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6-31

6 Motion Control Programming

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

6-7 Cam T

ab
le

s and

Cam

Data V

ariab

le

s

6

When a cam profile is created in the Sysmac Studio,

CamProfile0

is used as the default name. Each

time you create another cam profile, the number on the end of the name is incremented. You can
change the name of any cam profile as required from the Sysmac Studio.

The cam profile names that are set on the Sysmac Studio are used as the cam table names.

In the user program, the cam table name is specified for the in-out variable

CamTable

in motion control

instructions.

Cam Profile Curve Names

Specifying Cam Tables in the User Program

Execute

Error

ErrorID

Command Aborted

MCCI1

Slave

Busy

MC_CamIn

Master

Direction

Active

MC_Axis000

ReferenceType

Index

EndOfProfile

InSync

InCam

CamTable

Slave

Master

CamTable

Periodic
StartMode
StartPosition
MasterStartDistance
MasterScalling
SlaveScalling
MasterOffset
SlaveOffset

MC_Axis001

CamProfile0

MCCI1_StPos

MCCI1_MStDis

MCCI1_MSc

MCCI1_SSc

MCCI1_SO

MCCI1_Pd

MCCI1_StMode

MCCI1_Dir

MCCI1_RT

MCCI1_BM

BufferMode

MCCI1_MO

MCCI1_CT

CamTransition

CamTable1

MCCI1_Index
MCCI1_B
MCCI1_A
MCCI1_CA

MCCI1_EID

MCCI1_InSync
MCCI1_EOP

MCCI1_E

MC_Axis000
MC_Axis001

CamProfile0

MCCI1_InCam

In-out variable

CamTable

Specify a variable name.

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Summary of Contents for NJ501-1300

Page 1: ...Machine Automation Controller NJ series CPU Unit Motion Control CPU Unit User s Manual W507 E1 01 NJ501 1300 NJ501 1400 NJ501 1500...

Page 2: ...respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change...

Page 3: ...during operation This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA...

Page 4: ...devices and hardware Using motion control Using EtherCAT Using EtherNet IP Using CJ series Units Software settings Using motion control Using EtherCAT Using EtherNet IP Programming Using motion contr...

Page 5: ...and gives the NJ series Controller specifications Section 2 CPU Unit Operation This section describes the variables and control systems of the CPU Unit and CPU Unit status Section 3 I O Ports Slave Co...

Page 6: ...ides the specifications of a motion control program and the operat ing procedures that are required up through actual program development Section 7 Manual Operation This section describes manual opera...

Page 7: ...Unit is connected to slaves Section 9 Troubleshooting This section describes the event codes error confirmation methods and corrections for errors that can occur for EtherCAT communications It also de...

Page 8: ...ection describes how to go online with a Controller Section 6 Debugging This section describes how to debug the programs online on the Controller or debug it offline with the Simulator Section 7 Other...

Page 9: ...he sliders by moving them toward the back of the Units The End Cover is connected in the same way to the Unit on the far right side of the Controller 1 Join the Units so that the connectors fit exactl...

Page 10: ...efers to transferring data from the physical Controller to the Sysmac Studio For the Sysmac Studio synchronization is used to both upload and download data Here synchronize means to automatically comp...

Page 11: ...4 I A 6 5 7 8 9 Sample Programming Troubleshooting Configuring Axes and Axes Groups Appendices Checking Wiring from the Sysmac Studio Index I Motion Control Parameters Motion Control Programming Manu...

Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...

Page 13: ...pplication Procedure 1 4 1 4 Specifications 1 6 1 4 1 General Specifications 1 6 1 4 2 Performance Specifications 1 6 1 4 3 Function Specifications 1 7 Section 2 Motion Control Configuration and Princ...

Page 14: ...o 4 1 Functions of the Sysmac Studio 4 2 4 1 1 MC Test Run Function 4 2 4 1 2 Application Procedure 4 4 4 1 3 Axis Parameter Setting Example 4 5 4 1 4 Starting the MC Test Run Function 4 6 4 2 Monitor...

Page 15: ...s Type 6 14 6 6 System defined Variables for Motion Control 6 15 6 6 1 Overview of System defined Variables for Motion Control 6 15 6 6 2 System for System defined Variables for Motion Control 6 17 6...

Page 16: ...uctions 9 35 9 5 7 Multi execution of Motion Control Instructions Buffer Mode 9 41 9 6 Multi axes Coordinated Control 9 46 9 6 1 Outline of Operation 9 46 9 6 2 Linear Interpolation 9 48 9 6 3 Circula...

Page 17: ...Table by Re execution of an Instruction 10 45 10 2 13 Using a Cam Profile Curve to Correct the Sync Start Position 10 54 10 2 14 Shifting the Phase of a Master Axis in Cam Motion 10 64 10 2 15 Changi...

Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...

Page 19: ...KNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS O...

Page 20: ...the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or...

Page 21: ...your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes...

Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...

Page 23: ...Control User s Manual W507 Safety Precautions Refer to the following manuals for safety precautions NJ series CPU Unit Hardware User s Manual Cat No W500 NJ series CPU Unit Software User s Manual Cat...

Page 24: ...CPU Unit Motion Control User s Manual W507 Precautions for Safe Use Refer to the following manuals for precautions for safe use NJ series CPU Unit Hardware User s Manual Cat No W500 NJ series CPU Uni...

Page 25: ...CPU Unit Motion Control User s Manual W507 Precautions for Correct Use Refer to the following manuals for precautions for correct use NJ series CPU Unit Hardware User s Manual Cat No W500 NJ series CP...

Page 26: ...EN 61000 6 2 EMI Electromagnetic Interference EN 61131 2 and EN 61000 6 4 Radiated emission 10 m regulations z Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VA...

Page 27: ...or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Windows Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of...

Page 28: ...it and CJ series Units 1 Double click CPU Expansion Racks under Configurations and Setup in the Multiview Explorer Or right click CPU Expansion Racks under Configurations and Setup and select Edit fro...

Page 29: ...Edit from the menu The EtherCAT Configuration Tab Page is displayed for the Controller Configurations and Setup layer 2 Right click the master in the EtherCAT Configurations Editing Pane and select Di...

