5 Motion Control Parameters
5-14
NJ-series CPU Unit Motion Control User’s Manual (W507)
The Count Mode is the feed mode for the axis. Select the count mode for the command positions for
each axis. There are two Count Modes: Linear Mode, which has a finite axis feed range and Rotary
Mode, which has an infinite axis feed range.
z
Linear Mode (Finite-length Axis)
•
The linear mode is centered around 0. This mode is used for devices with a mechanically limited
range of motion, such as an XY stage.
•
The setting range when the value is converted to pulses is 40 bits (signed integer: 0x8000000000
to 0x7FFFFFFFFF).
•
You cannot specify a target position for relative or absolute positioning that exceeds this range.
•
A command position overflow or underflow observation will occur if this range is exceeded for
operations that do not have a target position, such as velocity control, homing, or torque control.
Command position output will continue, but the actual position is not updated and will be fixed to
either the upper limit or the lower limit.
•
While the value of the actual position is fixed, you can execute commands and stop the axis with
any operation that does not have a target position in the direction toward the linear range. Any
command that specifies a direction away from the range will cause an error on execution of the
instruction.
•
The actual position does not update until the overflow or underflow status is cleared.
z
Rotary Mode (Infinite Length Axis)
•
This mode repeatedly counts with a ring counter for an infinite amount within the set range. Use
this mode for rotary tables or winding shafts.
•
Use the Sysmac Studio to set the modulo maximum position and the modulo minimum position to
define the range of the ring counter.
•
The setting range when the value is converted to pulses is 40 bits (signed integer: 0x8000000000
to 0x7FFFFFFFFF).
Count Modes
0x8000000000
0x7FFFFFFFFF
0
0x8000000000
0x7FFFFFFFFF
0
Modulo minimum
position
Modulo maximum
position
Count value
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...