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10 Sample Programming

10-36

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

 ST Programming

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Mv_Abs_D

Mv_Abs_Act

Mv_Abs_Bsy

Mv_Abs_Ex

Hm_Bsy

Hm_D

Hm_Ex

Pwr_Status

Command velocity

Time

Command position

Time

Main Page

Default Chapter2
- Nx7012
Introduction3
- Nx1023
Relevant Manuals4
- Nx1024
- Nx1P25
Manual Structure6
Sections in this Manual9
- Table of Contents10
Terms and Conditions Agreement16
Safety Precautions18
Precautions for Safe Use19
Precautions for Correct Use20
Regulations and Standards21
Versions23
Related Manuals27
- Nj10127
Revision History30
- W507-E130
- Introduction to the Motion Control Function Module31
Section 1 Introduction to the Motion Control Function Module32
Features32
System Configuration33
Basic Flow of Operation35
Specifications37
- General Specifications37
- Performance Specifications37
- Function Specifications41
  - Motion Control Configuration and Principles47
Internal Configuration of the CPU Unit48
Motion Control Configuration49
Motion Control Principles51
- CPU Unit Tasks51
- Example of Task Operations for Motion Control59
Ethercat Communications and Motion Control66
- CAN Application Protocol over Ethercat (Coe)66
- Relationship between Ethercat Master Function Module and MC Function Module67
- Relationship between Process Data Communications Cycle and Motion Control Period70
  - Configuring Axes and Axes Groups73
Section 3 Configuring Axes and Axes Groups74
Axes74
- Introduction to Axes74
- Introduction to Axis Parameters75
- Introduction to Axis Variables79
- Synchronizing Axis Variables81
- Specifying an Axis in the User Program81
Axis Setting Procedure82
- Axis Configuration Procedure82
- Setting Procedure82
Axes Groups92
- Introduction to Axes Groups92
- Introduction to Axes Group Parameters93
- Introduction to Axes Group Variables94
- Specifying an Axes Group in the User Program96
Setting Procedures for Axes Groups97
- Setting Procedure for an Axes Group97
- Setting Procedure97
Functions of the Sysmac Studio104
- MC Test Run Function104
- Application Procedure106
- Axis Parameter Setting Example107
- Starting the MC Test Run Function108
Monitoring Sensor Signals109
Checking Motor Operation110
- Turning on the Servo110
- Jogging110
- Homing111
- Absolute Positioning112
- Relative Positioning113
  - Motion Control Parameters115
Introduction116
Axis Parameters119
- Axis Basic Settings121
- Unit Conversion Settings127
- Operation Settings134
- Other Operation Settings138
- Limit Settings139
- Position Count Settings139
- Servo Drive Settings141
- Homing Settings142
- 5-2-10 Axis Parameter Setting Example143
Axes Group Parameters146
- Axes Group Basic Settings147
- Axes Group Operation Settings149
- Enabling an Axes Group151
  - Motion Control Programming153
Introduction154
- Motion Control Instructions155
Motion Control Instructions157
- Function Blocks for Plcopen® Motion Control157
- Motion Control Instructions of the MC Function Module157
State Transitions158
- Status of the Motion Control Function Module158
- Axis States159
- Axes Group States161
Execution and Status of Motion Control Instructions163
- Basic Rules for Execution of Instructions163
- Execution Timing Charts165
- Timing Chart for Re-Execution of Motion Control Instructions168
- Timing Chart for Multi-Execution of Motion Control Instructions169
Positions170
- Types of Positions170
- Valid Positions for each Axis Type171
- Types of Positions171
System-Defined Variables for Motion Control172
- Overview of System-Defined Variables for Motion Control172
- System for System-Defined Variables for Motion Control175
- Tables of System-Defined Variables for Motion Control177
Cam Tables and Cam Data Variables188
Programming Motion Controls192
Creating Cam Tables194
- Manual Operation197
Section 7 Manual Operation198
Outline198
Turning on the Servo199
- Setting Axis Parameters200
- Programming Example200
Jogging201
- Jogging Procedure201
- Setting Axis Parameters201
- Setting Axis Parameters202
- Setting Example for Input Variables202
- Programming Example203
  - Homing205
Section 8 Homing206
Outline206
Homing Procedure209
- Setting Homing Parameters209
- Monitoring the Homing Operation216