Page 30: ...sions are specified as shown in the following table Unit Version Notation Product nameplate Notation in this manual Remarks Ver 1 0 or later to the right of the lot number Unit version 1 0 or later Un...

Page 31: ...oncepts for motion control are described Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Soft ware User s Manual Cat No W501 NJ series In...

Page 32: ...out the errors that may be detected in an NJ series Controller Concepts on managing errors that may be detected in an NJ series Controller and informa tion on individual errors are described Use this...

Page 33: ...trol User s Manual W507 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01 July 2011 Ori...

Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...

Page 35: ...and application flow for the Motion Control Function Module 1 1 Features 1 2 1 2 System Configuration 1 3 1 3 Application Procedure 1 4 1 4 Specifications 1 6 1 4 1 General Specifications 1 6 1 4 2 P...

Page 36: ...d wide membership PLCopen standardizes function blocks for motion control to define a program interface for the languages specified in IEC 61131 3 JIS B 3503 Jerk Jerk is the rate of change in the acc...

Page 37: ...Drives and Encoder Input Terminals through the EtherCAT master port that is built into the CPU Unit The EtherCAT network configuration is used to perform precise motion control in a fixed period with...

Page 38: ...Basic Flow of Operation START A Create a project Setup Create the EtherCAT Network Configuration Add axes Assign the axes Set the axis parameters Set the Controller Setup Transferring Transfer the pr...

Page 39: ...xes with the user program Program the motion controls Define the homes of the Servomotor axes to control Error Yes No Read the error code Remove the cause of the error and clear the error Operate the...

Page 40: ...umber of con trolled axes Maximum number of controlled axes 16 axes 32 axes 64 axes Single axis control 16 axes max 32 axes max 64 axes max Linear interpolation control 4 axes max per axes group Circu...

Page 41: ...device triggers an interrupt input Single axis velocity control Velocity control Velocity control is implemented in Position Control Mode Cyclic synchronous velocity control A velocity command is out...

Page 42: ...and the actual current position is set to zero Torque limit The output torque is limited by enabling and disabling the torque limit function of the Servo Drive and by setting the torque limit value Ax...

Page 43: ...specify when to start execution and how to connect the velocities between operations when another motion con trol instruction is executed during operation Continuous axes group motions Tran sition Mo...

Page 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...

Page 45: ...onfiguration 2 3 2 3 Motion Control Principles 2 4 2 3 1 CPU Unit Tasks 2 4 2 3 2 Example of Task Operations for Motion Control 2 7 2 4 EtherCAT Communications and Motion Control 2 11 2 4 1 CAN Applic...

Page 46: ...es This manual provides the specifications and operating procedures for the Motion Control Function Mod ule sometimes abbreviated to MC Function Module Refer to the other NJ series user s manuals as r...

Page 47: ...ates command values to send to the Servo Drive The following command values are generated target position target velocity and target torque The command values are sent by using PDO communications duri...

Page 48: ...O refreshing Precautions for Correct Use Precautions for Correct Use Motion control instructions can be used in the primary periodic task and in a priority 16 peri odic task If motion control instruct...

Page 49: ...g is set the forced refreshing values are reflected in the output refresh data Refresh execution This process exchanges data with I O Input data processing Input refresh data is loaded from Input Unit...

Page 50: ...primary periods The following table lists the possible combinations of pri mary periodic task and periodic task periods User program execution Programs assigned to tasks are executed in the order tha...

Page 51: ...ns are refreshed at this point 3 Command Generation Motion processing according to the motion control instructions FB that were executed is per formed during motion control MC immediately after user p...

Page 52: ...refreshed at this point 3 Command Generation Motion control instructions FB are executed in the task period of the priority 16 periodic task according to the motion control instructions FB that were e...

Page 53: ...values of an Axis Variable are not written when a motion control instruction FB is executed in the periodic task 3 The values are written during this motion control processing MC Precautions for Corr...

Page 54: ...task if you use motion control instruc tions for the same axis in different tasks Make sure that you thoroughly understand the processes of each task before you start to develop your user program Prec...

Page 55: ...rol information held by the slaves are specified according to data specifications of the object dictionary OD To communicate the data between the Controller communications master and slaves two method...

Page 56: ...structions However the status of such an EtherCAT slave can be accessed indirectly through the Axis Variables You can use SDO communications to read and write the objects of EtherCAT slaves that are a...

Page 57: ...of data exchange is updated as shown in the following processing period Primary period Motion control period Process data communications cycle for EtherCAT communications 2 4 3 Relationship between Pr...

Page 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...

Page 59: ...to Axis Parameters 3 3 3 1 3 Introduction to Axis Variables 3 5 3 1 4 Specifying an Axis in the User Program 3 7 3 2 Axis Setting Procedure 3 8 3 2 1 Axis Configuration Procedure 3 8 3 2 2 Setting Pr...

Page 60: ...l axes that exist only inside the MC Function Module They are not used by actual Servo Drives For example they are used as master axes for synchronizing control Encoder axis An encoder axis uses an Et...

Page 61: ...ection at Reversing Velocity Warning Value Acceleration Warning Value Deceleration Warning Value Positive Torque Warning Value Negative Torque Warning Value Actual Velocity Filter Time Constant In pos...

Page 62: ...me Offset Homing Holding Time Homing Compensation Value Homing Compensation Velocity Classification Parameter name Setting Page Axis Basic Settings Axis Number Axis numbers are automatically set in th...

Page 63: ...le names The Axis Variable name in the system defined variables and the Axis Variable name that is assigned when the axis is added on the Sysmac Studio The Axis Variable names in the system defined va...

Page 64: ...ils InPosWaiting Variable that indicates in position waiting _MC_AX 0 Cmd Level that indicates the axis command values _MC_AX 0 Cmd Pos Variable that indicates the command current position _MC_AX 0 Cm...

Page 65: ...hanged to MyAxis1 in the Sysmac Studio You can also use the _MC_AX 0 system defined variable in place of MyAxis1 Refer to 6 2 Motion Control Instructions for details on motion control instructions Ref...

Page 66: ...how to set an axis 1 Start the Sysmac Studio and click the New Project Button 2 Set the project properties and click the Create Button A new project is displayed 3 2 1 Axis Configuration Procedure 3 2...

