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NX701-1
Omron NX701-1 User Manual
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6 Motion Control Programming
6-4
NJ/NX-series CPU Unit Motion C
ontrol User
ās Manual (W507)
ļ¬
NJ-series CPU Unit
EtherCAT
EtherCAT
EtherCAT
slaves,
Servo Drives,
encoder input
terminals,
Position
Interface Units
EtherCAT
slaves
Basic I/O Units,
Special Units
I/O ports
EtherCAT
Master
Function
Module
Task period
CPU Unit
Device variables
Executed.
User program in PLC
Function Module
Instructions
other than
motion control
instructions
Motion control
instructions
Sequence
control
Motion control
CJ-series Units
Axis
variables
Executed.
MC Function Module
ā¢
Profile processing
ā¢
Synchronization
processing
Other processing
155
157
Table of Contents
Default Chapter
2
Nx701
2
Introduction
3
Nx102
3
Relevant Manuals
4
Nx102
4
Nx1P2
5
Manual Structure
6
Sections in this Manual
9
Table of Contents
10
Terms and Conditions Agreement
16
Safety Precautions
18
Precautions for Safe Use
19
Precautions for Correct Use
20
Regulations and Standards
21
Versions
23
Related Manuals
27
Nj101
27
Revision History
30
W507-E1
30
Introduction to the Motion Control Function Module
31
Section 1 Introduction to the Motion Control Function Module
32
Features
32
System Configuration
33
Basic Flow of Operation
35
Specifications
37
General Specifications
37
Performance Specifications
37
Function Specifications
41
Motion Control Configuration and Principles
47
Internal Configuration of the CPU Unit
48
Motion Control Configuration
49
Motion Control Principles
51
CPU Unit Tasks
51
Example of Task Operations for Motion Control
59
Ethercat Communications and Motion Control
66
CAN Application Protocol over Ethercat (Coe)
66
Relationship between Ethercat Master Function Module and MC Function Module
67
Relationship between Process Data Communications Cycle and Motion Control Period
70
Configuring Axes and Axes Groups
73
Section 3 Configuring Axes and Axes Groups
74
Axes
74
Introduction to Axes
74
Introduction to Axis Parameters
75
Introduction to Axis Variables
79
Synchronizing Axis Variables
81
Specifying an Axis in the User Program
81
Axis Setting Procedure
82
Axis Configuration Procedure
82
Setting Procedure
82
Axes Groups
92
Introduction to Axes Groups
92
Introduction to Axes Group Parameters
93
Introduction to Axes Group Variables
94
Specifying an Axes Group in the User Program
96
Setting Procedures for Axes Groups
97
Setting Procedure for an Axes Group
97
Setting Procedure
97
Functions of the Sysmac Studio
104
MC Test Run Function
104
Application Procedure
106
Axis Parameter Setting Example
107
Starting the MC Test Run Function
108
Monitoring Sensor Signals
109
Checking Motor Operation
110
Turning on the Servo
110
Jogging
110
Homing
111
Absolute Positioning
112
Relative Positioning
113
Motion Control Parameters
115
Introduction
116
Axis Parameters
119
Axis Basic Settings
121
Unit Conversion Settings
127
Operation Settings
134
Other Operation Settings
138
Limit Settings
139
Position Count Settings
139
Servo Drive Settings
141
Homing Settings
142
5-2-10 Axis Parameter Setting Example
143
Axes Group Parameters
146
Axes Group Basic Settings
147
Axes Group Operation Settings
149
Enabling an Axes Group
151
Motion Control Programming
153
Introduction
154
Motion Control Instructions
155
Motion Control Instructions
157
Function Blocks for PlcopenĀ® Motion Control
157
Motion Control Instructions of the MC Function Module
157
State Transitions
158
Status of the Motion Control Function Module
158
Axis States
159
Axes Group States
161
Execution and Status of Motion Control Instructions
163
Basic Rules for Execution of Instructions
163
Execution Timing Charts
165
Timing Chart for Re-Execution of Motion Control Instructions
168
Timing Chart for Multi-Execution of Motion Control Instructions
169
Positions
170
Types of Positions
170
Valid Positions for each Axis Type
171
Types of Positions
171
System-Defined Variables for Motion Control
172
Overview of System-Defined Variables for Motion Control
172
System for System-Defined Variables for Motion Control
175
Tables of System-Defined Variables for Motion Control
177
Cam Tables and Cam Data Variables
188
Programming Motion Controls
192
Creating Cam Tables
194
Manual Operation
197
Section 7 Manual Operation
198
Outline
198
Turning on the Servo
199
Setting Axis Parameters
200
Programming Example
200
Jogging
201
Jogging Procedure
201
Setting Axis Parameters
201
Setting Axis Parameters
202
Setting Example for Input Variables
