Omron NX701-1 - Page 12

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NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS
6-2-2 Motion Control Instructions of the MC Function Module .............................................................6-5
6-3 State Transitions...................................................................................................................... 6-6
6-3-1 Status of the Motion Control Function Module ............................................................................ 6-6
6-3-2 Axis States .................................................................................................................................. 6-7
6-3-3 Axes Group States...................................................................................................................... 6-9
6-4 Execution and Status of Motion Control Instructions........................................................ 6-11
6-4-1 Basic Rules for Execution of Instructions..................................................................................6-11
6-4-2 Execution Timing Charts ...........................................................................................................6-13
6-4-3 Timing Chart for Re-execution of Motion Control Instructions ..................................................6-16
6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ............................................... 6-17
6-5 Positions ................................................................................................................................ 6-18
6-5-1 Types of Positions..................................................................................................................... 6-18
6-5-2 Valid Positions for Each Axis Type ............................................................................................ 6-19
6-6 System-defined Variables for Motion Control..................................................................... 6-20
6-6-1 Overview of System-defined Variables for Motion Control........................................................ 6-20
6-6-2 System for System-defined Variables for Motion Control.......................................................... 6-23
6-6-3 Tables of System-defined Variables for Motion Control ............................................................ 6-25
6-7 Cam Tables and Cam Data Variables ................................................................................... 6-36
6-8 Programming Motion Controls............................................................................................. 6-40
6-9 Creating Cam Tables ............................................................................................................. 6-42
Section 7 Manual Operation
7-1 Outline ...................................................................................................................................... 7-2
7-2 Turning ON the Servo.............................................................................................................. 7-3
7-2-1 Turning ON the Servo ................................................................................................................. 7-3
7-2-2 Setting Axis Parameters.............................................................................................................. 7-4
7-2-3 Programming Example................................................................................................................7-4
7-3 Jogging..................................................................................................................................... 7-5
7-3-1 Jogging Procedure...................................................................................................................... 7-5
7-3-2 Setting Axis Parameters.............................................................................................................. 7-6
7-3-3 Setting Example for Input Variables ............................................................................................7-6
7-3-4 Programming Example................................................................................................................7-7
Section 8 Homing
8-1 Outline ...................................................................................................................................... 8-2
8-2 Homing Procedure .................................................................................................................. 8-5
8-2-1 Setting Homing Parameters ........................................................................................................ 8-5
8-2-2 Monitoring the Homing Operation .............................................................................................8-12
8-3 Homing Operation ................................................................................................................. 8-13
8-4 Homing with an Absolute Encoder ...................................................................................... 8-14
8-4-1 Outline of Function....................................................................................................................8-15
8-4-2 Setting Procedure ..................................................................................................................... 8-16
8-5 High-speed Homing............................................................................................................... 8-18
Section 9 Motion Control Functions
9-1 Single-axis Position Control................................................................................................... 9-3
9-1-1 Outline of Operation.................................................................................................................... 9-3
9-1-2 Absolute Positioning....................................................................................................................9-4
9-1-3 Relative Positioning.....................................................................................................................9-4
9-1-4 Interrupt Feeding......................................................................................................................... 9-5