Page 67: ...CAT Edit Tab Page is displayed 2 Select Online from the Controller Menu The Sysmac Studio goes online with the Controller 3 Right click the Master Icon in the EtherCAT Tab Page and select Compare and...

Page 68: ...s 3 10 NJ series CPU Unit Motion Control User s Manual W507 z Offline Method 1 Double click EtherCAT in the Multiview Explorer The EtherCAT Edit Tab Page is displayed 2 Right click the slave to connec...

Page 69: ...Configuring Axes and Axes Groups NJ series CPU Unit Motion Control User s Manual W507 3 2 Axis Setting Procedure 3 3 2 2 Setting Procedure The slave is inserted on the display 3 Insert the remaining...

Page 70: ...1 Right click Axis Settings in the Multiview Explorer and select Axis Settings from the Add Menu An axis is added to the Multiview Explorer The default name for the new axis is MC_Axis000 z Copying an...

Page 71: ...Manual W507 3 2 Axis Setting Procedure 3 3 2 2 Setting Procedure 1 Right click an axis in the Multiview Explorer and select Edit from the menu The Axis Basic Settings are displayed in the Axis Parame...

Page 72: ...elect the Servo Drive to use in the Input Device Box This setting allows you to use the EtherCAT slave Servo Drive as an axis 1 Click each of the icons in the Axis Parameter Settings Tab Page The sett...

Page 73: ...imum acceleration deceleration be sure to use appropriate val ues for the operating conditions of the device Additional Information Changing Axis Variable Names in the User Program Perform the followi...

Page 74: ...Servo Drives with built in EtherCAT communications Compatible Models The applicable model numbers are R88D KN ECT The R88D KN ECT R Servo Drives support only Position Control Mode Cyclic Syn chronous...

Page 75: ...maximum interpolation veloc ity maximum interpolation acceleration deceleration and other items for the axes groups controlled by the MC Function Module Use the Sysmac Studio to set the axes group par...

Page 76: ...eter name Axes Group Basic Set tings Axes Group Number Axes Group Use Composition Composition Axes Axes Group Operation Settings Maximum Interpolation Velocity Maximum Interpolation Acceleration Maxim...

Page 77: ...smac Studio The Axes Group Variable names in the system defined variables are _MC_GRP 0 to _MC_GRP 31 When you add axes groups on the Sysmac Studio MC_Group000 to MC_Group031 are set by default for _M...

Page 78: ...xes group command values _MC_GRP 0 Cmd Vel Variable that indicates the command interpolation velocity _MC_GRP 0 Cmd AccDec Variable that indicates the command interpolation accelera tion deceleration...

Page 79: ...em defined variable in place of MyGroup1 Refer to 6 2 Motion Control Instructions for details on motion control instructions Refer to the instruction descriptions in the NJ series Motion Control Instr...

Page 80: ...d instructions such as linear interpola tion or circular interpolation This section gives the procedures to use the Sysmac Studio to set up an axes group in a project that already contains the axes 1...

Page 81: ...ng Procedure 1 Right click Axes Group Settings in the Multiview Explorer and select Axes Group Settings from the Add Menu An axes group is added to the Multiview Explorer The default name for the new...

Page 82: ...s CPU Unit Motion Control User s Manual W507 1 Right click an axes group in the Multiview Explorer and select Edit from the menu The Axes Group Basic Settings are displayed in the Axes Group Parameter...

Page 83: ...7 3 4 Setting Procedures for Axes Groups 3 3 4 2 Setting Procedure 2 Select Used axes group in the Axes group use Box 3 Select the composition of the axes group in the Composition Box A 2 axis composi...

Page 84: ...Program Perform the following two procedures to change Axes Group Variable names that are already used Change the Axes Group Variable name in the variable table in the variable declarations Change the...

Page 85: ...2 Setting Procedure Use the Synchronization menu command of the Sysmac Studio to download the project to the CPU Unit 1 Select Online from the Controller Menu The Sysmac Studio goes online with the C...

Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...

Page 87: ...rogramming 4 1 Functions of the Sysmac Studio 4 2 4 1 1 MC Test Run Function 4 2 4 1 2 Application Procedure 4 4 4 1 3 Axis Parameter Setting Example 4 5 4 1 4 Starting the MC Test Run Function 4 6 4...

Page 88: ...ting monitor item Axis operation Deceleration stop A deceleration stop is performed during the MC Test Run Servo ON OFF The Servo is turned ON and OFF Resetting errors The errors in the MC Function Mo...

Page 89: ...onitoring Error list The errors in the MC Function Module are mon itored MC Common Errors Axis Errors Axes Group Errors Axis status The status of the axes is monitored Axis Ready to execute Standstill...

Page 90: ...ircumstances e g if an error occurs in the computer Set the EtherCAT communications and establish communications before you attempt to per form operation from the Sysmac Studio Additional Information...

Page 91: ...50 000 m s 7 The maximum acceleration and the maximum deceleration will be 5 m s2 The acceleration time to the maximum velocity 3 000 r min will be 0 1 s 8 Set a value that is within the movable range...

Page 92: ...project in which the axis settings are completed 2 Select Online from the Controller Menu The Sysmac Studio goes online with the Controller 3 Select MC Test Run Start from the Controller Menu When th...

Page 93: ...g Sensor Signals 4 4 2 Monitoring Sensor Signals You can use the input signal display to check sensor signal wiring 1 Select the axis to check on the MC Test Run Tab Page 2 Check to see if the signals...

Page 94: ...r to operate before executing any of these operations When you operate the Controller from the Sysmac Studio always install external emergency circuits so that the Servomotor can be stopped safely whe...

Page 95: ...box is displayed 3 Select the axis to home 4 Click the Servo ON Button to turn ON the Servo 5 Click the Apply homing parameters Button 6 Click the Button Check to see if the homing operation agrees w...

Page 96: ...g dialog box will appear 2 Select the axis to perform absolute positioning 3 Click the Servo ON Button to turn ON the Servo 4 Enter the target position target velocity acceleration rate deceleration r...

