without a Retain attribute are counted as described below.

Objects Counted as Variables without a Retain Attribute

The following objects are counted as variables without a Retain attribute.
Global variables without a Retain attribute
Local variables without a Retain attribute in programs and function block instances (both user-created instances and instructions are included)

Precautions in Counting Variables without a Retain Attribute

Observe the following precautions when you count variables without a Retain attribute.
Count arrays as one variable each regardless of the number of elements.
Count function block instances as one variable. Both user-created instances and instructions are
included for function block instances.
Count arrays of function block instances as one variable each regardless of the number of elements. However, count one variable for each element of the array for the number of variables without a Retain attribute that are used in the function block.

A-114

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Number of Variables with a Retain Attribute

Objects Counted as Variables with a Retain Attribute

The following objects are counted as variables with a Retain attribute.
Global variables with a Retain attribute
Local variables with a Retain attribute in programs and function block instances (both user-created instances and instructions are included)

Precautions in Counting Variables with a Retain Attribute

Observe the following precautions when you count variables with a Retain attribute.
Count arrays as one variable each regardless of the number of elements.
Do not count arrays of function block instances. However, count one variable for each element of
the array for the number of variables with a Retain attribute that are used in the function blocks.

App

Number of Data Type Definitions

A-10-2 Counting User Program Objects

Data type definitions are counted as described below.

Objects Counted as Data Type Definitions

The following objects are counted as data type definitions.
User-created structure definitions
User-created union definitions
User-created enumeration definitions

NJ-series CPU Unit Software Users Manual (W501)

A-10 Size Restrictions for the User Program

Variables with a Retain attribute are counted as described below.

A-115

Appendices

A-11 Replacing CPU Units with Unit

Version 1.02 or Earlier
A CPU Unit with a unit version of 1.02 or earlier does not support the SD Memory Card backup functions and Sysmac Studio Controller backup functions. Therefore, the following work is required to
replace a CPU Unit when it fails or to change to a newer version.
Work
Upload the data from the CPU Unit.

Connect the new CPU Unit.

Download the data to the CPU Unit.

Description
Upload the following three types of data from the old CPU Unit. Each of
these must be uploaded separately.
Project
Present values of variables and memory
Tag data link tables
Remove the old CPU Unit from the Controller and connect the new CPU
Unit.
Download the three types of data that you stored in the computer to the
new CPU Unit.

Details on the above work is provided in the following sections.

A-11-1

Uploading the Data from the CPU Unit

Upload the following three types of data from the old CPU Unit. Each of these must be uploaded separately. Use the Sysmac Studio and the Network Configurator.
Data to upload
Project

Present values of variables and memory

Contents of data
Unit Configuration and Unit Setup
I/O Map
Controller Setup (Operation Settings and Built-in EtherNet/IP Port Settings)
Motion Control Setup
Cam Data Settings
Event Setup
Task Settings
POUs
Data type definitions and global variable definitions
Values of variables with a Retain attribute
Values of the Holding, DM, and EM Areas in the memory
for CJ-series Units
Absolute encoder home offsets
Tag data link settings for EtherNet/IP

Tag data link tables*1

*1 You need to upload tag data link tables only when tag data links are set.

Support Software
Sysmac Studio

Sysmac Studio

Network Configurator

Precautions for Correct Use

The following data in the CPU Unit is not included in the project, present values of variables and
memory, or tag data link tables. Therefore, you must set them again after you replace the CPU
Unit.
Data Trace Settings
Controller name
Operation authority verification
Time zone setting for the built-in clock

A-116

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Use the following procedure to upload the project.

1
2
3

Start the Sysmac Studio on the computer that is connected to the NJ-series Controller.
Click the New Project Button and create a new project.
Select the device and version of the CPU Unit to replace.

A-11 Replacing CPU Units with Unit Version 1.02 or Earlier

Uploading the Project

App

Click the Online Button in the toolbar.

Click the Synchronize Button in the toolbar.

Click the Transfer From Controller Button.

A-11-1 Uploading the Data from the CPU Unit

The project in the Controller is uploaded to the computer.

Click the Recompare Button.

The uploaded project is compared to the project in the Controller.

Click the Save Button.

The project is saved in the computer.

NJ-series CPU Unit Software Users Manual (W501)

A-117

Appendices

Uploading the Present Values of Variables and Memory

Use the Sysmac Studios variable and memory backup function to upload the present values of variables and memory. Refer to 9-7 Sysmac Studio Variable and Memory Backup Functions for details on
the Sysmac Studio variable and memory backup functions.
Use the following procedure.

1
2

A-118

Select Backup Backup Variables and Memory from the Tools Menu on the Sysmac Studio.
Select the Present value of Retain attribute variable, DM, EM and Holding Memory used
for CJ -series Units, and Absolute encoder home offset value Check Boxes and click the
Execute Button.
The variable and memory data is uploaded to the computer.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Use the following procedure to upload the tag data link tables.

1
2
3

Start the Network Configurator on the computer that is connected to the NJ-series Controller.
Select Network Connect from the toolbar.
Select Network Upload from the toolbar.
The following message is displayed: Uploading all devices parameters form network will start
based on the current document, OK?

4
5

Click the Yes Button.

Select only the IP address of the connected CPU Unit as the device and click the OK Button.

A-11 Replacing CPU Units with Unit Version 1.02 or Earlier

Uploading Tag Data Link Tables

App
A-11-2 Connecting the New CPU Unit

Select File Save As.

The tag data link tables are uploaded to the computer.

A-11-2

Connecting the New CPU Unit

Remove the old CPU Unit and connect the new CPU Unit. Refer to the NJ-series CPU Unit Hardware
Users Manual (Cat. No. W500) for details on the connection methods.
Perform the following actions for the new CPU Unit.
Insert the SD Memory Card that was in the old CPU Unit into the new CPU Unit.
Set the DIP switch to the same settings as the old CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

A-119

Appendices

A-11-3

Downloading the Data to the CPU Unit

Download the project, present values of variables and memory, and tag data link tables to the new CPU
Unit.
Precautions for Safe Use
Check the operation of the downloaded project for proper execution before you use it for actual
operation.

Downloading the Project

Use the following procedure to download the project.

1
2
3

Start the Sysmac Studio on the computer that is connected to the NJ-series Controller.
Click the Open Project Button.
From the project list, select the project that you uploaded from the old CPU Unit.
In the following example, the name of the project that you uploaded from the previous CPU Unit
is BackupData.

