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Omron NX1 PLC

The NX1 completes the NX / NJ family of machine controllers by offering the same functionality as other models in a compact size. NX1 offers synchronized control of all machine devices, such as motion control, I / O, safety and vision, in a single integrated development environment.

Minimum cycle time: 2 ms
Functions: PLC logic sequence and axis control
Up to 8 axes (4 synchronized axes)
Integrated I / O: 40 or 24 I / O points
Up to 8 local NX I / O modules
Integrated EtherCAT and EtherNet / IP ports
Up to 16 EtherCAT slaves
Ability to connect up to 2 option cards to add serial ports or analog I / O functionality

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Product details

Description

Omron NX1 PLC

Omron NX1 PLC completes NX / NJ family of machine controllers by offering the same functionality as the other models in a compact size. Omron NX1 PLC integrates advanced motion control and sequence control. Synchronized motion improves productivity by enabling continuous operations to meet various production needs. With the Omron NX1 PLC is possible to use device data, acquired via EtherCAT or IO-Link networks, with continuous monitoring of working conditions and process parameters. The Sysmac Studio integrated development environment facilitates design and debugging. The monitoring of devices connected via EtherCAT through the Omron NX1 PLC allows remote maintenance.

Omron NX1 PLC and Sysmac platform

The Sysmac automation platform provides an integrated solution that includes the best in machine controllers that work seamlessly with the best devices in the field via the fastest network of machines on the market (EtherCAT). The Sysmac automation platform comes programmed, configured and simulated by a single software (Sysmac Studio) and can be accessed through a single connection (Ethernet / IP).
The Omron NX1 PLC has been designed entirely according to the Sysmac architecture, and supports a PLC core and motion control that allows you to control the machines with great precision. The integrated real-time EtherCAT network simplifies wiring and offers synchronized axis control, remote I / O and safety devices with a cycle time of 2 ms. A rich set of motion control Function Blocks and a library of applications reduces engineering time.

Integrated development environment:

One software with an integrated development environment for configuration, programming, simulation and monitoring.

Omron NX1 PLC – models:

Omron NX1 PLC is produced in 6 models: the basic model is the Omron NX1P2-9024DT PLC which is able to control 4 PTP axes with 14 DI and 10 DO. The NX1P2-1040DT model also allows the control of two motion axes, while the Omron NX1P2-1140DT PLC can control 4 motion axes, 4 PTP axes with 24 DI and 16 DO.

Features

ORDERING INFORMATION

NX1 series CPU units

Appearance	Type	Program capacity	Memory capacity for variables	Number of axes			Built-in I/O points			Order code
Appearance	Type	Program capacity	Memory capacity for variables	Real axes	Motion control servo axes	Single-axis position control servo axes	I/O points	Input points	Output points	Order code
	NX1	1.5 MB	32 KB (retained during power interruptions) or 2 MB (not retained during power interruptions)	8 axes	4 axes	4 axes	40 points	24 points	16 points NPN transistor	NX1P2-1140DT
				8 axes	4 axes				16 points PNP transistor 1	NX1P2-1140DT1
				6 axes	2 axes				16 points NPN transistor	NX1P2-1040DT
				6 axes	2 axes				16 points PNP transistor 1	NX1P2-1040DT1
				4 axes	0 axes		24 points	14 points	10 points NPN transistor	NX1P2-9024DT
				4 axes	0 axes		24 points	14 points	10 points PNP transistor 1	NX1P2-9024DT1

Note: The end cover unit NX-END02 is included with the CPU unit.

