To Next Page

To Previous Page

5-3

5 Motion Control Parameters

NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

5-1 Introduction

Version Information

If a CPU Unit with unit version 1.13 or later and Sysmac Studio version 1.17 or higher are com-

bined, commands to the I/O devices can continuously be sent even when the download process

is in progress.

For the CPU Unit with unit version 1.12 or earlier, sending commands to the I/O devices is

stopped when the download process is executed.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for how to set to

stop or continue sending commands to the I/O devices when the download process starts.

Stopping sending commands to I/O devices

Servo is turned OFF during the download, and the axis status will be Disable (Axis Dis-

abled).

Continuing sending commands to I/O devices

The following status immediately before downloading is maintained during the download:

the Servo ON state for the MC_Power instruction and the output torque limit for the MC_-

SetTorqueLimit instruction.

The Servo ON state and torque limit are maintained even if the MC_Power and MC_Set-

TorqueLimit instructions are deleted from the user program after the program is updated by

downloading.

 Overwriting MC Parameters with Programming Instructions

• You can use motion control instructions like the MC_Write (Write MC Setting), MC_ChangeAxes-

InGroup (Change Axes in Group) or MC_WriteAxisParameter (Write Axis Parameters) instruction

to change the settings of some of the MC parameters in the main memory while the user program

is running.

• If the specified set value is outside the valid range, the Error output variable from the instruction

changes to TRUE and the MC parameter setting is not changed.

• Changes to MC parameter settings become valid in either of the following two situations.

• The axis or axes group is stopped and you execute an instruction for an axis command or

axes group command.

• You set the Buffer Mode Selection for the instruction to Aborting and execute more than one

instruction.

• For details on MC_Write (Write MC Setting), MC_ChangeAxesInGroup (Change Axes in Group),

MC_WriteAxisParameter (Write Axis Parameters) and other instructions, refer to the NJ/NX-

series Motion Instructions Reference Manual (Cat. No. W508).

Omron NX701-1 User Manual

Questions and Answers: