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9-27

9 Motion Control Functions

NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

9-2 Single-axis Synchronized Control

9-2-10 Achieving Synchronized Control in Multi-motion

For details on slave axis position compensation, refer to the MC_SyncOffsetPosition (Cyclic Synchro-

nous Position Offset Compensation) instruction in the NJ/NX-series Motion Control Instructions Refer-

ence Manual (Cat. No. W508).

When you use the standard functions of the MC Function Module, if the synchronized control instruc-

tions are executed between axes assigned to different tasks in the multi-motion, an Illegal Master Axis

Specification (event code: 54620000 hex) occurs.

However, you can perform synchronized control of the master axis that is controlled in the primary peri-

odic task and the slave axis that is controlled in the priority-5 periodic task by using the MC_Period-

icSyncVariables (Periodic Axis Variable Synchronization between Tasks) instruction.

The cam operation and gear operation synchronized with the master axis and slave axis are available

for the following combinations.

In the following figure, axis 1 is the master axis. Axis 2 is a slave axis that requires high-speed and

high-precision control. It is assigned to the primary periodic task. Axis 3 is a slave axis that does not

require precision. It is assigned to a priority-5 periodic task. The master axis (axis 1) is assigned to the

primary periodic task.

 Physical Axis Composition

9-2-10 Achieving Synchronized Control in Multi-motion

Mster axis task

Slave axis task

Primary periodic task Priority-5 periodic task

Primray periodic task Synchronized by motion control

instructions

Synchronized control is achieved

by executing the

MC_PeriodicSyncVariables

(Periodic Axis Variable

Synchronization between Tasks)

instruction and using the virtual

master axis in the priority-5 periodic

task.

Priority-5 periodic task Not available. Synchronized by motion control

instructions

Axis Composition in Operation Examples

1 : 2 2 : 3

Axis 1

Axis 2 Axis 3

Omron NX701-1 User Manual

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