Omron Sysmac NJ-series - Page 13

2-1-1 MC Common Variables ...............................................................................................................2-3
2-1-2 Axis Variables..............................................................................................................................2-4
2-1-3 Axes Group Variables................................................................................................................2-10
2-1-4 Input Variables for Motion Control Instructions..........................................................................2-13
2-1-5 Output Variables for Motion Control Instructions.......................................................................2-28
2-1-6 In-Out Variables for Motion Control Instructions........................................................................2-31
2-2 Instructions ..........................................................................................................................2-34
2-2-1 Common Commands ................................................................................................................2-34
2-2-2 Axis Commands ........................................................................................................................2-35
2-2-3 Axes Group Commands............................................................................................................2-37
2-3 PDO Mapping .......................................................................................................................2-39
2-3-1 Required Objects ......................................................................................................................2-39
2-3-2 Objects Required for Specific Instructions ................................................................................2-40
Section 3 Axis Command Instructions
MC_Power.........................................................................................................................................3-3
Variables .......................................................................................................................................................3-3
Function ........................................................................................................................................................3-4
MC_MoveJog ....................................................................................................................................3-8
Variables .......................................................................................................................................................3-8
Function ........................................................................................................................................................3-9
MC_Home........................................................................................................................................3-18
Variables .....................................................................................................................................................3-18
Function ......................................................................................................................................................3-19
MC_HomeWithParameter ..............................................................................................................3-41
Variables .....................................................................................................................................................3-41
Function ......................................................................................................................................................3-44
MC_Move ........................................................................................................................................3-47
Variables .....................................................................................................................................................3-47
Function ......................................................................................................................................................3-49
MC_MoveAbsolute .........................................................................................................................3-52
Variables .....................................................................................................................................................3-52
Function ......................................................................................................................................................3-54
Sample Programming 1 ..............................................................................................................................3-60
Sample Programming 2 ..............................................................................................................................3-69
MC_MoveRelative...........................................................................................................................3-79
Variables .....................................................................................................................................................3-79
Function ......................................................................................................................................................3-81
MC_MoveVelocity...........................................................................................................................3-87
Variables .....................................................................................................................................................3-87
Function ......................................................................................................................................................3-89
Sample Programming .................................................................................................................................3-93
MC_MoveZeroPosition ................................................................................................................3-103
Variables ...................................................................................................................................................3-103
Function ....................................................................................................................................................3-105
MC_MoveFeed ..............................................................................................................................3-110
Variables ...................................................................................................................................................3-110
Function ....................................................................................................................................................3-114
Sample Programming ...............................................................................................................................3-126
MC_Stop........................................................................................................................................3-139
Variables ...................................................................................................................................................3-139
Function ....................................................................................................................................................3-140
MC_ImmediateStop......................................................................................................................3-148
Variables ...................................................................................................................................................3-148
Function ....................................................................................................................................................3-149
CONTENTS
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NJ/NX-series Motion Control Instructions Reference Manual (W508)