Option boards

Type	Specifications	Supported protocol	Order code
Serial communications	1 × RS-232C port Transmission distance: 15 m Connection type: Screwless push-in terminal block (9 terminals)	Host link, Modbus-RTU master and no-protocol	NX1W-CIF01
	1 × RS-422A/485 port Transmission distance: 50 m Connection type: Screwless push-in terminal block (5 terminals)		NX1W-CIF11
	1 × RS-422A/485 port (isolated) Transmission distance: 500 m Connection type: Screwless push-in terminal block (5 terminals)		NX1W-CIF12
Analog I/O	2 × Analog input Voltage input: 0 to 10 V (Resolution: 1/4,000) Current input: 0 to 20 mA (1/2,000) Connection type: Screwless push-in terminal block (5 terminals)		NX1W-ADB21
	2 × Analog output Voltage output: 0 to 10 V (Resolution: 1/4,000) Connection type: Screwless push-in terminal block (3 terminals)		NX1W-DAB21V
	2 × Analog input / 2 × Analog output Voltage input: 0 to 10 V (Resolution: 1/4,000) Current input: 0 to 20 mA (1/2,000) Voltage output: 0 to 10 V (Resolution: 1/4,000) Connection type: Screwless push-in terminal block (8 terminals)		NX1W-MAB221

NX I/O units (local and remote I/O)

Up to 8 local NX I/O units can be connected to an NX1 CPU unit. The NX-Safety units must be used in combination with the EtherCAT communication coupler unit.

Communication and control units

Module Type

Protocol

Connection

Specification

Width

Order code

Communication coupler

EtherCAT Slave

2 RJ45 ports

(in + out)

Up to 63 I/O units.

Max. 1,024 bytes in + 1,024 bytes out

Supports distributed clock

I/O power supply up to 10 A

46 mm

NX-ECC203

Safety controller

FSoE Protocol

128 Safety connections

For up to 1,024 safety I/O points

30 mm

NX-SL3500

32 Safety connections

For up to 256 safety I/O points

30 mm

NX-SL3300

Digital I/O units

Module type	Channels, Signal type	Performance 1 , I/O Refresh Mode	Connection type 2	Width	Order code	NPN-type 3
AC Digital Input	4 inputs, 200 to 240 VAC, 50/60 Hz	Free Run	Screwless push-in (NX-TBA082)	12 mm	NX-IA3117	−
Safety Digital Input	4 inputs + 2 test outputs	Free Run	Screwless push-in (NX-TBA082)	12 mm	NX-SIH400	−
Safety Digital Input	8 inputs + 2 test outputs	Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-SID800	−
DC Digital Input	4 inputs, 3-wire connection	High-speed Synchronous Time Stamp	Screwless push-in (NX-TBA122)	12 mm	NX-ID3444	NX-ID3344
		High-speed Synchronous/Free Run	Screwless push-in (NX-TBA122)	12 mm	NX-ID3443	NX-ID3343
		Synchronous/Free Run	Screwless push-in (NX-TBA122)	12 mm	NX-ID3417	NX-ID3317
	8 inputs, 2-wire connection	Synchronous/Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-ID4442	NX-ID4342
	16 inputs, 1-wire connection	Synchronous/Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-ID5442	NX-ID5342
			1 × 20-pin MIL connector	30 mm	NX-ID5142-5	same
			M3 screw	30 mm	NX-ID5142-1	same
	32 inputs, 1-wire connection	Synchronous/Free Run	1 × 40-pin MIL connector	30 mm	NX-ID6142-5	same
	32 inputs, 1-wire connection	Synchronous/Free Run	1 × 40-pin Fujitsu connector	30 mm	NX-ID6142-6	same
DC Digital I/O	16 inputs + 16 outputs 0.5 A, 1-wire connection + common	Synchronous/Free Run	2 × 20-pin MIL connector	30 mm	NX-MD6256-5	NX-MD6121-5
DC Digital I/O	16 inputs + 16 outputs 0.5 A, 1-wire connection + common	Synchronous/Free Run	2 × 24-pin Fujitsu connector	30 mm	−	NX-MD6121-6
DC Digital Output	2 outputs 0.5 A, 3-wire connection	High-speed Synchronous Time Stamp	Screwless push-in (NX-TBA082)	12 mm	NX-OD2258	NX-OD2154
	4 outputs 0.5 A, 3-wire connection	High-speed Synchronous/Free Run	Screwless push-in (NX-TBA122)	12 mm	NX-OD3257	NX-OD3153
	4 outputs 0.5 A, 3-wire connection	Synchronous/Free Run	Screwless push-in (NX-TBA122)	12 mm	NX-OD3256	NX-OD3121
	4 outputs 2 A/point, 8 A total, 3-wire connection	Synchronous/Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-OD3268	−
	8 outputs 0.5 A, 2-wire connection	Synchronous/Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-OD4256	NX-OD4121
	16 outputs 0.5 A, 1-wire connection	Synchronous/Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-OD5256	NX-OD5121
			1 × 20-pin MIL connector	30 mm	NX-OD5256-5	NX-OD5121-5
			M3 screw	30 mm	NX-OD5256-1	NX-OD5121-1
	32 outputs 0.5 A, 1-wire connection	Synchronous/Free Run	1 × 40-pin MIL connector	30 mm	NX-OD6256-5	NX-OD6121-5
	32 outputs 0.5 A, 1-wire connection	Synchronous/Free Run	1 × 40-pin Fujitsu connector	30 mm	−	NX-OD6121-6
Safety Digital Output	2 outputs, 2.0 A	Free Run	Screwless push-in (NX-TBA082)	12 mm	NX-SOH200	−
Safety Digital Output	4 outputs, 0.5 A	Free Run	Screwless push-in (NX-TBA082)	12 mm	NX-SOD400	−
Relay Digital Output	2 outputs, N.O., 2.0 A	Free Run	Screwless push-in (NX-TBA082)	12 mm	NX-OC2633	−
	8 outputs, N.O., 2.0 A	Free Run	Screwless push-in (NX-TBA082 × 2)	24 mm	NX-OC4633	−
	2 outputs, N.O.+ N.C., 2.0 A	Free Run	Screwless push-in (NX-TBA082)	12 mm	NX-OC2733	−