Click the Online Button in the toolbar.

Click the Synchronize Button in the toolbar.

Click the Transfer to Controller Button.

The project in the computer is downloaded to the Controller.

A-120

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Use the Sysmac Studios variable and memory backup function to download the present values of variables and memory. Refer to 9-7 Sysmac Studio Variable and Memory Backup Functions for details on
the Sysmac Studio variable and memory backup functions.
Use the following procedure.

1
2

Select Backup Restore Variables and Memory from the Tools Menu on the Sysmac Studio.
Select the data file that you uploaded from the old CPU Unit and click the Execute Button.
The variable and memory data is downloaded to the Controller.

A-11 Replacing CPU Units with Unit Version 1.02 or Earlier

Downloading the Present Values of Variables and Memory

App
A-11-3 Downloading the Data to the CPU Unit

NJ-series CPU Unit Software Users Manual (W501)

A-121

Appendices

Downloading Tag Data Link Tables

Use the following procedure to download the tag data link tables.

1
2
3
4

Start the Network Configurator on the computer that is connected to the NJ-series Controller.
Select Network Connect from the toolbar.
Select File Open and open the tag data link file that you uploaded from the old CPU
Unit.
To download tag data link tables to a CPU Unit with unit version 1.03 or later when the tag
data link tables were uploaded from a CPU Unit with unit version 1.02 or earlier, select
Device Change Device and select NJ-1 Rev2 as the new device.

Select Network Download from the toolbar.

The following message is displayed: In order to enable new configuration, downloading parameters to all devices will start, OK?

Click the Yes Button.

A list of the currently active devices is displayed.

Click the Download after changed to Program mode Button.

The tag data link tables are downloaded to the Controller.

A-122

NJ-series CPU Unit Software Users Manual (W501)

Appendices

If NJ-1 Rev2 is not displayed as a new device selection in step 4, above, use the
newest version of the Network Configurator.

A-11 Replacing CPU Units with Unit Version 1.02 or Earlier

Precautions for Correct Use

App
A-11-3 Downloading the Data to the CPU Unit

NJ-series CPU Unit Software Users Manual (W501)

A-123

Appendices

A-12 Version Information

This section describes the relationship between the unit versions of CPU Units and the Sysmac Studio
versions, and the functions that are supported for each unit version.

A-12-1

Relationship between Unit Versions of CPU Units and Sysmac

Studio Versions

This section describes how the unit versions of CPU Units correspond to Sysmac Studio versions. Normally use the corresponding versions.

Unit Versions and Corresponding Sysmac Studio Versions

The following table gives the relationship between unit versions of CPU Units and the corresponding
Sysmac Studio versions.
Unit version of CPU Unit

Corresponding version of Sysmac Studio

Ver.1.08
Ver.1.09
Ver.1.07
Ver.1.08
Ver.1.06
Ver.1.07
Ver.1.05
Ver.1.06
Ver.1.04
Ver.1.05
Ver.1.03
Ver.1.04
Ver.1.02
Ver.1.03
Ver.1.01
Ver.1.02
*1
Ver.1.01
Ver.1.00
Ver.1.00
*1 There is no NJ301- CPU Unit with unit version 1.00. Therefore, you cannot use an NJ301-
CPU Unit with Sysmac Studio version 1.01 or lower.

Specifications When Not Using the Sysmac Studio Version That

Corresponds to the Unit Version of the CPU Unit
The specifications when you do not use the Sysmac Studio version that corresponds to the unit version
of the CPU Unit are given in this section.

Using an Lower Sysmac Studio Version

If you use a lower version of the Sysmac Studio, you can use only the functions of the unit version of
the CPU Unit that corresponds to the Sysmac Studio version.
Example:

A-124

Unit version of CPU Unit: 1.04

Sysmac Studio version: 1.04
Unit version 1.03 of the CPU Unit corresponds to Sysmac Studio version 1.04. Therefore, you can use only the functions that are supported by unit version 1.03 of the CPU
Unit. You cannot use functionality that was added for unit version 1.04 or later of the
CPU Unit.

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Using a CPU Unit with an Earlier Unit Version

If you use a CPU Unit with an earlier version, select the unit version of the connected CPU Unit or an
earlier unit version in the Select Device Area of the Project Properties Dialog Box on the Sysmac
Studio. You can use only the functions that are supported by the unit version of the connected CPU
Unit.
Example:

Precautions for Correct Use

An error will occur if you perform the following type of operation.

Upload the project to Sysmac Studio version 1.01.

Unit Version Settings for Project Devices

With Sysmac Studio version 1.02 or higher, you can select the unit version in the Select
Device Area of the relevant dialog boxes.
You can select any unit version that is the same as or earlier than the unit version of the CPU
Unit. For example, if the unit version of the CPU Unit is 1.01, select either 1.00 or 1.01.
The Sysmac Studio will treat the CPU Unit as a CPU Unit with the unit version that is selected
for the project device. For example, if you set unit version 1.00 for project device, you can use
only the functionality for unit version 1.00 on the Sysmac Studio.
You can transfer a project to the Sysmac Studio if the unit version that is set for the project
device is the same as or earlier than the unit version of the destination CPU Unit.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on the
Select Device Area of the relevant dialog boxes.

NJ-series CPU Unit Software Users Manual (W501)

A-125

A-12-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions

Additional Information

App

Create a project on Sysmac Studio version 1.02 or higher with unit version 1.01 or later
selected as the version in the Select Device Area of the Project Properties Dialog Box.

A-12 Version Information

Unit version of CPU Unit: 1.03

Sysmac Studio version: 1.05
Unit version 1.04 of the CPU Unit corresponds to Sysmac Studio version 1.05. However, the connected CPU Unit is unit version 1.03, so select version 1.03 or earlier as
the version in the Select Device Area of the Project Properties Dialog Box. If you select
version 1.03 as the version in the Select Device Area of the Project Properties Dialog
Box, you can use only the functions that are supported by unit version 1.03 of the CPU
Unit. You cannot use functionality that was added for unit version 1.04 or later of the
CPU Unit.

Appendices

A-12-2

Functions That Were Added or Changed for Each Unit Version

This section gives the functions that were added or changed for each unit version of the CPU Unit.