Page 97: ...Tab Page The following dialog box will appear 2 Select the axis to perform relative positioning 3 Click the Servo ON Button to turn ON the Servo 4 Enter the target travel distance target velocity acc...

Page 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...

Page 99: ...Unit Conversion Settings 5 8 5 2 4 Operation Settings 5 11 5 2 5 Other Operation Settings 5 12 5 2 6 Limit Settings 5 13 5 2 7 Position Count Settings 5 13 5 2 8 Servo Drive Settings 5 15 5 2 9 Homing...

Page 100: ...gardless of the CPU Unit s mode or the status of the MC Function Module When you start the download process all axes in motion will stop immediately and the Servo will turn OFF z Overwriting Parameter...

Page 101: ...g the MC_Write Write MC Setting instruction will not be saved to non volatile memory in the CPU Unit If you cycle the power supply or download the settings from the Sysmac Studio the parameter setting...

Page 102: ...K Node Address input devices and output devices OK Unit Conver sion Settings Unit of Display OK 5 8 Command Pulse Count Per Motor Rotation OK Work Travel Distance Per Motor Rotation OK Operation Set t...

Page 103: ...lo Maximum Position Setting Value Modulo Minimum Position Setting Value Encoder Type Servo Drive Settings Modulo Maximum Position Setting Value 5 15 Modulo Minimum Position Setting Value Homing Set ti...

Page 104: ...The actual current velocity equals the command current velocity External input signals cannot be used If the MC_Home instruction is executed the instruction is processed as a zero position preset rega...

Page 105: ...s of the EtherCAT slave device that is assigned to the axis The Node Address parameter cannot be selected if the Axis Type parame ter is set to a virtual axis Additional Information The following exam...

Page 106: ...and the operation You can use the Unit of Display parameter and electronic gear unit conversion formula settings to change from a pulse unit to millimeters or degrees You can use the Unit of Display p...

Page 107: ...Control User s Manual W507 5 2 Axis Parameters 5 5 2 3 Unit Conversion Settings nm Use this unit for more precise direct operation than m degree Use this unit for rotary tables or other rotating axes...

Page 108: ...s 10 mm for every rotation of the ball screw The Unit of Display parameter is set to millimeters The Command Pulse Count Per Motor Rotation is set to the resolution of the encoder on the Servomotor A...

Page 109: ...eals 1 000 000 Maximum Accelera tion Set the maximum acceleration rate for an axis operation command There will be no limit to the acceleration rate if 0 is set Unit com mand units s2 Non negative lon...

Page 110: ...city Fil ter Time Constant Set the time period to calculate the average travel of the actual velocity in milliseconds The average travel is not calculated if 0 is set Unit ms Use this to reduce variat...

Page 111: ...Deceleration stop for actual position 4 Immediate stop for actual position 0 to 4 0 Positive Software Limit Set the software limit in the positive direc tion Unit command units Long reals 2 147 483 6...

Page 112: ...ontrol 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 c...

Page 113: ...on is within the range of the ring counter An error occurs if the target position is not within the range of the ring counter If the Direction input variable to the instruction is set to No direction...

Page 114: ...t stop 1 Reverse turn immediate stop 2 Reverse turn deceleration stop 0 to 2 1 Operation Selection at Negative Limit Input Set the stopping method when the negative limit input turns ON during homing...

Page 115: ...on Value Set the homing compensation value that is applied after the home is defined Unit command units Long reals 0 Homing Compensa tion Velocity Set the velocity to use for homing compensation Unit...

Page 116: ...op for command posi tion Immediate stop for command posi tion Positive Software Limit 500 000 5 500 000 Negative Software Limit 0 5 0 Count Mode Linear Mode Linear Mode Synchronized Control with Encod...

Page 117: ...nge of the device The positive software limit is set to 50 cm 500 000 m 6 The periodic range of the position is 0 to 1 m 1 000 000 m Additional Information You can select the axis type for the master...

Page 118: ...s the parameter with a variable in the user program Refer to 3 4 Setting Procedures for Axes Groups for details on how to set axes group parameters For details on the MC_Write Write MC Setting instruc...

Page 119: ...reate more than one axes group You can also set the same axis number in more than one axes group 5 3 2 Axes Group Basic Settings Parameter name Function Setting range Default Axes Group Use Set whethe...

Page 120: ...truction the axis will move at the maximum interpolation velocity Unit command units s Non negative long reals 800 000 000 Maximum Interpola tion Acceleration Set the maximum interpolation acceleratio...

Page 121: ...on acceleration at which to output an interpolation acceleration warning No inter polation acceleration warning is output if 0 is set Unit 0 to 100 0 Interpolation Decel eration Warning Value Set the...

Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...

Page 123: ...otion Control Instructions 6 8 6 4 1 Basic Rules for Execution of Instructions 6 8 6 4 2 Execution Timing Charts 6 10 6 4 3 Timing Chart for Re execution of Motion Control Instructions 6 12 6 4 4 Timi...

Page 124: ...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 pro...

Page 125: ...n IEC 61131 3 JIS B 3503 Single axis positioning electronic cams and multi axis coordi nated control are defined along with basic procedures for executing instructions By using PLCopen motion control...

Page 126: ...the following table 6 3 1 Status of the Motion Control Function Module State name Definition MC Run Mode 1 Motion control instructions are enabled The motion control instructions in the user program...

Page 127: ...ed and an axis error has occurred Servo ON In this state the Servo is ON for the axis Stopped In this state the Servo is ON for the axis and the axis is stopped Discrete Motion In this state positioni...

Page 128: ...ntered when the Done output variable from the MC_GroupStop instruction is TRUE and the Execute input variable to the same instruction is FALSE 7 Ready state is entered if all of the following conditio...

Page 129: ...ng the in posi tion check and when the velocity is 0 because the override factor was set to 0 while the group was in motion Deceleration Stopping In this state the MC_GroupStop instruction is executin...

Page 130: ...ction is not stopped when Execute changes to FALSE Even if Execute changes to FALSE before the instruction finishes execution the corresponding output variable will be TRUE for at least one period if...

Page 131: ...lowing Error Over Limit and Servo Drive errors Some instruction instance errors may not cause an axis error but will cause the axis to stop Operation of output variable Done The output variable Done I...