Position control units

Module type	Channels, Signal type	Performance, I/O Refresh Mode	Connection type	Width	Order code	NPN-type
Encoder Input	1 SSI encoder, 2 MHz	Synchronous/Free Run	Screwless push-in (NX-TBA122)	12 mm	NX-ECS112	−
	2 SSI encoders, 2 MHz	Synchronous/Free Run	Screwless push-in (NX-TBA122)	12 mm	NX-ECS212	−
	1 incremental encoder line driver 4 MHz + 3 Digital Inputs (1 µs)	Synchronous/Free Run	Screwless push-in (NX-TBA122 + NX-TBB122)	24 mm	NX-EC0142	NX-EC0132
	1 incremental encoder open collector 500 kHz + 3 Digital Inputs (1 µs)	Synchronous/Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-EC0122	NX-EC0112
	2 incremental encoders open collector 500 kHz	Synchronous/Free Run	Screwless push-in (NX-TBA122)	12 mm	NX-EC0222	NX-EC0212
Pulse Output	1 Pulse Up/Down or Pulse/Direction open collector 500 kHz + 2 Digital Inputs + 1 Digital Output (1 µs)	Synchronous	Screwless push-in (NX-TBA162)	12 mm	NX-PG0122	NX-PG0112
	2 pulse line driver 4 MHz + 5 digital inputs per channel + 3 digital outputs per channel		1 × 34-pin MIL connector	30 mm	NX-PG0242-5	NX-PG0232-5
	4 pulse line driver 4 MHz + 5 digital inputs per channel + 3 digital outputs per channel		2 × 34-pin MIL connector	30 mm	NX-PG0342-5	NX-PG0332-5

Serial Communication Interface Units

Module type	Channels, Signal type	Performance, I/O Refresh Mode	Connection type	Width	Order code	NPN-type
Serial Communication	1 × RS-422A/485	Free Run	Screwless push-in (NX-TBC162)	12 mm	NX-CIF105	−
	1 × RS-232C	Free Run	Screwless push-in (NX-TBC162)	12 mm	NX-CIF101	−
	2 × RS-232C	Free Run	9-pin D-sub	30 mm	NX-CIF210	−

*1 Digital I/O performance

Digital I/O performance		Standard		High Speed
Digital I/O performance		ON delay	OFF delay	ON delay	OFF delay
Input	PNP	0.02 ms	0.4 ms	100 ns	100 ns
	NPN	0.02 ms	0.4 ms	100 ns	100 ns
	AC	10 ms	40 ms	N.A.	N.A.
Output	PNP	0.5 ms	1.0 ms	300 ns	300 ns
	NPN	0.1 ms	0.8 ms	300 ns	300 ns
	Relay	15 ms	15 ms	N.A.	N.A.