Additions and Changes to Functional Specifications

The following table gives the unit version of the CPU Units and the Sysmac Studio version for each
addition or change to the functional specifications.
Addition/
change

Function

Tasks

Function

Programming

Namespaces
Data types

Conditionally executed tasks

Structure data
types

Specifying
member offsets

Libraries
Motion control

Single axes

Sysmac
Studio
version

Reference

Addition

1.03

1.04

5-2 Task System

Addition

1.01

1.02

6-7 Namespaces

Addition

1.01

1.02
1.03

Specifying Structure
Member Offsets on
page 6-41

Change
Addition

1.01

1.02

6-8 Libraries
NJ-series CPU Unit
Motion Control Users
Manual (Cat. No.
W507)

Single-axis
position control

Cyclic synchronous
absolute positioning

Addition

1.03

1.04

Auxiliary function for singleaxis control

Homing with
specified
parameters

Addition

1.03

1.04

Enabling digital cam

switches

Addition

1.06

1.07

Start velocity

Addition

1.05

1.06

Multi-axes
coordinated
control

Axes group
cyclic synchronous absolute
positioning

Addition

1.01

1.02

Auxiliary functions for multiaxes coordinated control

Reading axes
group positions

Addition

1.01

1.02

Changing the
axes in a
group

Addition

1.01

1.02

Cams

Generating
cam tables

Addition

1.08

1.09

Parameters

Changing axis
parameters

Addition

1.08

1.09

Addition

1.05

1.06

Addition

1.05

1.06

NX-series EtherCAT
Coupler Unit Users
Manual (Cat. No.
W519)

Addition

1.08

1.09

NJ-series CPU Unit

Built-in EtherNet/IP
Port Users Manual
(W506)

Communications instructions

Change

1.08

1.09

NJ-series Instructions
Reference Manual
(W502)

Debugging
function

Differential monitoring

Addition

1.03

1.04

8-5-5 Differential
Monitoring

Reliability
functions

Self diagnosis

Addition

1.03

1.04

8-7 Changing Event

Levels

Axes groups

Common
items

Auxiliary functions

A-126

Unit
version

Unit (I/O)
management

NX Units

Communications

EtherNet/
IP port

Input signal logic inversion

TCP/IP
applications

Controller
errors

FTP client

Changing levels

NJ-series CPU Unit Software Users Manual (W501)

Appendices

Addition/
change

Function

Security

Unit
version

Sysmac
Studio
version

Reference

Data protection

Addition

1.01

1.02

8-4-4 Data Protection

Operation
authority verification

Number of
groups

Change

1.01

1.02

8-4-5 Operation
Authority Verification

SD Memory
Cards

Application

Automatic transfer from SD

Memory Card

Addition

1.03

1.04

9-4 Automatic Transfers from SD Memory

Cards

Backing up
data

SD Memory
Card backups

Operating
methods

CPU Unit
front-panel
DIP switch

Addition

1.03

1.04

9-2 SD Memory Card

Backups

Specification
with systemdefined variables

Addition

1.03

1.04

SD Memory
Card Dialog
Box in Sysmac
Studio

Addition

1.03

1.04

Special
instruction

Addition

1.08

1.09

Disabling
backups to SD
Memory Cards

Addition

1.03

1.04

9-3 Disabling Backups to SD Memory

Cards

Addition

1.03

1.04

9-5 Sysmac Studio

Controller Backups

Sysmac Studio Controller backups

Note Refer to the manuals for the function modules for additions and changes to function module functions for
each unit version of the CPU Units.

Addition of Mountable CJ-series Units

The CJ-series Units that can be mounted have increased for the new unit version of the CPU Unit.
For details, refer to NJ-series CPU Unit Hardware Users Manual (Cat. No. W500).

Additions and Changes to Basic Instructions and Motion Control Instructions

The basic instructions and motion control instructions that you can use have increased or changed
for the new unit version of the CPU Unit. For details, refer to the NJ-series Instructions Reference
Manual (Cat. No. W502) and NJ-series Motion Control Instructions Reference Manual (Cat. No.
W508).

Additions and Changes to Controller Events

The events that can occur have increased or changed for the new unit version of the CPU Unit.
There are also changes in the recovery methods to use when some errors occur.
For details, refer to the NJ-series Troubleshooting Manual (Cat. No. W503).

Additions and Changes to System-defined Variables

The system-defined variables that you can use have increased or changed for the new unit version
of the CPU Unit. Refer to A-3 System-defined Variables for details.

NJ-series CPU Unit Software Users Manual (W501)

A-127

A-12-2 Functions That Were Added or Changed for Each Unit Version

Protection

App

Protection

A-12 Version Information

Asset protection and preventing

incorrect operation

Appendices

A-12-3

Performance Improvements for Unit Version Upgrades

This section introduces the functions for which performance was improved for each unit version of the
CPU Unit and for each Sysmac Studio version.
Function
Programming

Program
capacity

Memory
capacity for
variables
Motion
Control

Quantities

Number of
POU instances
(NJ501)
Number of
POU instances
(NJ301)

3,000
1,500
2,400
1,500
Number of vari- 5,000
ables*1 (NJ301- 2,500
)
2,500

Variables
with a
Retain
attribute
Maximum number of con-

Number of
controlled axes trolled axes*2*3*4
(NJ301-)

Maximum number of axes

for single-axis control*4*5
(NJ301-)

Built-in
EtherNet/IP
port

Performance
value
9,000
6,000

CIP service:
Packet interval
Tag data links
(cyclic communications)

Unit version
-----

1.04 or later
1.03 or earlier
1.04 or later
1.03 or earlier

Sysmac Studio version

1.06 or higher
1.05 or lower

1.05 or higher
1.04 or lower
1.05 or higher
1.04 or lower
1.05 or higher
1.04 or lower
---

15 axes
8 axes (NJ3011200)

1.06 or later
1.07 or higher
Other than the above combination

4 axes (NJ3011100)
15 axes
8 axes (NJ3011200)

1.06 or later
1.07 or higher
Other than the above combination

4 axes (NJ3011100)
Can be set for
each connection.
1 to 10,000 ms in
1-ms increments
Can be set for
each connection.

1.03 or higher

---

1.02 or lower

10 to 10,000 ms in
1-ms increments
Permissible communications band

1.03 or higher
3,000 pps*6
(including heartbeat)
1,000 pps (includ- 1.02 or lower
ing heartbeat)
Number of TCP sockets
30
1.03 or higher
16
1.02 or lower
500, 1,000, 2,000, 1.03 or higher
Built-in
Communications cycle*7
or 4,000 s
EtherCAT (NJ301-)
port
1,000, 2,000, or
1.02 or lower
4,000 s
*1 The performance improvement applies only to an NJ301- CPU Unit. The maximum
ables with a Retain attributes for the NJ501- is 10,000.