Page 132: ...ile the input variable Execute is TRUE The following timing chart is for when an error does not occur through when Execute changes to FALSE The following timing chart is for when an error occurs while...

Page 133: ...input variable Execute is TRUE for only one period and an error does not occur for the instruction The output variable Done will change to TRUE for only one period after the instruction operation is...

Page 134: ...ls on the timing of indi vidual instructions refer to the NJ series Motion Control Instructions Reference Manual Cat No W508 If the values of the input variables to the same instance are changed while...

Page 135: ...e in which BufferMode Buffer Mode Selection is set to aborting when MC_MoveAbsolute Absolute Positioning instructions are executed with multi execution of instructions FB1 and FB2 in the following fig...

Page 136: ...l position Count Mode You can set Linear Mode or Rotary Mode The same Count Mode is used as for the command position Position increment You can set one of the following mm m nm inch degree or pulse Th...

Page 137: ...n change any of the Axis Variables that you create on the Sysmac Studio Axis Variables in the system defined variables _MC_AX 0 to _MC_AX 63 Default Axis Variables when axes are created on Sysmac Stud...

Page 138: ...Decimal expression 10 is added to the front of the number Hexadecimal expression 16 is added to the front of the number If you do not add any notation to the beginning of a number that number is treat...

Page 139: ...ables for motion control as variables in the user program and monitor them from the Sysmac Studio System defined variables for motion control are updated every primary period Type Description Enumerat...

Page 140: ...CamTableBusy BOOL Cam Table Busy TRUE while the Cam Table is being saved or on standby PFaultLvl _sMC_REF_EVENT MC Common Partial Fault Active BOOL MC Common Partial Fault Occurrence TRUE while there...

Page 141: ...This includes when the velocity is 0 because the override factor was set to 0 dur ing a discrete motion Continuous BOOL Continuous Motion TRUE during continuous motion without a target position This s...

Page 142: ...es the status of the Servo Drive ServoOn BOOL Servo ON TRUE when the Servomotor is powered Ready BOOL Servo Ready TRUE when the Servo is ready MainPower BOOL Main Power TRUE when the Servo Drive main...

Page 143: ...eleration and a minus sign is added for deceleration The value is 0 when the command acceleration deceleration rate of the instruction under execution is 0 Jerk LREAL Command Current Jerk Contains the...

Page 144: ...upper four digits of the event code have the same value Obsr _sMC_REF_EVENT Axis Observation Active BOOL Axis Observation Occurrence TRUE while there is an axis observation Code WORD Axis Observation...

Page 145: ...ing Enabled Enabled Coordinated BOOL Coordinated Motion Enabled Enabled Details _sAXIS_REF_DET Axis Control Status Idle BOOL Standstill Enabled Enabled Enabled Enabled InPosWaiting BOOL In position Wa...

Page 146: ...Enabled Enabled Enabled Enabled Code WORD Axis Minor Fault Code Enabled Enabled Enabled Enabled Obsr _sMC_REF_EVENT Axis Observation Active BOOL Axis Observation Occurrence Enabled Enabled Enabled En...

Page 147: ...BOOL Stopped TRUE when the axes group motion instruction is stopped This is independent of the Servo ON OFF status of the composition axes in the axes group Moving BOOL Moving TRUE while an axes group...

Page 148: ...ulated from the difference with the com mand interpolation velocity A plus sign is added for acceleration and a minus sign is added for deceleration The value is 0 when the axes group is disabled or w...

Page 149: ...EF GrpEnable _eMC_GROUP_USE Axes Group Use Shows if the axes group is enabled or dis abled 0 mcNoneGroup Undefined Axes Group 1 mcUnusedGroup Unused Axes Group 2 mcUsedGroup Used Axes Group Kinematics...

Page 150: ...n the main memory to non volatile memory For details on the MC_SaveCamTable instruction refer to the NJ series Motion Control Instruc tions Reference Manual Cat No W508 You can upload and download cam...

Page 151: ...u edited in the Cam Data Settings of the Sysmac Studio and select Transfer Cam Table Controller to File from the menu The Save Dialog Box is displayed Enter the file save location and file name and th...

Page 152: ...on operation after you transfer a cam table from a file to the Controller the cam table in the Controller is replaced with the data in the Cam Data Settings Either transfer the cam data from the file...

Page 153: ...ble CamTable in motion control instructions Cam Profile Curve Names Specifying Cam Tables in the User Program Execute Error ErrorID Command Aborted MCCI1 Slave Busy MC_CamIn Master Direction Active MC...

Page 154: ...rror occurs after the download or when power is turned ON When you reuse a project make sure that the maximum number of control axes for the CPU Unit model is not exceeded Even axes that are set as un...

Page 155: ...8 Programming Motion Controls 6 Select the required instructions from the Toolbox and enter the program Refer to the NJ series CPU Unit Software User s Manual Cat No W501 for details on programming R...

Page 156: ...1 Operation Manual Cat No W504 for details on the Cam Editor 1 Adding a Cam Profile Right click Cam Data Settings in the Multiview Explorer and select Cam Profile NJ Series from the Add Menu A cam pro...

Page 157: ...PU Unit Motion Control User s Manual W507 6 9 Creating Cam Tables 6 The Cam Profile Edit Tab Page is displayed Make the settings and enter the cam profile Refer to the Sysmac Studio Version 1 Operatio...

Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...

Page 159: ...ith an OMRON G5 series Servo Drive 7 1 Outline 7 2 7 2 Turning ON the Servo 7 3 7 2 1 Turning ON the Servo 7 3 7 2 2 Setting Axis Parameters 7 4 7 2 3 Programming Example 7 4 7 3 Jogging 7 5 7 3 1 Jog...

Page 160: ...s the Servo Drive to the Servo ON state and MC_MoveJog performs jogging Precautions for Correct Use Precautions for Correct Use You must set the axes to perform manual operation Refer to Section 3 Con...

Page 161: ...RUE 1 Adding and Setting an Axis Add and set an axis from the Sysmac Studio For details refer to 3 2 2 Setting Procedure 2 Setting Axis Parameters Set the axis parameters from the Sysmac Studio For de...