202
Programming Example
203
Homing
205
Section 8 Homing
206
Outline
206
Homing Procedure
209
Setting Homing Parameters
209
Monitoring the Homing Operation
216
Homing Operation
217
Homing with an Absolute Encoder
218
Outline of Function
219
Setting Procedure
220
High-Speed Homing
222
Motion Control Functions
223
Section 9 Motion Control Functions
225
Single-Axis Position Control
225
Outline of Operation
225
Absolute Positioning
226
Relative Positioning
226
Interrupt Feeding
227
Absolute Positioning
227
Relative Positioning
227
Cyclic Synchronous Positioning
228
Stopping
229
Override Factors
234
Single-Axis Synchronized Control
235
Overview of Synchronized Control
235
Gear Operation
235
Positioning Gear Operation
236
Cam Operation
237
Positions
237
Cam Tables
238
Synchronous Positioning
246
Combining Axes
247
Master Axis Phase Shift
248
Slave Axis Position Compensation
248
9-2-10 Achieving Synchronized Control in Multi-Motion
249
Single-Axis Velocity Control
251
Velocity Control
251
Cyclic Synchronous Velocity Control
252
Single-Axis Torque Control
253
Common Functions for Single-Axis Control
254
Positions
254
Velocity
256
Acceleration and Deceleration
257
Jerk
259
Specifying the Operation Direction
260
Re-Executing Motion Control Instructions
264
Multi-Execution of Motion Control Instructions (Buffer Mode)
269
Multi-Axes Coordinated Control
275
Outline of Operation
275
Linear Interpolation
278
Circular Interpolation
279
Axes Group Cyclic Synchronous Positioning
279
Stopping under Multi-Axes Coordinated Control
280
Overrides for Multi-Axes Coordinated Control
281
Common Functions for Multi-Axes Coordinated Control
283
Velocity under Multi-Axes Coordinated Control
283
Acceleration and Deceleration under Multi-Axes Coordinated Control
284
Jerk for Multi-Axes Coordinated Control
285
Re-Executing Motion Control Instructions for Multi-Axes Coordinated Control
286
Multi-Execution (Buffer Mode) of Motion Control Instructions for Multi-Axes Coordinated Control
287
Other Functions
295
Changing the Current Position
295
Torque Limit
296
Latching
296
Zone Monitoring
297
Software Limits
298
Following Error Monitoring
299
Following Error Counter Reset
300
Axis Following Error Monitoring
300
In-Position Check
301
9-8-10 Changing Axis Use
303
9-8-11 Enabling Digital Cam Switch
303
9-8-12 Displaying 3D Motion Monitor for User Coordinate System
304
Sample Programming
307
Overview of Sample Programming
308
Devices
308
Installation and Wiring
308
Setup
308
10-2 Basic Programming Samples
309
10-2-1 Monitoring Ethercat Communications and Turning on Servos
309
10-2-2 Interlocking Axis Operation with Master Control Instructions
311
Error Monitoring and Error Resetting for Single-Axis Operation and Synchronized Operation
313
Error Monitoring and Error Resetting for Multi-Axes Coordinated Operation
315
10-2-5 Monitoring for Instruction Errors
321
10-2-6 Checking to See if Errors Are Reset
323
10-2-7 Stopping Axes During Single-Axis Operation
325
10-2-8 Stopping an Axes Group in Coordinated Motion
329
10-2-9 Homing and Absolute Positioning
335
10-2-10 Changing the Target Position by Re-Execution of an Instruction
340
10-2-11 Interrupt Feeding
346
10-2-12 Changing the Cam Table by Re-Execution of an Instruction
350
10-2-13 Using a Cam Profile Curve to Correct the Sync Position
359
10-2-14 Shifting the Phase of a Master Axis in Cam Motion
369
10-2-15 Changing the Actual Position During Velocity Control
377
10-2-16 Changing a Cam Data Variable and Saving the Cam Table
383
10-2-17 Temporarily Changing Axis Parameters
392
10-2-18 Updating the Cam Table End Point Index
395
Troubleshooting
397
Section 11 Troubleshooting
398
11-1 Overview of Troubleshooting
398
Appendices
399
Connecting the 1S-Series Servo Drive
400
A-1-1 Wiring the Servo Drive
400
A-1-2 Servo Drive Settings
400
Connecting the G5-Series Servo Drive
409
A-2-1 Wiring the Servo Drive
409
A-2-2 Servo Drive Settings
409
Connecting to Encoder Input Terminals
420
A-3-1 Wiring to Encoder Input Terminals
420
A-3-2 Settings for Encoder Input Terminals
420
Connecting to NX Units
426
PDS State Transition
427
A-5-1 PDS State Control Method
428
A-5-2 Main Circuit Power Supply off Detection
429
Terminology
430
A-6-1 NJ/NX-Series Controller
430
A-6-2 Motion Control
431
A-6-3 Ethercat Communications
433
Version Information
434
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Omron NX701-1 Specifications
General
Brand
Omron
Model
NX701-1
Category
Controller
Language
English
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