Omron NX701-1 User Manual

6 Motion Control Programming
6-12
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
*1 Under the PLCopen
®
specifications, Error changes to FALSE and ErrorID changes to 0 when Execute
changes to FALSE. When Error is TRUE, the motion control instruction is not executed. Instructions are not
executed after an error is cleared even if Execute is TRUE. Execute must change from FALSE to TRUE to exe-
cute the instruction. Enable-type motion control instructions are executed if their Enable variable is TRUE
when an error is reset.
*2 When you program the instruction in a ladder diagram, insert an input between the input variable Execute or
Enable and the left bus bar. If the instruction is connected directly to the left bus bar without an input, an error
occurs when the program is built. Set the initial value for or omit any input variable that is reserved.
Error processing
There are two output variables that represent an error when a problem occurs during the
execution of an instruction instance. These outputs are defined as follows:
• Error: The output variable Error changes to TRUE to indicate that an error occurred
during the execution of the instruction instance.
• ErrorID (Error Code): This is an error code that represents the cause of the error.
The output variables Done, InVelocity (Target Velocity Reached), InGear (Gear Ratio
Achieved), and InSync all represent normal completion or normal operation and there-
fore will never be TRUE when the output variable Error is TRUE.
Types of errors:
• Instruction instance errors (e.g., parameter out of range and illegal condition for state
transition)
• Axis errors (e.g., Following Error Limit Exceeded and Servo Drive errors)
Some instruction instance errors may not cause an axis error but will cause the axis to
stop.
Operation of output
variable Done
The output variable Done, InGear (Gear Ratio Achieved), or InSync will change to TRUE
when the instruction ends operation normally or when the commanded condition is
reached. For movement instructions for which a target position is specified, the timing of
when the output variable Done changes to TRUE depends on the setting of the In-posi-
tion Check Time axis parameter.
• If the In-position Check Time axis parameter is set to any value but 0, output variable
Done changes to TRUE in the next period after the period in which positioning is com-
pleted.
• If the In-position Check Time axis parameter is set to 0, output variable Done changes
to TRUE in the next period after the period in which pulse distribution is completed.
When working with multiple instructions that operate on the same axis, the output vari-
able Do
ne from the first instruction will not change to
TRUE if another operation instruc-
tion takes over before the axis operation for the first instruction reaches the target
position.
Operation of output
variable Command-
Aborted
The output variable CommandAborted will change to TRUE when another operation
instruction interrupts the commanded operation. For the MC Function Module, this vari-
able will change to TRUE when a motion control instruction is executed and the target
axis or axes group causes an error or is decelerating to a stop. All other output variables
change to FALSE when CommandAborted changes to TRUE.
Input variables out-
side of valid range
The instruction instance will output an error when it is executed with an input variable that
is outside of the valid range.
Operation of output
variable Busy
The output variable Busy is TRUE when the instruction instance is executing. Busy will
change to TRUE when the input variable Execute changes to TRUE. Busy will change to
FALSE when the output variable Done, CommandAborted, or Error changes to TRUE. It
is impossible to know when the above output variables will change. Write your programs
so that the instruction instance executes every period
*3
while Busy is TRUE so that you
can monitor for changes in the output variables. For a single axis or single axes group,
the Busy variable of more than one instruction instance can be TRUE at the same time.
However, the output variable Active of only one instruction instance can be TRUE at one
time. However, the MC_Phasing (Shift Master Axis Phase) instruction is an exception to
this rule.
Output variable Active The output variable Active changes to TRUE when the instruction instance obtains per-
mission to control the applicable axis.
The output variable Active may change slower than the Busy variable.
*4
Item Rule

Omron NX701-1 Specifications

General

Ethernet Ports	1
USB Ports	1
Power Supply	24 VDC
I/O Points	Up to 256
Ethernet Port	1
USB Port	1
SD Memory Card Slot	Yes
Programming Language	Ladder Diagram, Structured Text, Function Block Diagram
Operating Temperature	0 to 55°C

Summary

Introduction

Intended Audience

Information about the target readers of this manual.

Applicable Products

Lists the specific CPU Units covered by this manual.

Relevant Manuals

Manual Structure

Special Information

Precaution on Terminology

Sections in this Manual

Terms and Conditions Agreement

Safety Precautions

Definition of Precautionary Information

Explains the classification of precautionary information within the manual.

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Versions

Checking Versions

Explains how to check unit versions using ID information or Sysmac Studio.

Related Manuals

Revision History

1 Introduction to the Motion Control Function Module

1-1 Features

Describes the capabilities of the Motion Control Function Module.

1-2 System Configuration

Outlines the system components and network configuration for motion control.

1-3 Basic Flow of Operation

Provides a step-by{0}step procedure for performing motion control.

1-4 Specifications

Details the performance and general specifications of the MC Function Module.

