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NY532-1500
Omron NY532-1500 User Manual
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Industrial PC Platf
orm
NY-series
IPC Ma
ch
i
ne Co
n
tro
l
ler
Ind
us
tr
ia
l P
anel P
C / Ind
ustr
ia
l Bo
x PC
Industrial Panel PC
Industrial Box PC
Motion Control
User’s Manual
W559-E1-03
NY532-1500
NY532-1400
NY532-1300
NY532-5400
NY512-1500
NY512-1400
NY512-1300
2
Table of Contents
Default Chapter
2
Ny532
2
Introduction
3
Ny532
3
Relevant Manuals
4
Manual Structure
6
Sections in this Manual
9
Table of Contents
11
Terms and Conditions Agreement
16
Safety Precautions
18
Precautions for Safe Use
19
Precautions for Correct Use
20
Regulations and Standards
21
Versions
22
Related Manuals
24
Revision History
27
W559-E1
27
Introduction to the Motion Control Function Module
29
Section 1 Introduction to the Motion Control Function Module
30
Features
30
System Configuration
31
Basic Flow of Operation
32
Specifications
34
General Specifications
34
Performance Specifications
34
Function Specifications
35
Motion Control Configuration and Principles
41
Internal Configuration of the Controller Functions
42
Motion Control Configuration
43
Motion Control Principles
44
Controller Function Tasks
44
Example of Task Operations for Motion Control
48
Ethercat Communications and Motion Control
52
CAN Application Protocol over Ethercat (Coe)
52
Relationship between Ethercat Master Function Module and MC Function Module
53
Relationship between Process Data Communications Cycle and Motion Control Period
54
Configuring Axes and Axes Groups
55
Section 3 Configuring Axes and Axes Groups
56
Axes
56
Introduction to Axes
56
Introduction to Axis Parameters
57
Introduction to Axis Variables
61
Specifying an Axis in the User Program
63
Axis Setting Procedure
64
Axis Configuration Procedure
64
Setting Procedure
64
Axes Groups
73
Introduction to Axes Groups
73
Introduction to Axes Group Parameters
74
Introduction to Axes Group Variables
75
Specifying an Axes Group in the User Program
77
Setting Procedures for Axes Groups
78
Setting Procedure for an Axes Group
78
Setting Procedure
78
Functions of the Sysmac Studio
84
MC Test Run Function
84
Application Procedure
86
Axis Parameter Setting Example
87
Starting the MC Test Run Function
88
Monitoring Sensor Signals
89
Checking Motor Operation
90
Turning on the Servo
90
Jogging
90
Homing
91
Absolute Positioning
92
Relative Positioning
93
Motion Control Parameters
95
Introduction
96
Axis Parameters
99
Axis Basic Settings
101
Unit Conversion Settings
104
Operation Settings
111
Other Operation Settings
115
Limit Settings
116
Position Count Settings
116
Servo Drive Settings
118
Homing Settings
119
5-2-10 Axis Parameter Setting Example
120
Axes Group Parameters
123
Axes Group Basic Settings
124
Axes Group Operation Settings
126
Enabling an Axes Group
128
Motion Control Programming
129
Introduction
130
Motion Control Instructions
131
Function Blocks for Plcopen® Motion Control
131
Motion Control Instructions of the MC Function Module
131
State Transitions
132
Status of the Motion Control Function Module
132
Axis States
133
Axes Group States
135
Execution and Status of Motion Control Instructions
137
Basic Rules for Execution of Instructions
137
Execution Timing Charts
139
Timing Chart for Re-Execution of Motion Control Instructions
142
Timing Chart for Multi-Execution of Motion Control Instructions
143
Positions
144
Types of Positions
144
Valid Positions for each Axis Type
145
System-Defined Variables for Motion Control
146
Overview of System-Defined Variables for Motion Control
146
System for System-Defined Variables for Motion Control
149
Tables of System-Defined Variables for Motion Control
150
Cam Tables and Cam Data Variables
161
Programming Motion Controls
165
Creating Cam Tables
167
Manual Operation
169
Section 7 Manual Operation
170
Outline
170
Turning on the Servo
171
Setting Axis Parameters
172
Programming Example
172
Jogging
173
Jogging Procedure
173
Setting Axis Parameters
174
Setting Example for Input Variables
174
Programming Example
175
Homing
177
Section 8 Homing
178
Outline
178
Homing Procedure
181
Setting Homing Parameters
181
Monitoring the Homing Operation
188
Homing Operation
189
Homing with an Absolute Encoder
190
Outline of Function
191
Setting Procedure
192
High-Speed Homing
194
Motion Control Functions
195
Section 9 Motion Control Functions
197
Single-Axis Position Control
197
Outline of Operation
197
Absolute Positioning