*2 Units with screwless push-in connections are supplied with the appropriate terminal connector. Units with MIL/Fujitsu connectors are supplied without matching plugs; for connecting cables see page

*3 Order codes are for PNP-type signals (positive switching, 0 V common). Most models are also available as NPN-type (negative switching, 24 V common). Inputs of MIL-connector versions can be used as NPN or PNP.

*4 The NX-Safety units must be used in combination with the EtherCAT communication coupler unit.

Analog I/O Units

Module type	Signal type	Performance, I/O Refresh Mode	Channels	Connection type 1	Width	Order code
Temperature Sensor Input	Thermocouple type B,E,J,K,L,N,R,S,T,U,WRe5-26,PLII	0.1°C resolution, 200 ms/unit Free Run	2	Screwless push-in terminal block(s) with cold junction sensor, calibrated individually at the factory	12 mm	NX-TS2101
		0.1°C resolution, 200 ms/unit Free Run	4		24 mm	NX-TS3101
		0.01°C resolution, 10 ms/unit Free Run	2		12 mm	NX-TS2102
		0.01°C resolution, 10 ms/unit Free Run	4		24 mm	NX-TS3102
		0.001°C resolution, 60 ms/unit Free Run	2		12 mm	NX-TS2104
		0.001°C resolution, 60 ms/unit Free Run	4		24 mm	NX-TS3104
	RTD type Pt100 (3-wire), Pt1000, Ni508.4	0.1°C resolution, 200 ms/unit Free Run	2	Screwless push-in (NX-TBA162)	12 mm	NX-TS2201
		0.1°C resolution, 200 ms/unit Free Run	4	Screwless push-in (NX-TBA162 + NX-TBB162)	24 mm	NX-TS3201
		0.01°C resolution, 10 ms/unit Free Run	2	Screwless push-in (NX-TBA162)	12 mm	NX-TS2202
		0.01°C resolution, 10 ms/unit Free Run	4	Screwless push-in (NX-TBA162 + NX-TBB162)	24 mm	NX-TS3202
		0.001°C resolution, 60 ms/unit Free Run	2	Screwless push-in (NX-TBA162)	12 mm	NX-TS2204
		0.001°C resolution, 60 ms/unit Free Run	4	Screwless push-in (NX-TBA162 + NX-TBB162)	24 mm	NX-TS3204
Analog Input	4 to 20 mA single ended	1/8000 resolution, 250 µs/channel Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-AD2203
			4	Screwless push-in (NX-TBA122)	12 mm	NX-AD3203
			8	Screwless push-in (NX-TBA162)	12 mm	NX-AD4203
	4 to 20 mA differential	1/8000 resolution, 250 µs/channel Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-AD2204
			4	Screwless push-in (NX-TBA122)	12 mm	NX-AD3204
			8	Screwless push-in (NX-TBA162)	12 mm	NX-AD4204
		1/30000 resolution,10 µs/channel Synchronous/Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-AD2208
			4	Screwless push-in (NX-TBA122)	12 mm	NX-AD3208
			8	Screwless push-in (NX-TBA162)	12 mm	NX-AD4208
	−10 to 10 V single ended	1/8000 resolution, 250 µs/channel Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-AD2603
			4	Screwless push-in (NX-TBA122)	12 mm	NX-AD3603
			8	Screwless push-in (NX-TBA162)	12 mm	NX-AD4603
	−10 to 10 V differential	1/8000 resolution, 250 µs/channel Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-AD2604
			4	Screwless push-in (NX-TBA122)	12 mm	NX-AD3604
			8	Screwless push-in (NX-TBA162)	12 mm	NX-AD4604
		1/30000 resolution,10 µs/channel Synchronous/Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-AD2608
			4	Screwless push-in (NX-TBA122)	12 mm	NX-AD3608
			8	Screwless push-in (NX-TBA162)	12 mm	NX-AD4608
Analog Output	4 to 20 mA	1/8000 resolution, 250 µs/channel Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-DA2203
		1/8000 resolution, 250 µs/channel Free Run	4	Screwless push-in (NX-TBA122)	12 mm	NX-DA3203
		1/30000 resolution,10 µs/channel Synchronous/Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-DA2205
		1/30000 resolution,10 µs/channel Synchronous/Free Run	4	Screwless push-in (NX-TBA122)	12 mm	NX-DA3205
	−10 to 10 V	1/8000 resolution, 250 µs/channel Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-DA2603
		1/8000 resolution, 250 µs/channel Free Run	4	Screwless push-in (NX-TBA122)	12 mm	NX-DA3603
		1/30000 resolution,10 µs/channel Synchronous/Free Run	2	Screwless push-in (NX-TBA082)	12 mm	NX-DA2605
		1/30000 resolution,10 µs/channel Synchronous/Free Run	4	Screwless push-in (NX-TBA122)	12 mm	NX-DA3605

