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NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
9-1-5 Cyclic Synchronous Positioning.................................................................................................. 9-6
9-1-6 Stopping ..................................................................................................................................... 9-7
9-1-7 Override Factors....................................................................................................................... 9-12
9-2 Single-axis Synchronized Control ....................................................................................... 9-13
9-2-1 Overview of Synchronized Control ...........................................................................................9-13
9-2-2 Gear Operation......................................................................................................................... 9-13
9-2-3 Positioning Gear Operation ...................................................................................................... 9-14
9-2-4 Cam Operation ......................................................................................................................... 9-15
9-2-5 Cam Tables............................................................................................................................... 9-16
9-2-6 Synchronous Positioning .......................................................................................................... 9-24
9-2-7 Combining Axes........................................................................................................................ 9-25
9-2-8 Master Axis Phase Shift............................................................................................................ 9-26
9-2-9 Slave Axis Position Compensation ...........................................................................................9-26
9-2-10 Achieving Synchronized Control in Multi-motion ...................................................................... 9-27
9-3 Single-axis Velocity Control .................................................................................................9-29
9-3-1 Velocity Control......................................................................................................................... 9-29
9-3-2 Cyclic Synchronous Velocity Control ........................................................................................9-30
9-4 Single-axis Torque Control ...................................................................................................9-31
9-5 Common Functions for Single-axis Control ....................................................................... 9-32
9-5-1 Positions ................................................................................................................................... 9-32
9-5-2 Velocity ..................................................................................................................................... 9-34
9-5-3 Acceleration and Deceleration.................................................................................................. 9-35
9-5-4 Jerk........................................................................................................................................... 9-37
9-5-5 Specifying the Operation Direction ........................................................................................... 9-38
9-5-6 Re-executing Motion Control Instructions................................................................................. 9-42
9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)................................................... 9-47
9-6 Multi-axes Coordinated Control ........................................................................................... 9-53
9-6-1 Outline of Operation.................................................................................................................. 9-53
9-6-2 Linear Interpolation ................................................................................................................... 9-56
9-6-3 Circular Interpolation................................................................................................................. 9-57
9-6-4 Axes Group Cyclic Synchronous Positioning............................................................................ 9-57
9-6-5 Stopping Under Multi-axes Coordinated Control ...................................................................... 9-58
9-6-6 Overrides for Multi-axes Coordinated Control .......................................................................... 9-59
9-7 Common Functions for Multi-axes Coordinated Control .................................................. 9-61
9-7-1 Velocity Under Multi-axes Coordinated Control ........................................................................ 9-61
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control .................................... 9-62
9-7-3 Jerk for Multi-axes Coordinated Control ................................................................................... 9-63
9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control ......................... 9-64
9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated
Control ...................................................................................................................................... 9-65
9-8 Other Functions..................................................................................................................... 9-73
9-8-1 Changing the Current Position.................................................................................................. 9-73
9-8-2 Torque Limit .............................................................................................................................. 9-74
9-8-3 Latching .................................................................................................................................... 9-74
9-8-4 Zone Monitoring........................................................................................................................ 9-75
9-8-5 Software Limits ......................................................................................................................... 9-76
9-8-6 Following Error Monitoring........................................................................................................ 9-77
9-8-7 Following Error Counter Reset ................................................................................................. 9-78
9-8-8 Axis Following Error Monitoring ................................................................................................ 9-78
9-8-9 In-position Check...................................................................................................................... 9-79
9-8-10 Changing Axis Use ................................................................................................................... 9-81
9-8-11 Enabling Digital Cam Switch..................................................................................................... 9-81
9-8-12 Displaying 3D Motion Monitor for User Coordinate System ..................................................... 9-82
Section 10 Sample Programming
10-1 Overview of Sample Programming ...................................................................................... 10-2
10-1-1 Devices..................................................................................................................................... 10-2
10-1-2 Installation and Wiring .............................................................................................................. 10-2
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