---

-----

number of vari-

*2 This is the total for all axis types.

*3 The performance improvement applies only to an NJ301- CPU Unit. The maximum numbers of controlled axes for the NJ501- are as follows:
NJ501-1500: 64 axes, NJ501-1400: 32 axes, and NJ501-1300: 16 axes
*4 There is no change in the maximum number of used real axes.

A-128

NJ-series CPU Unit Software Users Manual (W501)

Appendices

*5 The performance improvement applies only to an NJ301- CPU Unit. The maximum numbers of axes
for single-axis control for the NJ501- are as follows:
NJ501-1500: 64 axes, NJ501-1400: 32 axes, and NJ501-1300: 16 axes
*6 Here, pps means packets per second and indicates the number of packets that can be processed in one second.
*7 The performance improvement applies only to an NJ301- CPU Unit. The following communications
cycles can be used with an NJ501- CPU Unit: 500, 1,000, 2,000, or 4,000 s.

A-12 Version Information

App
A-12-3 Performance Improvements for Unit Version Upgrades

NJ-series CPU Unit Software Users Manual (W501)

A-129

Appendices

A-130

NJ-series CPU Unit Software Users Manual (W501)

Index

NJ-series CPU Unit Software Users Manual (W501)

Index-1

Index

Index
A
accessing I/O with variables ........................................ 2-13
Accessing Task .............................................................. 4-9
accessing tasks ........................................................... 5-35
_TaskName_Active ...................................5-43, A-27, A-49
_AlarmFlag ........................................................ A-28, A-52
algorithms ........................................................... 6-10, 6-17
All Tag Data Link Communications Status ........ A-45, A-78
Always FALSE Flag ........................................... A-32, A-58
Always TRUE Flag ............................................ A-32, A-57
array specification ............................................... 6-33, 6-49
assumed causes ....................................................... 12-15
AT Specification ........................................................... 6-55
Axes Group Error Status ................................... A-36, A-65
Axes Group Variables ...............................3-17, A-36, A-66
Axis Error Status ............................................... A-36, A-65
Axis Variables ...........................................3-17, A-36, A-66

B
backing up data ............................................................. 9-3
Backup Function Busy Flag ............................... A-31, A-56
_BackupBusy .................................................... A-31, A-56
basic data types .......................................................... 6-31
Basic Ethernet Setting Error .............................. A-42, A-75
Basic I/O Unit Information ................................. A-35, A-63
Basic I/O Units ......................................................4-12, 8-7
Basic Input Unit Input Response Times ..... 8-8, A-34, A-62
basic settings ................................................................. 4-4
basic system configurations .......................................... 1-4
bit strings ..................................................................... 6-31
Boolean ....................................................................... 6-31
BOOTP Server Error ......................................... A-42, A-75
Built-in EtherCAT Error ...................................... A-37, A-66
Built-in EtherNet/IP Error ................................... A-41, A-73
bus bars ....................................................................... 6-72

C
_Card1Access ..........................................8-14, A-28, A-53
_Card1BkupCmd ............................................... A-29, A-54
_Card1BkupSta ................................................. A-30, A-55
_Card1Deteriorated .................................. 8-14, A-28, A-53
_Card1Err .................................................8-14, A-28, A-52
_Card1PowerFail ......................................8-14, A-28, A-53
_Card1Protect ..........................................8-14, A-28, A-52
_Card1Ready ...........................................8-14, A-28, A-52
_Card1VefySta .................................................. A-30, A-56
Carry Flag .................................................. 6-8, A-32, A-58
changing event levels .................................................. 8-62
changing present values ............................................. 8-34
CIP Communications Error ................................ A-42, A-74

Index-2

_CJB_CBU00InitSta
to _CJB_CBU15InitSta ............................8-8, A-35, A-63
_CJB_CBU00Restart
to _CJB_CBU15Restart ..........................8-9, A-35, A-63
_CJB_ErrSta ..................................................... A-34, A-62
_CJB_InRespTm ........................................8-8, A-34, A-62
_CJB_IOUnitInfo ................................................ A-35, A-63
_CJB_MaxRackNo ............................................ A-34, A-61
_CJB_MaxSlotNo .............................................. A-34, A-61
_CJB_MstrErrSta .............................................. A-34, A-62
_CJB_SCU00P1ChgSta
to _CJB_SCU00P2ChgSta .......................................A-35
_CJB_SCU00P1ChgSta, _CJB_SCU00P2ChgSta
to _CJB_SCU15P1ChgSta,
_CJB_SCU15P2ChgSta ...........................................A-64
_CJB_SCU15P1ChgSta
to _CJB_SCU15P2ChgSta .......................................A-35
_CJB_SIO00InitSta
to _CJB_SIO95InitSta .............................8-8, A-35, A-63
_CJB_SIO00Restart
to _CJB_SIO95Restart ............................8-9, A-35, A-64
_CJB_UnitErrSta ............................................... A-34, A-62
CJ-series Unit configuration .......................................... 1-4
Clearing All Memory ...................................................... 8-3
clock .............................................................................. 8-3
clock data ...................................................................... 8-4
Common Error Status ........................................ A-36, A-65
Common Variable .............................................. A-36, A-66
communications .......................................................... 10-3
Communications Controller Error ...A-37, A-42, A-68, A-74
Communications Error Slave Table ................... A-38, A-70
Communications Port Error ............A-37, A-41, A-67, A-73
Condition Flags ......................................................... 6-114
connecting lines ........................................................... 6-73
constants ..................................................................... 6-67
bit string data ......................................................... 6-68
bits ......................................................................... 6-67
integers .................................................................. 6-67
numbers ................................................................. 6-67
real data ................................................................. 6-68
text strings ............................................................. 6-70
time-related data .................................................... 6-69
Controller Error Status ....................................... A-28, A-51
Controller errors .......................................................... 8-54
Controller events ......................................................... 8-49
Controller information .................................................. 8-54
Controller Setup ............................................................ 4-4
CPU Bus Unit Initializing Flags ...................8-8, A-35, A-63
CPU Bus Unit Restart Bits .........................8-9, A-35, A-63
CPU Unit
name ...................................................................... 8-28
resetting ................................................................. 12-3
watchdog timer error .............................................. 12-3
CPU unit names .......................................................... 8-28
_CurrentTime .................................................... A-26, A-49

