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6 Motion Control Programming
6-2
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-1
Introduction
The NJ-series CPU Unit can perform both sequence control and motion control. Write motion control
instructions into the user program to perform motion control with EtherCAT slave Servo Drives and
other devices.
Programs that contain motion control instructions are called motion control programs.
Normally, you must assign Axis Variables to EtherCAT slave Servo Drives. If you do not assign Axis
Variables, assign device variables in the same way as for a general-purpose slave. Motion control
instructions can be used in the primary periodic task and in a periodic task with an execution priority of
16 (i.e., a priority-16 periodic task).
User program in PLC
Function Module
Sequence
control
Motion control
Motion control
instructions
Instructions other
than motion
instructions
User-created
function block
Executed.
Executed.
Executed.
MC Function Module
Profile processing
Synchronization
Other processing
Every cycle
Every cycle
EtherCAT
Master
Function
Module
Ex-
ecuted.
Ex-
ecuted.
Axis Variables
Variables
I/O ports
CPU Unit
CJ-series Units
Special Units
EtherCAT
slaves
Servo Drive or
encoder input terminal
EtherCAT slaves
Basic I/O Units
•
EtherCAT
EtherCAT
•
Motion control
instructions
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...