Load cell input

Module type	Specifications	Excitation voltage/input range	I/O refresh method	Connection type 1	Width	Order code
Load cell input	1 load cell input, 125 µs conversion cycle	5 VDC ±10%/−5 to 5 mV/V	Synchronous/Free Run	Screwless push-in (NX-TBC162)	12 mm	NX-RS1201

Heater burnout detection

Module type	Channels, signal type	Control output	I/O refresh method	Connection type	Width	Order code
Heater burnout detection	4 CT inputs 4 control outputs	NPN, 12 to 24 VDC 0.1 A/point, 0.4 A/unit	Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-HB3101
Heater burnout detection	4 CT inputs 4 control outputs	PNP 24 VDC 0.1 A/point, 0.4 A/unit	Free Run	Screwless push-in (NX-TBA162)	12 mm	NX-HB3201

Other units

Module type	Description	Connection type	Width	Order code
Power Unit	NX bus power supply unit, 24 V DC input, non-isolated	Screwless push-in (NX-TBC082)	12 mm	NX-PD1000
	I/O power feed unit, for separation of power groups, up to 10 A	Screwless push-in (NX-TBA082)	12 mm	NX-PF0730
	I/O power connection unit, 16 × IOV	Screwless push-in (NX-TBA162)	12 mm	NX-PC0020
	I/O power connection unit, 16 × IOG	Screwless push-in (NX-TBA162)	12 mm	NX-PC0010
	I/O power connection, 8 × IOV + 8 x IOG	Screwless push-in (NX-TBA162)	12 mm	NX-PC0030
System Units and Accessories	Grounding terminal, 16 points	Screwless push-in (NX-TBC162)	12 mm	NX-TBX01
	End cover (included with Communication Coupler)	−	12 mm	NX-END01
	Replacement front connector with 8 wiring terminals (marked A+B)	Screwless push-in	12 mm	NX-TBA082
	Replacement front connector with 12 wiring terminals (marked A+B)	Screwless push-in	12 mm	NX-TBA122
	Replacement front connector with 16 wiring terminals (marked A+B)	Screwless push-in	12 mm	NX-TBA162
	Replacement front connector with 12 wiring terminals (marked C+D)	Screwless push-in	12 mm	NX-TBB122
	Replacement front connector with 16 wiring terminals (marked C+D)	Screwless push-in	12 mm	NX-TBB162
	Replacement front connector with 8 wiring terminals (marked A+B+FG)	Screwless push-in	12 mm	NX-TBC082
	Replacement front connector with 16 wiring terminals (marked A+B+FG)	Screwless push-in	12 mm	NX-TBC162
	DIN rail insulation spacers, set of 3 pcs		−	NX-AUX01
	30 Unit pins + 30 Terminal keying pins, to prevent mismatch of unit and terminal block (one set is enough for 10 units)		−	NX-AUX02

Brochure

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Software

Sysmac Studio

Sysmac Studio software offers a design and operating environment for configuration, programming, simulation and monitoring. Sysmac Studio was created to offer machine developers complete control from a single environment. Sysmac Studio integrates configuration, programming, simulation and platform monitoring into a single intuitive and consistent user interface. Sysmac Studio is the only software required for creating an application with the Sysmac platform: from the NJ series controller, which combines logic and motion control, to vision systems and Safety.