NJ-series CPU Unit Software Users Manual (W501)

Index

CX-Designer symbol table registration ..................... A-102

D
data formats
bit strings ............................................................... 6-34
real numbers ......................................................... 6-34
text strings ............................................................. 6-34
data protection ............................................................ 8-23
data tracing ................................................................. 8-37
continuous tracing ................................................. 8-37
operation ............................................................... 8-40
specifications ......................................................... 8-38
triggered tracing .................................................... 8-37
data types ................................................................... 6-30
BOOL .................................................................... 6-31
BYTE ..................................................................... 6-31
converting .............................................................. 6-37
DATE ..................................................................... 6-32
DINT ...................................................................... 6-31
DWORD ................................................................. 6-31
INT ........................................................................ 6-31
LINT ...................................................................... 6-31
LREAL ................................................................... 6-32
LWORD ................................................................. 6-31
REAL ..................................................................... 6-32
SINT ...................................................................... 6-31
specifications ......................................................... 6-33
STRING ................................................................. 6-32
TIME ...................................................................... 6-32
TIME_OF_DAY ...................................................... 6-32
UDINT ................................................................... 6-31
UINT ...................................................................... 6-31
ULINT .................................................................... 6-31
USINT ................................................................... 6-31
WORD ................................................................... 6-31
date and time .............................................................. 6-32
dates ........................................................................... 6-32
debug programs ............................................................ 7-6
derivative data types ................................................... 6-33
device variables ................................................. 2-11, 3-10
differential monitoring .................................................. 8-42
Disabled Slave Table ......................................... A-40, A-72
Disconnected Slave Table ................................. A-40, A-71
DNS Server Connection Error ........................... A-43, A-77
durations ..................................................................... 6-32

E
_EC_CommErrTbl ............................................. A-38, A-70
_EC_DisableSlavTbl ......................................... A-40, A-72
_EC_DisconnSlavTbl ........................................ A-40, A-71
_EC_EntrySlavTbl ............................................. A-40, A-71
_EC_ErrSta ....................................................... A-37, A-66
_EC_InDataInvalid ............................................ A-40, A-73
_EC_LanHwErr ................................................. A-37, A-68
_EC_LinkOffErr ................................................. A-37, A-68
_EC_LinkStatus ................................................ A-40, A-72
_EC_MacAdrErr ................................................ A-37, A-68

NJ-series CPU Unit Software Users Manual (W501)

_EC_MBXSlavTbl ............................................. A-40, A-71

_EC_MsgErr ..................................................... A-38, A-70
_EC_MstrErr ..................................................... A-37, A-67
_EC_NetCfgCmpErr ......................................... A-37, A-68
_EC_NetCfgErr ................................................. A-37, A-68
_EC_NetTopologyErr ........................................ A-37, A-68
_EC_PDActive .................................................. A-40, A-72
_EC_PDCommErr ............................................. A-37, A-69
_EC_PDSendErr ............................................... A-38, A-69
_EC_PDSlavTbl ................................................ A-40, A-71
_EC_PDTimeoutErr .......................................... A-37, A-69
_EC_PktMonStop ............................................. A-40, A-72
_EC_PktSaving ................................................. A-40, A-72
_EC_PortErr ...................................................... A-37, A-67
_EC_RegSlavTbl ............................................... A-40, A-70
_EC_SlavAdrDupErr ......................................... A-38, A-69
_EC_SlavAppErr ............................................... A-38, A-69
_EC_SlavEmergErr ........................................... A-38, A-70
_EC_SlavErr ..................................................... A-37, A-67
_EC_SlavErrTbl ................................................ A-37, A-67
_EC_SlavInitErr ................................................ A-38, A-69
_EIP_BootpErr .................................................. A-42, A-75
_EIP_CipErr ...................................................... A-42, A-74
_EIP_DNSSrvErr .............................................. A-43, A-77
_EIP_ErrSta ...................................................... A-41, A-73
_EIP_EstbTargetSta[255] .................................. A-45, A-78
_EIP_EtnCfgErr ................................................ A-42, A-75
_EIP_EtnOnlineSta ........................................... A-45, A-77
_EIP_IdentityErr ................................................ A-43, A-76
_EIP_IPAdrCfgErr ............................................. A-42, A-75
_EIP_IPAdrDupErr ............................................ A-42, A-75
_EIP_IPRTblErr ................................................. A-43, A-75
_EIP_LanHwErr ................................................ A-42, A-74
_EIP_MacAdrErr ............................................... A-42, A-74
_EIP_MultiSwONErr ......................................... A-43, A-77
_EIP_NTPResult ......................................A-46, A-79, A-80
_EIP_NTPResult.ExecNormal .................................... A-46
_EIP_NTPResult.ExecTime ........................................ A-46
_EIP_NTPSrvErr ............................................... A-43, A-77
_EIP_PortErr ..................................................... A-41, A-73
_EIP_RegTargetSta[255] .................................. A-45, A-78
_EIP_TagAdrErr ................................................ A-43, A-76
_EIP_TargetNodeErr ................................................... A-79
_EIP_TargetNodeErr[255] ........................................... A-46
_EIP_TargetPLCErr[255] .................................. A-46, A-79
_EIP_TargetPLCModeSta[255] ......................... A-45, A-78
_EIP_TcpAppCfgErr ......................................... A-43, A-77
_EIP_TcpAppErr ............................................... A-42, A-74
_EIP_TDLinkAllRunSta ..................................... A-45, A-78
_EIP_TDLinkCfgErr .......................................... A-43, A-76
_EIP_TDLinkErr ................................................ A-43, A-76
_EIP_TDLinkOpnErr ......................................... A-43, A-76
_EIP_TDLinkRunSta ......................................... A-45, A-78
_EIP_TDLinkStartCmd ..................................... A-47, A-80
_EIP_TDLinkStopCmd ...................................... A-47, A-80
Emergency Message Detected ......................... A-38, A-70
EN ...................................................................... 6-12, 6-20
enabling/disabling EtherCAT slaves and axes .......... A-105
ENO ................................................................... 6-12, 6-20

