A-7
Appendices
NJ-series CPU Unit Software User’s Manual (W501)
A-1 Specifications
App
A-1-3 Function Specifications
Program-
ming
Data types
Union
Function
A derivative data type that enables access to the same data
with different data types.
Maximum number of
members
4
Member data types BOOL, BYTE, WORD, DWORD, and LWORD
Enumeration Function
A derivative data type that uses text strings called enumera-
tors to express variable values.
Data type
attributes
Array specifi-
cations
Function
An array is a group of elements with the same data type. You
specify the number (subscript) of the element from the first
element to specify the element.
Maximum number of
dimensions
3
Maximum number of ele-
ments
65,535
Array specifications for
FB instances
Supported
Range specifications
You can specify a range for a data type in advance. The data
type can take only values that are in the specified range.
Libraries (*) You can use user libraries.
Motion
control
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 axes
Single-axis
position con-
trol
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 Posi-
tion Control Mode.
Single-axis
velocity con-
trol
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.
Single-axis
torque con-
trol
Torque control
The torque of the motor is controlled.
Single-axis
synchro-
nized control
Starting cam operation A cam motion is performed using the specified cam table.
Ending cam operation
The cam motion for the axis that is specified with the input
parameter is ended.
Starting gear operation
A gear motion with the specified gear ratio is performed
between a master axis and slave axis.
Positioning gear opera-
tion
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 position-
ing
Positioning is performed in sync with a specified master axis.
Master axis phase shift
The phase of a master axis in synchronized control is
shifted.
Combining axes
The command positions of two axes are added or subtracted
and the result is output as the command position.
Single-axis
manual oper-
ation
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.
Item NJ501- NJ301-
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