198
Relative Positioning
198
Interrupt Feeding
199
Absolute Positioning
199
Relative Positioning
199
Cyclic Synchronous Positioning
200
Stopping
200
Override Factors
205
Single-Axis Synchronized Control
206
Overview of Synchronized Control
206
Gear Operation
206
Positioning Gear Operation
207
Cam Operation
208
Positions
208
Cam Tables
209
Synchronous Positioning
217
Combining Axes
218
Master Axis Phase Shift
219
Slave Axis Position Compensation
219
Single-Axis Velocity Control
221
Velocity Control
221
Cyclic Synchronous Velocity Control
222
Single-Axis Torque Control
223
Common Functions for Single-Axis Control
224
Positions
224
Velocity
226
Acceleration and Deceleration
227
Jerk
229
Specifying the Operation Direction
230
Re-Executing Motion Control Instructions
234
Multi-Execution of Motion Control Instructions (Buffer Mode)
239
Multi-Axes Coordinated Control
245
Outline of Operation
245
Linear Interpolation
248
Circular Interpolation
249
Axes Group Cyclic Synchronous Positioning
249
Stopping under Multi-Axes Coordinated Control
250
Overrides for Multi-Axes Coordinated Control
251
Common Functions for Multi-Axes Coordinated Control
253
Velocity under Multi-Axes Coordinated Control
253
Acceleration and Deceleration under Multi-Axes Coordinated Control
254
Jerk for Multi-Axes Coordinated Control
255
Re-Executing Motion Control Instructions for Multi-Axes Coordinated Control
256
Multi-Execution (Buffer Mode) of Motion Control Instructions for Multi-Axes Coordinated Control
257
Other Functions
265
Changing the Current Position
265
Torque Limit
266
Latching
266
Zone Monitoring
267
Software Limits
268
Following Error Monitoring
269
Following Error Counter Reset
270
Axis Following Error Monitoring
270
In-Position Check
271
9-8-10 Changing Axis Use
273
9-8-11 Enabling Digital Cam Switch
273
9-8-12 Displaying 3D Motion Monitor for User Coordinate System
274
Sample Programming
277
Overview of Sample Programming
278
Devices
278
Installation and Wiring
278
Setup
278
Basic Programming Samples
279
Monitoring Ethercat Communications and Turning on Servos
279
Interlocking Axis Operation with Master Control Instructions
281
Error Monitoring and Error Resetting for Single-Axis Operation and Synchronized Operation
283
Error Monitoring and Error Resetting for Multi-Axes Coordinated Operation
285
10-2-5 Monitoring for Instruction Errors
291
10-2-6 Checking to See if Errors Are Reset
293
10-2-7 Stopping Axes During Single-Axis Operation
295
10-2-8 Stopping an Axes Group in Coordinated Motion
299
10-2-9 Homing and Absolute Positioning
305
10-2-10 Changing the Target Position by Re-Execution of an Instruction
310
10-2-11 Interrupt Feeding
316
10-2-12 Changing the Cam Table by Re-Execution of an Instruction
320
10-2-13 Using a Cam Profile Curve to Correct the Sync Position
329
10-2-14 Shifting the Phase of a Master Axis in Cam Motion
339
10-2-15 Changing the Actual Position During Velocity Control
347
10-2-16 Changing a Cam Data Variable and Saving the Cam Table
353
10-2-17 Temporarily Changing Axis Parameters
361
10-2-18 Updating the Cam Table End Point Index
365
Troubleshooting
367
Section 11 Troubleshooting
368
11-1 Overview of Errors
368
11-1-1 How to Check for Errors
369
11-1-2 Errors Related to the Motion Control Function Module
371
11-2 Error Causes and Remedies
377
11-2-1 Preliminary Check Items
377
11-2-2 Problems and Countermeasures
378
Appendices
383
Connecting the 1S-Series Servo Drive
384
A-1-1 Wiring the Servo Drive
384
A-1-2 Servo Drive Settings
384
Connecting the G5-Series Servo Drive
393
A-2-1 Wiring the Servo Drive
393
A-2-2 Servo Drive Settings
393
Connecting to Encoder Input Terminals
404
A-3-1 Wiring to Encoder Input Terminals
404
A-3-2 Settings for Encoder Input Terminals
404
Connecting to NX Units
410
PDS State Transition
411
A-5-1 PDS State Control Method
412
A-5-2 Main Circuit Power Supply off Detection
413
Terminology
414
A-6-1 NY-Series Controller
414
A-6-2 Motion Control
415
A-6-3 Ethercat Communications
416
Version Information
417
Other manuals for Omron NY532-1500
Reference Manual
702 pages
Setup And User's Manual
118 pages
5
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Omron NY532-1500 Specifications
General
Model
NY532-1500
Category
Industrial PC
Operating System
Windows Embedded Standard 7
Ethernet Ports
2
DisplayPort
1
USB Ports
4
Related product manuals
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460 pages
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