Page 162: ...et for each axis Additional Information If the OMRON G5 series Servo Drive is connected properly you can use the network scan func tion of the Sysmac Studio to automatically set all axis parameters no...

Page 163: ...g Procedure 2 Setting Axis Parameters Set the axis parameters from the Sysmac Studio For details refer to 3 2 2 Setting Procedure 3 Writing the User Program Create the user program from the Sysmac Stu...

Page 164: ...maximum velocity 3 000 r min is 0 1 s This section describes the settings for the MC_MoveJog input variables Velocity Target Velocity Acceleration Acceleration Rate and Deceleration Deceleration Rate...

Page 165: ...ration is Acce1 and Deceleration is Dece1 Set the values for each variable in the user program in advance to operate the axis with the example input variable settings Velo1 30 000 Acce1 3 000 000 Dece...

Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...

Page 167: ...ing 8 1 Outline 8 2 8 2 Homing Procedure 8 5 8 2 1 Setting Homing Parameters 8 5 8 2 2 Monitoring the Homing Operation 8 10 8 3 Homing Operation 8 11 8 4 Homing with an Absolute Encoder 8 12 8 4 1 Out...

Page 168: ...struction MC_Home to define home Precautions for Correct Use Precautions for Correct Use The defined home is lost in the following situations When MC_SetPosition is executed When an overflow or underf...

Page 169: ...speed homing High speed homing cannot be used If it is used an instruction error will occur Positioning If home is not defined the position at startup is defined as 0 to control movement Interrupt fe...

Page 170: ...unction Module as the positive limit input negative limit input and home proximity input Make sure that the signal widths for all of these input signals are long enough for the Servo Drive to detect t...

Page 171: ...ameter name Description Homing Method Set the homing operation Home Input Signal Select the input to use for the home input signal Homing Start Direction Set the start direction for when homing is sta...

Page 172: ...on direction turns ON at homing approach velocity However this does not apply in operation modes in which the home proximity signal is not used An error will occur and operation will stop if you set r...

Page 173: ...rt Direction Different from Home Input Detection Direction Homing Start Direction ON OFF ON OFF Stops Stops Start Start Positive direction Positive direction Positive direction Homing approach velocit...

Page 174: ...locity Adjusting the workpiece is sometimes difficult after home is defined The homing compensation can be used to fine tune the position of home after it is determined This is useful when you cannot...

Page 175: ...homing acceleration rate in command units per seconds squared command units s2 If the homing acceleration is set to 0 the homing velocity is used without an acceleration curve Set the homing decelerat...

Page 176: ...BOOL In Home Posi tion TRUE when the axis is in the range for home It gives an AND of the following con ditions Home defined Actual current position is within the zero position range of home This var...

Page 177: ...ion of the positioning system and the appli cation In linear mode finite length Proximity Reverse Turn and Home Proximity Input OFF is normally used if there is a home proximity sensor positive limit...

Page 178: ...on again Precautions for Correct Use Precautions for Correct Use If you use an absolute encoder connect a battery to the CPU Unit and an absolute encoder backup battery to the Servo Drive Always execu...

Page 179: ...PU Unit or the Battery in the CPU Unit make sure home is defined and back up the battery backup memory before you start the replacement procedure This ensures that the absolute encoder home offset is...

Page 180: ...G5 series Servo Drive must be cycled When setup processing for the absolute encoder is completed an Absolute Value Clear Error A27 1 will occur in the Servo Drive Cycle the control power supply to the...

Page 181: ...instruction and specify the target velocity acceleration rate deceleration rate and jerk If you execute this instruction when home is not defined an instruction error will occur Additional Informatio...

Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...

Page 183: ...peration 9 12 9 2 4 Cam Operation 9 13 9 2 5 Cam Tables 9 14 9 2 6 Synchronous Positioning 9 19 9 2 7 Combining Axes 9 21 9 2 8 Master Axis Phase Shift 9 22 9 3 Single axis Velocity Control 9 23 9 3 1...

Page 184: ...ulti axes Coordinated Control 9 54 9 7 3 Jerk for Multi axes Coordinated Control 9 55 9 7 4 Re executing Motion Control Instructions for Multi axes Coordinated Control 9 56 9 7 5 Multi execution Buffe...

Page 185: ...three Control Modes for motion profile commands position control velocity control and torque control In synchronized control the slave axis i e the axis being controlled operates in a synchronized rel...

Page 186: ...Control Instructions Reference Manual Cat No W508 Relative positioning specifies the distance from the actual position You can specify a travel distance that exceeds the ring counter range by setting...

Page 187: ...g for a Specified Distance in the Moving Direction Feeding for a Specified Distance in the Direction Opposite to the Moving Direction If decelerating to a stop after a reverse turn is specified for th...

Page 188: ...gative Limit Input Stop processing in the MC Function Module is executed according to the state of the Servo Drive input signals You can select one of the following stopping methods for the MC Functio...

Page 189: ...to the settings in the Servo Drive z Stopping for Errors during Single axis Operation When an error occurs during single axis operation the axis will stop immediately or decelerate to a stop dependin...

Page 190: ...dAborted output variable from the instructions remains FALSE The Servo remains ON even after changing to PROGRAM mode If the operating mode returns to RUN mode while a deceleration stop is in progress...

Page 191: ...velocity operating status will con tinue with the axis stopped as a velocity of 0 The set override factor is read as long as the overrides are enabled If the overrides are disabled the override facto...

Page 192: ...veAbsolute Absolute Positioning instruction is given below For details refer to the MC_SetOverride Set Override Factors instruction in the NJ series Motion Control Instructions Reference Manual Cat No...

Page 193: ...unction specifies the gear ratio between the master axis and the slave axis and starts operation Start gear operation with the MC_GearIn Start Gear Operation instruction End synchronization with the M...

Page 194: ...the velocity of the master axis times the gear ratio for its tar get velocity and accelerates decelerates accordingly The slave axis is in the catching phase until it reaches the slave axis sync star...

Page 195: ...the project to the CPU Unit For details on cam operation refer to the MC_CamIn Start Cam Operation MC_CamOut End Cam Operation and MC_Stop instructions in the NJ series Motion Control Instructions Ref...