Index-3

Index

enumerations ............................................................... 6-46

errors
checking for non-fatal errors .................................. 12-9
indicators ............................................................... 12-9
instructions that read error status ........................ 12-11
system-defined variables ..................................... 12-11
table ..................................................................... 12-13
troubleshooting with NS-series PT ...................... 12-10
troubleshooting with Sysmac Studio .................... 12-10
_ErrSta .............................................................. A-28, A-51
EtherCAT Master Function Module
initial settings ......................................................... 4-17
EtherCAT Message Error .................................. A-38, A-70
EtherCAT network configuration .................................... 1-4
EtherNet/IP Function Module
initial settings ......................................................... 4-18
event codes ......................................................8-50, 12-15
event levels ......................................................... 8-51, 12-4
event log categories .................................................... 8-50
Event Log Settings ........................................................ 4-5
event logs .................................................................... 8-48
event names .............................................................. 12-15
Event Setting Table ...................................................... 8-57
event sources .............................................................. 8-49
event tasks .................................................................. 5-13
ActEventTask instruction ........................................ 5-13
parameters ............................................................. 5-34
when condition expressions
for variables are met ........................................... 5-15
_TaskName_ExceedCount .......................5-43, A-27, A-51
_TaskName_Exceeded ............................5-43, A-27, A-51
Exclusive Control of File Access in
SD Memory Cards ................................................. 8-17
_TaskName_ExecCount ...........................5-43, A-27, A-50
Execute Backup Flag ...................................................A-53
external variables ............................................... 6-12, 6-20

F
fatal errors ................................................................... 12-3
FINS/TCP Connection Status ............................ A-32, A-59
_FINSTCPConnSta ........................................... A-32, A-59
First Program Period Flag ...........................................A-58
First RUN Period Flag ................................ 6-8, A-32, A-58
forced refreshing ......................................................... 8-30
FTP Client Communication Instructions ...................... 8-13
FTP server ................................................................... 8-13
fully qualified names .................................................. 6-121
FUN instructions ........................................................ 6-114
function block instructions ......................................... 6-113
function blocks
accessing variables
from outside the function block ........................... 6-16
array specifications for instances ........................... 6-14
calling from ST ....................................................... 6-10
creating .................................................................... 6-8
definitions and instances ....................................... 6-13
details ...................................................................... 6-8
execution conditions .............................................. 6-15

Index-4

instances ................................................................ 6-13

instruction names .................................................... 6-9
names ...................................................................... 6-9
parameters ............................................................. 6-10
structure ................................................................... 6-9
using or omitting EN and ENO ............................... 6-22
variable designations ............................................. 6-11
functions
details .................................................................... 6-17
expressing in ST .................................................... 6-18
instruction names .................................................. 6-17
names .................................................................... 6-17
operation for parameter errors ............................... 6-23
operation when parameters are omitted ................ 6-23
parameters ............................................................. 6-18
structure ................................................................. 6-17
variable designations ............................................. 6-19

G
global variables ............................................................ 6-29

I
I/O Bus Error Status .......................................... A-34, A-62
I/O Bus Master Error Status .............................. A-34, A-62
I/O Bus Unit Error Status ................................... A-34, A-62
I/O Control Task Settings ............................................... 4-8
I/O ports
names ...................................................................... 3-9
I/O refresh operation ................................................... 5-31
I/O Refreshing Timeout Error ...................................... 5-46
Identity Error ...................................................... A-43, A-76
implicit casts .............................................................. 6-106
Initial Status for Programs at the Start of Operation .... 5-32
Initial Status of Program ................................................ 4-8
inline ST ...................................................................... 6-77
in-out variables ...................................................6-11, 6-19
Input Data Disabled .....................................................A-40
Input Data Invalid .........................................................A-73
input variables ....................................................6-11, 6-19
inputs
program inputs ....................................................... 6-73
instance name ............................................................... 6-9
instance names ........................................................... 6-17
Instruction Error Flag .......................6-8, 6-118, A-32, A-58
Instruction Errors ....................................................... 6-115
instruction errors ........................................................ 6-118
instruction options ..................................................... 6-113
instructions
GetMyTaskStatus ................................................... 5-42
Lock ....................................................................... 5-42
ResetUnit ................................................................. 8-8
Task_IsActive ......................................................... 5-42
Unlock .................................................................... 5-42
Insufficient System Service Time Error ....................... 5-47
integers ........................................................................ 6-31
internal variables ................................................6-11, 6-19
IP Address Duplication Error ............................. A-42, A-75

NJ-series CPU Unit Software Users Manual (W501)

Index

L
ladder diagram language ............................................ 6-72
ladder diagrams
completion ............................................................. 6-73
connecting functions and function blocks .............. 6-74
controlling execution .............................................. 6-73
order of execution .................................................. 6-73
Largest Rack Number ....................................... A-34, A-61
Largest Slot Number ......................................... A-34, A-61
Last Task Execution Time ........................ 5-43, A-27, A-50
_TaskName_LastExecTime ..................... 5-43, A-27, A-50
Link OFF Error .................................................. A-37, A-68
Link Status ........................................................ A-40, A-72
literals .......................................................................... 6-67
local variable tables ............................................ 6-10, 6-18
local Variables ............................................................. 6-28

M
MAC Address Error ........................ A-37, A-42, A-68, A-74
master control ........................................................... 6-130
Master Error ...................................................... A-37, A-67
_TaskName_MaxExecTime ..................... 5-43, A-27, A-50
Maximum Task Execution Time ............... 5-43, A-27, A-50
MC Test Run ................................................................. 7-9
_MC_AX[64] ...................................................... A-36, A-66
_MC_AX_ErrSta ............................................... A-36, A-65
_MC_COM ........................................................ A-36, A-66
_MC_ComErrSta ............................................... A-36, A-65
_MC_ErrSta ...................................................... A-36, A-65
_MC_GRP[32] ................................................... A-36, A-66
_MC_GRP_ErrSta ............................................ A-36, A-65
Message Communications Enabled Slave Table ........ A-71
_TaskName_MinExecTime ...................... 5-43, A-27, A-50
Minimum Task Execution Time ................ 5-43, A-27, A-50
Motion Control Function Module
initial settings ......................................................... 4-15
Motion Control Function Module Error Status ... A-36, A-65
Motion Control Period Exceeded Error ....................... 5-46
Multiple Switches ON Error ............................... A-43, A-77

