Chapter 1 Overview
Chapter 1 Overview
This user’s manual describes the standard of motion controller, installation method, the method to use each function,
programming and the wiring with external equipment.
1.1 Characteristics
The characteristics of motion controller are as follows.
(1) Various motion control function
It has various functions needed for motion control system such as position control, speed control etc.
(a) It supports various motion control commands.
1) It supports a number of function blocks.
2) It supports a number of motion function blocks compliant to PLCopen standards.
3) Motion programs are supported in the form of LD or ST by using XG5000.
(b) It can control actual/virtual axis of up to 32 axes, virtual axis of 4 axes and EtherCAT I/O of 64 slaves, and
supports digital input 8 points, digital output 16 points,, analog input 2 channels, analog output 2 channels
and encoder input of 2 channels.
(c) Various sing-axis operations are available.
1) Position control
2) Speed control
3) Synchronous control
4) Multi-axis simultaneous start
(d) Various multi-axis group operations are available.
1) Circular arc interpolation
2) Linear interpolation
3) Helical interpolation
4) Group homing / Changes group position
(e) Switching control in operation is available.
1) Position/Speed control switching
2) Position/Torque control switching
3) Speed/Torque control switching
(f) Cam Control is available.
It is available to create up to 32 kinds of cam data with various cam profile of XG5000.
(g) Various Homing Control Function.
As for a homing method, you can use Homing method supported by each servo drive model.
(Refer to the instruction manual of each servo drive for more detailed homing methods and servo parameter
settings.)
(h) For the Acceleration/Deceleration method, trapezoidal acceleration/deceleration and S-shaped
acceleration/deceleration is supported, and S-shaped acceleration/deceleration can be implemented by
setting jerk on a motion function block.
(2) Speed-up of execution of the motion program
Through realization of speed-up of processing at the time of start-up operation, the motion program set as
main task can be performed at up to 0.5ms intervals. In addition, there is no delay time between axes in
Simultaneous start and interpolation start.
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