Page 196: ...ated as an illegal cam table cam start point The first point in the cam data cam end point The last point of valid cam data in the cam data If the cam end point is less than the number of cam data all...

Page 197: ...ter sync start posi tion The master start distance where the slave axis starts cam operation represented as either an absolute position or relative position The relative position is based on the cam s...

Page 198: ...The total size is 10 MB max 3 Use the Synchronization menu command of the Sysmac Studio to upload and download the project Cam Table Specifications Item Description Maximum number of cam data per cam...

Page 199: ...r You can also specify the same cam table for more than one axis You can switch cam tables by re executing the cam operation instruction during cam operation After switching cam operation will be perf...

Page 200: ...not to lose the overwritten data when overwriting cam data from the user program in the CPU Unit Cam data saved to non volatile memory can be loaded by using the upload function of the Sysmac Studio U...

Page 201: ...hronous Positioning instruction is executed Use the MC_Stop instruction to stop the axes in motion Operation is performed for the Slave Slave Axis and the following are set Master Master Axis MasterDi...

Page 202: ...to the MC_MoveLink Synchronous Positioning and MC_Stop instructions in the NJ series Motion Control Instructions Reference Manual Cat No W508 MasterDistanceInDEC MasterDistanceInACC MasterDistance Sl...

Page 203: ...racting axes Slave Slave Axis command current position Master Master Axis command current position Auxiliary Auxiliary Axis command current position For details on combining axes refer to the MC_Combi...

Page 204: ...shift amount target velocity acceleration rate deceleration rate and jerk for the MC_Phasing Shift Master Axis Phase instruction For details on the shift master axis phase function and the synchronize...

Page 205: ...n is executed with multi execution of instructions during velocity control the operation will switch only after reaching the target velocity The MC Function Module uses Position Control Mode of the Se...

Page 206: ...ance causes the velocity to decrease below the command velocity no change in velocity will occur to remove the following error For details refer to the MC_SyncMoveVelocity Cyclic Synchronous Velocity...

Page 207: ...e Servo Drive receives the torque command value from the MC Function Module in the torque control loop and to control the torque You can specify the velocity limit value for the Servo Drive in the Vel...

Page 208: ...n Count Mode You can set Linear Mode or Rotary Mode The same Count Mode is used as for the command position Position increment You can set one of the following mm m nm inch degree or pulse The unit is...

Page 209: ...d position 3 Deceleration stop for actual position 4 Immediate stop for actual position 0 to 4 0 Positive Software Limit Set the software limit in the positive direc tion Unit command units Long reals...

Page 210: ...t Velocity Unit Axis Parameters That Are Related to Velocities Parameter name Function Setting range Default Maximum Velocity Specify the maximum velocity for the axis If a target velocity that exceed...

Page 211: ...and Deceleration Parameter name Function Setting range Default Maximum Acceleration Set the maximum acceleration rate for an axis operation command There will be no limit to the acceleration rate if 0...

Page 212: ...positioning is performed at an acceleration or deceleration rate that will enable stopping at the target position Specifying Acceleration and Deceleration Rates for Axis Operation Monitoring Accelerat...

Page 213: ...ions except for synchronized control operations Use the following formula to calculate the value to set for the jerk Jerk Acceleration rate Time of acceleration Ratio of time to apply jerk during acce...

Page 214: ...nd negative directions Monitoring Jerk Variable name Data type Meaning Function _MC_AX 0 63 Cmd Jerk LREAL Command Current Jerk This is the current value of the com mand jerk 9 5 5 Specifying the Oper...

Page 215: ...llustrates when positioning is performed towards a target position of 20 when the command current position is 50 Example for Positive Direction Example for Negative Direction Moves in positive directi...

Page 216: ...an immediate stop is specified for the MC_TouchProbe Enable External Latch instruction the latch position may be exceeded and the direction may be reversed The direction may be reversed for the MC_Mov...

Page 217: ...eration Rate and Torque Target Torque and sometimes other input variables can be changed by re execution An instruction error will occur if you change an input variable that cannot be changed and atte...

Page 218: ...you re execute an instruction during triangular control or during deceleration acceleration to the target velocity will occur again This may result in a constant velocity Executed Command re executed...

Page 219: ...e If There Is A Reverse Turn and Decelerating to a Stop Would Exceed a Software Limit If There Is A Reverse Turn and Decelerating to a Stop Would Result in Command Current Position Overflow or Underfl...

Page 220: ...ration exceed control If the new deceleration rate causes the axis to exceed the target position stopping at the target position is given the highest priority Therefore in this case the actual deceler...

Page 221: ...ch to a positioning operation for the new target position of 2000 Changing the Torque Command Programming Example for Re execution Trapezoidal Control or Triangular Control No change for re execution...

Page 222: ...Precautions for Correct Use Precautions for Correct Use For input variables that are not changed always use the same values as before re execution of the instruction Axis1Pos Axis1PosSet2 1000 Axis1P...

Page 223: ...multi execution of single axis control instructions is not possible for axes operating under multi axes coordinated control axes group instructions An instruction error will occur if these rules are b...

Page 224: ...ution timing Executed Velocity Executing More than One Instruction during Constant velocity Motion Velocity New command position Initial command position If the travel distance upon reverse turn is sm...

Page 225: ...changed to Buffered Use rapid acceleration deceleration Minor fault stop An example for an Acceleration Deceleration Over operation is given below In a blending mode you cannot combine single axis and...

Page 226: ...e buffered instruction once the target position is reached When the Direction of Operation Does Not Change When the Direction of Operation Changes z Blending Next Next Velocity Operation is performed...

Page 227: ...et position of the current instruction and the target velocity that is the faster of the target velocities for the current instruction and buffered instruction Time Buffered instruction Current instru...

Page 228: ...cannot execute any single axis oper ation motion control instructions on the axes in an enabled axes group Furthermore if any error occurs for any axis in an axes group all axes in the axes group will...

Page 229: ...meter settings For details on enabling and disabling axes groups refer to the MC_GroupEnable Enable Axes Group and MC_GroupDisable Disable Axes Group instructions in the NJ series Motion Control Instr...