2 Motion Control Configuration and Principles

2-1 Internal Configuration of the CPU Unit

Overview of the CPU Unit's software configuration and function modules.

2-2 Motion Control Configuration

Details the configuration of motion control on EtherCAT networks and CPU Units.

2-3 Motion Control Principles

Explains CPU Unit tasks and their relation to motion control execution.

2-4 EtherCAT Communications and Motion Control

Describes EtherCAT communications and their relation to motion control.

3 Configuring Axes and Axes Groups

3-1 Axes

Describes the different types of axes used in motion control systems.

3-2 Axis Setting Procedure

Provides step-by-step instructions for setting up axes in Sysmac Studio.

3-3 Axes Groups

Explains how to group axes for complex operations like linear or circular interpolation.

3-4 Setting Procedures for Axes Groups

Details the procedures for setting up axes groups in Sysmac Studio.

4 Checking Wiring from the Sysmac Studio

4-1 Functions of the Sysmac Studio

Explains how to use the MC Test Run function for wiring checks without programming.

4-2 Monitoring Sensor Signals

Describes how to use the input signal display to check sensor wiring.

4-3 Checking Motor Operation

Details how to check motor operation using functions like Servo ON and Jogging.

5 Motion Control Parameters

5-1 Introduction

Explains axis and axes group parameters for motion control operations.

5-2 Axis Parameters

Details various parameters for configuring axis operations.

5-3 Axes Group Parameters

Explains parameters for setting up axes group operations.

6 Motion Control Programming

6-1 Introduction

Explains programming motion control with EtherCAT slave devices.

6-2 Motion Control Instructions

Provides an overview of motion control instructions based on PLCopen® and MC Function Module specific ones.

6-3 State Transitions

Describes the states of axes and axes groups and their transitions.

6-4 Execution and Status of Motion Control Instructions

Details the rules for executing instructions and their status monitoring.

6-5 Positions

Explains the different types of positions used in motion control programming.

6-6 System-defined Variables for Motion Control

Describes system-defined variables for status and parameter information.

6-7 Cam Tables and Cam Data Variables

Explains the creation and handling of cam tables and cam data variables.

6-8 Programming Motion Controls

Provides procedures for creating programs in Sysmac Studio.

6-9 Creating Cam Tables

Explains how to use the Cam Editor in Sysmac Studio to create cam tables.

7 Manual Operation

7-1 Outline

Describes manual operations using the MC Function Module and OMRON Servo Drives.

7-2 Turning ON the Servo

Details how to turn the Servo ON/OFF using the MC_Power instruction.

7-3 Jogging

Explains how to perform axis jogging using the MC_MoveJog instruction.

8 Homing

8-1 Outline

Describes homing operations when combined with OMRON G5-series Servo Drives.

8-2 Homing Procedure

Provides the steps for setting homing parameters and performing the homing operation.

8-3 Homing Operation

Explains how to select the home definition method based on system configuration and purpose.

8-4 Homing with an Absolute Encoder

Describes how to use absolute encoders for homing and retaining position data.

8-5 High-speed Homing

Explains the function for quick positioning to home using MC_MoveZeroPosition.

9 Motion Control Functions

9-1 Single-axis Position Control

Describes positioning operations for single axes connected to OMRON Servo Drives.

9-2 Single-axis Synchronized Control

Explains synchronized control for single axes using gear or cam operations.

9-3 Single-axis Velocity Control

Details the operation of velocity control for single axes.

9-4 Single-axis Torque Control

Explains how torque control continuously applies a specified amount of torque.

9-5 Common Functions for Single-axis Control

Describes common functions like positions, velocity, and acceleration for single-axis control.

9-6 Multi-axes Coordinated Control

Explains how to set up axes groups for interpolation control of multiple axes.

9-7 Common Functions for Multi-axes Coordinated Control

Details common functions for multi-axes coordinated control, like velocity and acceleration.

9-8 Other Functions

Describes additional functions of the MC Function Module.

10 Sample Programming

10-1 Overview of Sample Programming

Provides information applicable to all sample programming sections.

10-2 Basic Programming Samples

Offers programming samples for MC Function Module's basic functions.

11 Troubleshooting

11-1 Overview of Troubleshooting

Describes methods for checking errors and finding corrections.

Appendices

A-1 Connecting the 1S-series Servo Drive

Describes connections and settings for OMRON 1S-series Servo Drives.

A-2 Connecting the G5-series Servo Drive

Describes connections and settings for OMRON G5-series Servo Drives.

A-3 Connecting to Encoder Input Terminals

Details connections and settings for OMRON GX-series Encoder Input Terminals.

A-4 Connecting to NX Units

Provides information on connecting to NX-series Position Interface Units.

A-5 PDS State Transition

Explains PDS state transitions defined in CiA402 drive profile.

A-6 Terminology

Provides definitions of terms related to motion control.

A-7 Version Information

Details functions added or changed for different CPU Unit and Sysmac Studio versions.