Compliance with the best known standards

Fully compliant with IEC 61131-3 open standards, Sysmac Studio offers a state-of-the-art programming environment based on ladder diagrams, structured text programming languages and program organization units that include programs, functions and function blocks. In addition, motor control instructions based on PLC open standards and an IEC compliant instruction set are included. Offering a familiar programming environment virtually eliminates the time it takes to learn new software, allowing for quick use.

Programming with variables

It is not necessary to know the NJ controller’s internal memory map. Sysmac Studio automatically allocates available memory in the CPU unit to variables created to promote faster development and reduce errors. This also eliminates the waiting time for the hardware definition of memory addresses before starting software development. Hardware and software can therefore be designed independently and developed in parallel.

Ease of use

Sysmac Studio has minimized restrictions on design procedures to allow project building to begin from anywhere in the system. The configuration is characterized by intuitive operating procedures with perfectly adapted guides that do not interfere in any way with the workflow. This ensures extremely easy operation which allows for flexible design work where even errors in settings and procedures can be corrected immediately or later upon finalization of the project, provided they do not cause serious accidents.

Full debugging

Sysmac Studio offers comprehensive functions for debugging sequence control, such as changing actual values and online programming. It also provides debugging functions with motion control simulations, such as displaying results in 2D or 3D and displaying traces on virtual devices. The new 3D Simulation tool gives the programmer the ability to see the physical motion and sequence of the machine as direct results of the implemented code and configuration.

To accurately simulate motion control, Sysmac Studio provides instructions for creating virtual external signals such as positive / negative limit switches, home position proximity signal, immediate stop input signals and external latch. Motion alert and alarm instructions can also be implemented as additional fault recovery control measures. The included data trace function also offers a high level of detail and allows the display of a time diagram in parallel with the path markers in 2D or 3D. The simulation results are recorded in a data trace file, to allow for a more accurate analysis of performance and to ensure proper operation. The combination of 3D motion simulation with the CPU emulation program provides the programmer with utilities to evaluate the correct sequence, optimal path control, minimum execution time and other critical operations. As a result, the distance between machine design and operation is drastically reduced in this way.

Maximum safety

Advanced investment and machine protection features are provided as standard in Sysmac Studio. The prevention of incorrect connections and operations or improper acquisition of programs and functions are essential elements in the realization of small and large projects. Functions such as confirming controller names and serial IDs, administrator access rights, and controller write protection protect the machine when authenticating user program execution and having a password to access control files. project protect development intellectual property. Your system will always be safe thanks to the 32-digit password protection.

Task control

Task management, a function common to the NJ series controller and Sysmac Studio, ensures the planned operation of the control system. The Task System used by NJ-series controllers allows you to assign a condition and order of execution to a variety of processes, such as updating I / O and executing user programs. This new level of control allows the programmer to select how the CPU should operate during runtime to ensure consistently fast operation throughout the life of the machine. Sysmac Studio offers powerful performance evaluation tools and simple and clear adjustments for configuring tasks. Only valid options are displayed for a task selection, providing the user with practical guidance on correct configuration. Once the configuration is chosen, the timing of the schedule can be monitored to ensure optimal operation. Task Execution Time Monitor can be used with Simulator to view execution times before downloading to physical controller. These new software “tools” allow the user to predict machine operation prior to implementation rather than face unexpected situations during commissioning.

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Omron NX1 PLC

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Product details

Description

Omron NX1 PLC

Omron NX1 PLC and Sysmac platform

Integrated development environment:

Omron NX1 PLC – models:

Features

ORDERING INFORMATION

NX1 series CPU units

Option boards

NX I/O units (local and remote I/O)

Communication and control units

Digital I/O units

Position control units

Serial Communication Interface Units

Analog I/O Units

Load cell input

Heater burnout detection

Other units

Brochure

Software

Sysmac Studio

Compliance with the best known standards

Programming with variables

Ease of use

Full debugging

Maximum safety

Task control

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