10-1
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
10
This section describes basic application methods for homing, error monitoring, and
other functions, and provides programming samples for absolute positioning, cam
operation, and other axis operations.
10-1 Overview of Sample Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10-1-1 Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10-1-2 Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
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
Sample Programming
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