Homing Operation217
Homing with an Absolute Encoder218
- Outline of Function219
- Setting Procedure220
High-Speed Homing222
- Motion Control Functions223
Section 9 Motion Control Functions225
Single-Axis Position Control225
- Outline of Operation225
- Absolute Positioning226
- Relative Positioning226
- Interrupt Feeding227
- Absolute Positioning227
- Relative Positioning227
- Cyclic Synchronous Positioning228
- Stopping229
- Override Factors234
Single-Axis Synchronized Control235
- Overview of Synchronized Control235
- Gear Operation235
- Positioning Gear Operation236
- Cam Operation237
- Positions237
- Cam Tables238
- Synchronous Positioning246
- Combining Axes247
- Master Axis Phase Shift248
- Slave Axis Position Compensation248
- 9-2-10 Achieving Synchronized Control in Multi-Motion249
Single-Axis Velocity Control251
- Velocity Control251
- Cyclic Synchronous Velocity Control252
Single-Axis Torque Control253
Common Functions for Single-Axis Control254
- Positions254
- Velocity256
- Acceleration and Deceleration257
- Jerk259
- Specifying the Operation Direction260
- Re-Executing Motion Control Instructions264
- Multi-Execution of Motion Control Instructions (Buffer Mode)269
Multi-Axes Coordinated Control275
- Outline of Operation275
- Linear Interpolation278
- Circular Interpolation279
- Axes Group Cyclic Synchronous Positioning279
- Stopping under Multi-Axes Coordinated Control280
- Overrides for Multi-Axes Coordinated Control281
Common Functions for Multi-Axes Coordinated Control283
- Velocity under Multi-Axes Coordinated Control283
- Acceleration and Deceleration under Multi-Axes Coordinated Control284
- Jerk for Multi-Axes Coordinated Control285
- Re-Executing Motion Control Instructions for Multi-Axes Coordinated Control286
- Multi-Execution (Buffer Mode) of Motion Control Instructions for Multi-Axes Coordinated Control287
Other Functions295
- Changing the Current Position295
- Torque Limit296
- Latching296
- Zone Monitoring297
- Software Limits298
- Following Error Monitoring299
- Following Error Counter Reset300
- Axis Following Error Monitoring300
- In-Position Check301
- 9-8-10 Changing Axis Use303
- 9-8-11 Enabling Digital Cam Switch303
- 9-8-12 Displaying 3D Motion Monitor for User Coordinate System304
  - Sample Programming307
Overview of Sample Programming308
- Devices308
- Installation and Wiring308
- Setup308
10-2 Basic Programming Samples309
- 10-2-1 Monitoring Ethercat Communications and Turning on Servos309
- 10-2-2 Interlocking Axis Operation with Master Control Instructions311
- Error Monitoring and Error Resetting for Single-Axis Operation and Synchronized Operation313
- Error Monitoring and Error Resetting for Multi-Axes Coordinated Operation315
- 10-2-5 Monitoring for Instruction Errors321
- 10-2-6 Checking to See if Errors Are Reset323
- 10-2-7 Stopping Axes During Single-Axis Operation325
- 10-2-8 Stopping an Axes Group in Coordinated Motion329
- 10-2-9 Homing and Absolute Positioning335
- 10-2-10 Changing the Target Position by Re-Execution of an Instruction340
- 10-2-11 Interrupt Feeding346
- 10-2-12 Changing the Cam Table by Re-Execution of an Instruction350
- 10-2-13 Using a Cam Profile Curve to Correct the Sync Position359
- 10-2-14 Shifting the Phase of a Master Axis in Cam Motion369
- 10-2-15 Changing the Actual Position During Velocity Control377
- 10-2-16 Changing a Cam Data Variable and Saving the Cam Table383
- 10-2-17 Temporarily Changing Axis Parameters392
- 10-2-18 Updating the Cam Table End Point Index395
  - Troubleshooting397
Section 11 Troubleshooting398
11-1 Overview of Troubleshooting398
Appendices399
Connecting the 1S-Series Servo Drive400
- A-1-1 Wiring the Servo Drive400
- A-1-2 Servo Drive Settings400
Connecting the G5-Series Servo Drive409
- A-2-1 Wiring the Servo Drive409
- A-2-2 Servo Drive Settings409
Connecting to Encoder Input Terminals420
- A-3-1 Wiring to Encoder Input Terminals420
- A-3-2 Settings for Encoder Input Terminals420
Connecting to NX Units426
PDS State Transition427
- A-5-1 PDS State Control Method428
- A-5-2 Main Circuit Power Supply off Detection429
Terminology430
- A-6-1 NJ/NX-Series Controller430
- A-6-2 Motion Control431
- A-6-3 Ethercat Communications433
Version Information434

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