N
names
restrictions ............................................................. 6-65
namespace declarations ........................................... 6-122
namespaces .............................................................. 6-120
Network Communications
Instruction Enabled Flag ................................ A-32, A-59
Network Configuration Error ............................. A-37, A-68
Network Configuration Information Error .......... A-37, A-68
Network Configuration Verification Error ........... A-37, A-68
network configurations .................................................. 1-5
Network Connected Slave Table ....................... A-40, A-71
non-fatal errors ............................................................ 12-4
Normal Target Node Information ....................... A-45, A-78
NTP Last Operation Time ................................. A-46, A-79
NTP Operation Information ......................................... A-46
NJ-series CPU Unit Software Users Manual (W501)

NTP Operation Result ....................................... A-46, A-80

NTP Server Connection Error ........................... A-43, A-77
Number of Used Ports ...................................... A-32, A-59
O
offline debugging ........................................................... 7-3
Online ................................................................ A-45, A-77
online editing ............................................................... 8-35
operation authority verification .................................... 8-25
Operation Settings ........................................................ 4-4
Operation Settings Tab Page ........................................ 4-4
output variables .................................................. 6-11, 6-19
outputs
program outputs .................................................... 6-73
overall project file protection ....................................... 8-22
overview of CPU Unit data .......................................... 2-23

P
Packet Monitoring Stopped ............................... A-40, A-72
P_CY ........................................................................... A-32
Period/Execution Condition ........................................... 4-7
periodic tasks .............................................................. 5-11
parameters ............................................................ 5-34
periodic tasks that control I/O ................................ 5-12
periodic tasks that do not control I/O ..................... 5-11
P_First_Run ............................................... 6-8, A-32, A-58
P_First_RunMode ............................................. A-32, A-58
PLC Function Module
initial settings ........................................................... 4-4
PLC Function Module Error Status ................... A-33, A-61
_PLC_ErrSta ..................................................... A-33, A-61
_PLC_TraceSta[0..3] ......................................... A-60, A-61
_PLC_TraceSta[0..3].IsComplete .......................8-42, A-33
_PLC_TraceSta[0..3].IsStart ..............................8-42, A-33
_PLC_TraceSta[0..3].IsTrigger ...........................8-42, A-33
_PLC_TraceSta[0..3].ParamErr ..........................8-42, A-33
P_Off ................................................................. A-32, A-58
P_On ................................................................. A-32, A-57
_Port_isAvailable ............................................... A-32, A-59
_Port_numUsingPort ......................................... A-32, A-59
POUs
function blocks ......................................................... 6-6
functions .................................................................. 6-6
programs ................................................................. 6-6
restrictions ............................................................. 6-24
POUs (program organization units) .............................. 6-5
Power Interruption Count .................................. A-31, A-57
Power Supply Unit
incorrect model ...................................................... 12-3
_PowerOnCount ................................................ A-31, A-57
_PowerOnHour ................................................. A-31, A-57
P_PRGER ......................................................... A-32, A-58
primary periodic task ................................................... 5-10
parameters ............................................................ 5-33
Process Data Communicating Slave Table ....... A-40, A-71
Process Data Communications Error ................ A-37, A-69
Process Data Communications Status ............. A-40, A-72
Process Data Reception Timeout Error ............ A-37, A-69

Index-5

Index

Process Data Transmission Error ...................... A-38, A-69

Program Assignment Settings ....................................... 4-8
Program Execution Order .............................................. 4-8
programming languages .............................................. 6-72
programs ....................................................................... 6-7
execution conditions ................................................ 6-8

R
range specification ............................................. 6-33, 6-52
real numbers ............................................................... 6-32
refreshing tasks ........................................................... 5-35
Registered Slave Table ...................................... A-40, A-70
Registered Target Node Information ................. A-45, A-78
restoring data ................................................................ 9-3
_RetainFail ........................................................ A-31, A-57
Retention Failure Flag ....................................... A-31, A-57
return values ....................................................... 6-20, 6-21
RUN output .................................................................... 8-6

S
Saving Packet Data File .................................... A-40, A-72
SD Memory Card
exclusive control of file access .............................. 8-17
self-diagnosis ......................................................... 8-15
SD Memory Card Access Flag ................. 8-14, A-28, A-53
SD Memory Card Backup Commands .............. A-29, A-53
SD Memory Card Backup Status ...................... A-30, A-55
SD Memory Card Error Flag .................... 8-14, A-28, A-52
SD Memory Card Life Warning Flag ........8-14, A-28, A-53
SD Memory Card Power Interruption Flag ... 8-14, A-28, A-53
SD Memory Card Ready Flag ..................8-14, A-28, A-52
SD Memory Card Setting .............................................. 4-4
SD Memory Card Verify Status ......................... A-30, A-55
SD Memory Card Write Protected Flag ....8-14, A-28, A-52
SD Memory Cards
file operations from the Sysmac Studio ................. 8-13
life expiration detection .......................................... 8-13
operation instructions ............................................ 8-12
operations .............................................................. 8-10
specifications ......................................................... 8-11
Security Setting ............................................................. 4-5
semi-user-defined variables ........................................ 6-27
sequence control and motion control .......................... 2-18
sequence control system ............................................. 2-20
Serial Communications Unit 0,
Port 1/2 Settings Changing Flags ................... A-35, A-64
Serial Communications Units 1 to 15,
Port 1/2 Settings Changing Flags ................... A-35, A-64
serial IDs ............................................................ 8-28, 8-29
Setting Change during RUN Mode ................................ 4-5
Settings for All Units .................................................... 4-11
Settings for Exclusive Control
of Variables in Tasks .................................4-9, 5-35, 5-40
Settings for Variable Access Time ............................... 5-40
short names .............................................................. 6-121
simulation ...................................................................... 7-3
simulation programs ...................................................... 7-6

