12
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
10-1-3 Setup.........................................................................................................................................10-2
10-2 Basic Programming Samples ............................................................................................... 10-3
10-2-1 Monitoring EtherCAT Communications and Turning ON Servos .............................................. 10-3
10-2-2 Interlocking Axis Operation with Master Control Instructions ....................................................10-5
10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation . 10-7
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation ............................ 10-9
10-2-5 Monitoring for Instruction Errors..............................................................................................10-15
10-2-6 Checking to See If Errors Are Reset ....................................................................................... 10-17
10-2-7 Stopping Axes during Single-axis Operation........................................................................... 10-19
10-2-8 Stopping an Axes Group in Coordinated Motion..................................................................... 10-23
10-2-9 Homing and Absolute Positioning ........................................................................................... 10-29
10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................ 10-34
10-2-11 Interrupt Feeding..................................................................................................................... 10-40
10-2-12 Changing the Cam Table by Re-execution of an Instruction ................................................... 10-44
10-2-13 Using a Cam Profile Curve to Correct the Sync Position ........................................................ 10-53
10-2-14 Shifting the Phase of a Master Axis in Cam Motion ................................................................10-63
10-2-15 Changing the Actual Position during Velocity Control .............................................................10-71
10-2-16 Changing a Cam Data Variable and Saving the Cam Table ................................................... 10-77
10-2-17 Temporarily Changing Axis Parameters .................................................................................. 10-86
10-2-18 Updating the Cam Table End Point Index ...............................................................................10-89
Section 11 Troubleshooting
11-1 Overview of Troubleshooting ............................................................................................... 11-2
Appendices
A-1 Connecting the 1S-series Servo Drive...................................................................................A-2
A-1-1 Wiring the Servo Drive ................................................................................................................A-2
A-1-2 Servo Drive Settings ...................................................................................................................A-2
A-2 Connecting the G5-series Servo Drive ................................................................................A-11
A-2-1 Wiring the Servo Drive ..............................................................................................................A-11
A-2-2 Servo Drive Settings .................................................................................................................A-11
A-3 Connecting to Encoder Input Terminals..............................................................................A-22
A-3-1 Wiring to Encoder Input Terminals ............................................................................................A-22
A-3-2 Settings for Encoder Input Terminals ........................................................................................A-22
A-4 Connecting to NX Units.........................................................................................................A-28
A-5 PDS State Transition .............................................................................................................A-29
A-5-1 PDS State Control Method........................................................................................................A-30
A-5-2 Main Circuit Power Supply OFF Detection................................................................................A-31
A-6 Terminology ...........................................................................................................................A-32
A-6-1 NJ/NX-series Controller ............................................................................................................A-32
A-6-2 Motion Control...........................................................................................................................A-33
A-6-3 EtherCAT Communications.......................................................................................................A-35
A-7 Version Information ...............................................................................................................A-36
Index
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