Index-6

simulation speed ........................................................... 7-7

Slave Application Error ...................................... A-38, A-69
Slave Error ......................................................... A-37, A-67
Slave Error Table ............................................... A-37, A-67
Slave Initialization Error ..................................... A-38, A-69
Slave Node Address Duplicated Error ............... A-38, A-69
software configuration ................................................... 2-4
software operation ......................................................... 2-5
Special I/O Unit Initializing Flags ................8-8, A-35, A-63
Special I/O Unit Restart Bits .......................8-9, A-35, A-64
Special Units ........................................................4-11, 8-8
initial settings ......................................................... 4-13
specifications
general .....................................................................A-3
performance .............................................................A-4
specifying structure member offsets ............................ 6-41
ST language ................................................................ 6-78
assignment ............................................................ 6-85
CASE ..................................................................... 6-91
EXIT ..................................................................... 6-100
expressions ............................................................ 6-79
FOR ....................................................................... 6-93
function block calls ............................................... 6-100
function calls ........................................................ 6-103
IF with multiple conditions ...................................... 6-88
IF with one condition .............................................. 6-86
operators ................................................................ 6-82
REPEAT ................................................................. 6-98
RETURN ................................................................ 6-86
statement keywords ............................................... 6-80
structure ................................................................. 6-79
syntax errors ........................................................ 6-117
WHILE ................................................................... 6-97
starting and stopping the Simulator ............................... 7-3
structures ..................................................................... 6-39
Support Software ........................................................... 1-6
synchronizing sequence control and motion control ... 2-22
System Service Monitoring Settings ....................4-5, 5-53
system services ........................................................... 5-29
System Time ..................................................... A-26, A-49
system-defined events ................................................. 8-49
system-defined variables ............................................. 6-27
Auxiliary Area bits for CJ-series Units ......... A-35, A-63
clock ............................................................. A-26, A-49
communications ........................................... A-32, A-59
debugging .................................................... A-33, A-60
errors ........................................A-28, A-33, A-51, A-61
EtherCAT communications errors ................ A-37, A-66
EtherCAT communications status ................ A-40, A-70
EtherNet/IP communications errors ............. A-41, A-73
EtherNet/IP communications status ............. A-45, A-77
EtherNet/IP communications switches ......... A-47, A-80
I/O bus errors ............................................... A-34, A-62
I/O bus status ............................................... A-34, A-61
meanings of error status bits .................................A-47
motion control functions ............................... A-36, A-65
power supply ................................................ A-31, A-57
programming ................................................ A-32, A-57
SD Memory Cards ....................................... A-28, A-52

NJ-series CPU Unit Software Users Manual (W501)

Index

tasks ............................................................ A-27, A-49

T
Tag Data Link Communications Error ............... A-43, A-76
Tag Data Link Communications Start Switch .... A-47, A-80
Tag Data Link Communications Status ............. A-45, A-78
Tag Data Link Communications Stop Switch .............. A-80
Tag Data Link Connection Failed ...................... A-43, A-76
tag data link service .................................................... 5-23
Tag Data Link Setting Error ............................... A-43, A-76
Tag Name Resolution Error ............................... A-43, A-76
Target Node Error Information .......................... A-46, A-79
Target PLC Error Information ............................ A-46, A-79
Target PLC Operating Mode ............................. A-45, A-78
Task Active Flag ....................................... 5-43, A-27, A-49
task design
example ................................................................. 5-51
task exclusive control instructions ............................... 5-38
Task Execution Count .............................. 5-43, A-27, A-50
task execution status
monitoring ............................................................. 5-47
Task Execution Status Monitor ...................................... 4-9
Task Execution Time Monitor ............................. 4-10, 5-48
Task Execution Timeout Error ..................................... 5-46
Task Execution Timeout Time ....................................... 4-7
task execution times .................................................... 5-51
Task Name ............................................................. 4-6, 4-8
Task Period Exceeded Count ................... 5-43, A-27, A-51
Task Period Exceeded Error ....................................... 5-45
Task Period Exceeded Error Detection ......................... 4-7
Task Period Exceeded Flag ..................... 5-43, A-27, A-51
task real processing time ............................................ 5-50
Task Settings ................................................................. 4-6
Task Type ...................................................................... 4-6
tasks
assigning tasks to programs .................................. 5-32
monitoring task execution status
and task execution times .................................... 5-47
order of program execution ................................... 5-32
outline ...................................................................... 5-4
POUs that you can assign to tasks ....................... 5-33
processing of tasks and system services .............. 5-10
synchronizing variable access with task execution ... 5-39
task execution priority .............................................. 5-7
TCP Application Communications Error ........... A-42, A-74
TCP/IP Advanced Setting Error ........................ A-43, A-75
TCP/IP Basic Setting Error ............................... A-42, A-75
TCP/IP Setting Error ......................................... A-43, A-77
text strings ................................................................... 6-32
time of day .................................................................. 6-32
Total Power ON Time ........................................ A-31, A-57
Trace Busy Flag ....................................... 8-42, A-33, A-60
Trace Completed Flag .............................. 8-42, A-33, A-60
Trace Parameter Error Flag ...................... 8-42, A-33, A-61
Trace Trigger Monitor Flag ....................... 8-42, A-33, A-60
troubleshooting ......................................................... 12-12

NJ-series CPU Unit Software Users Manual (W501)

U
unions ......................................................................... 6-44
Unit Configuration and Unit Setup .............................. 4-11
Unit Information ........................................................... 4-11
_UnitVersion ...................................................... A-33, A-59
Update Variable ............................................................ 4-9
user program execution IDs ........................................ 8-19
user program transfer with no restoration information ..... 8-22
User-defined Error Status ................................. A-28, A-52
user-defined errors ...................................................... 8-55
user-defined events ..................................................... 8-49
user-defined information ............................................. 8-55
user-defined variables ................................................. 6-27

V
Variable Access Time ................................................... 4-7
variable attributes
AT Specification ..................................................... 6-55
Constant ................................................................ 6-60
Edge ...................................................................... 6-61
Initial Value ............................................................ 6-58
Network Publish .................................................... 6-60
Retain .................................................................... 6-57
Variable Name ....................................................... 6-54
variable memory allocation
rules ...................................................................... A-90
variable names ............................................................ 6-54
restrictions ............................................................. 6-65
variable values
ensuring concurrency ............................................ 5-35
variables
attributes ................................................................ 6-29
outline .................................................................... 6-27
types ...................................................................... 6-27
verifying data ................................................................. 9-3
version information .................................................... A-124

W
write protection ............................................................ 8-26

Index-7

Index

Index-8

NJ-series CPU Unit Software Users Manual (W501)

OMRON Corporation

Industrial Automation Company

Authorized Distributor:

Tokyo, JAPAN

Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69-2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388

OMRON ELECTRONICS LLC

One Commerce Drive Schaumburg,
IL 60173-5302 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787

OMRON ASIA PACIFIC PTE. LTD.

No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711

OMRON (CHINA) CO., LTD.

Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200

OMRON Corporation 2011 All Rights Reserved.

In the interest of product improvement,
specifications are subject to change without notice.
Cat. No. W501-E1-09

1213