Page 230: ...s unique to the MC Function Module MC_MoveLinearAbsolute Absolute Linear Interpolation This instruction performs linear interpolation to an absolute value This instruction is defined in the PLCopen te...

Page 231: ...leration interpolation deceleration and com bined jerk for the two axes With the MC Function Module you can specify the following three kinds of circular interpolation meth ods with the input variable...

Page 232: ...structions in the NJ series Motion Control Instructions Reference Manual Cat No W508 z Stopping for Errors during Axes Group Motion If an error that results in a deceleration stop occurs for any compo...

Page 233: ...hod that is set in the Axes Group Stop Method axes group parameter An error will occur for the axes group if this happens When RUN mode changes to PROGRAM mode any motion control instructions for curr...

Page 234: ...n is given below For details refer to the MC_GroupSetOverride Set Group Overrides instruction in the NJ series Motion Control Instructions Reference Manual Cat No W508 Busy Execute CommandAborted Done...

Page 235: ...nterpolation velocity This is the actual value of the command interpolation velocity output by the MC Function Module to control an axes group Axis Parameters That Are Related to Velocities Parameter...

Page 236: ...maximum interpolation deceleration for the path Set 0 for no interpolation decel eration limit Unit command units s2 Non negative long reals 0 Interpolation Accelera tion Deceleration Over Set the op...

Page 237: ...e over the range where jerk is specified The command interpolation velocity will form a smooth S curve A fixed interpolation acceleration rate is used in areas where the jerk is set to 0 This command...

Page 238: ...ol for multiple continuous lines and or arcs if you use Buffer Mode under multi axes coordinated control You can set the BufferMode input variable to motion control instruction to select one of the sa...

Page 239: ...instruction is executed Multi execution of motion control instructions that have no BufferMode input variable will operate in Aborting Mode Operation of the multi execution instruction starts at the...

Page 240: ...ion is reached The axes do not stop at the target position The two motions are blended together at the interpolation velocity speci fied with the BufferMode input variable The Interpolation Accelerati...

Page 241: ...uffered instruction z Blending Previous Previous Velocity Operation is performed with the target velocity of the current instruction until the target position of the current instruction is reached Ope...

Page 242: ...rder to lessen this shock You can choose from the following transition modes in the MC Function Module Additional Information The PLCopen technology specifications define numbers 0 through 9 Number 10...

Page 243: ...ted Control z Transition Disabled 0 TMNone No processing is performed to connect the two positions TransitionMode TMNone and BufferMode Buffered The axis moves to position End1 stops and then moves to...

Page 244: ...de Blending The axis moves to position End1 and then moves to position End2 Start1 End1 Start2 End2 Start1 End1 Start2 End2 BufferMode BlendingPrevious Y coordinate Velocity X coordinate Time Multi ex...

Page 245: ...time as for the deceleration of the current instruction no matter what is specified as the acceleration for the buffered instruction The superim posed area will apply no jerk even if jerk is specified...

Page 246: ...rate of the buffered instruction are the same The following table shows the combinations of Transition Modes and Buffer Modes OK Operation possible Generates an error and stops The combinations of Bl...

Page 247: ...the target position using the new absolute coordinates However the travel distance will stay the same when you position to a relative value Precautions for Correct Use Precautions for Correct Use Whe...

Page 248: ...igger input condition a window and the stop method for the axis you want to latch In addition to signals that connect to the Servo Drive you can also specify variables in the user program to use as a...

Page 249: ...Monitor instruction to specify the first position and last position of the zone to check The InZone output variable for the Zone Monitor instruction will change to TRUE when the position of the axis...

Page 250: ...Actual Position Is within the Software Limits An instruction error will occur if the target position is outside the software limit range When the Actual Position Is outside the Software Limits Motion...

Page 251: ...rror every motion control period If the value of the following error exceeds the Following Error Over Value that is set in the axes parame ters Following Error Limit Exceeded minor fault level error o...

Page 252: ...ction to specify the permitted following error and the two axes to monitor If the permitted following error is exceeded the Invalid out put variable for the Monitor Axis Following Error instruction wi...

Page 253: ...con firming that axes are in position Additional Information Do not set an in position check time if you want to start the next operation as quickly as possible without waiting for positioning to fin...

Page 254: ...at a velocity of 0 2 This variable is FALSE when all composition axes in the axes group are within the in position ranges set in the axis parameters For details on writing MC settings refer to the MC_...

Page 255: ...Resetting for Multi axes Coordinated Operation 10 10 10 2 5 Monitoring for Instruction Errors 10 16 10 2 6 Checking to See If Errors Are Reset 10 18 10 2 7 Stopping Axes during Single axis Operation...

Page 256: ...se it for actual operation The following devices are used in the sample programming Refer to the following manual for details on installing and wiring the devices 10 1 1 Devices Device Servo configura...

Page 257: ...or details on settings 10 1 3 Setup Setup Manual Controller Setup NJ series CPU Unit Software User s Manual Cat No W501 Motion Control Setup 3 2 Axis Setting Procedure 5 2 Axis Parameters and A 1 Conn...

Page 258: ...ecuted to turn ON the Servo for the Servo Drive when EtherCAT process data communications are established with the Servo Drive Samples are provided for both ladder diagram and ST programming 10 2 1 Mo...

Page 259: ...000 MFaultLvl Active TRUE THEN FaultHandler END_IF MC_Power PWR Axis MC_Axis000 Enable Pwr_En Status Pwr_Status Busy Pwr_Bsy Error Pwr_Err ErrorID Pwr_ErrID Ladder Diagram ST Programming MC_Axis000 MF...

Page 260: ...MC instruction in ST Therefore a sample is provided only for a ladder diagram 10 2 2 Interlocking Axis Operation with Master Control Instructions Main Variables Used in the Programming Samples Variabl...

Page 261: ...is000 Cfg NodeAddress PWR Error Axis Axis Enable Status Busy MC_Power ErrorID Lock MC_Axis000 Pwr_Status Pwr_Bsy Pwr_Err Pwr_ErrID If a minor fault level error occurs for axis 0 the error handler for...

Page 262: ...TRUE while there is a minor fault level error for axis 0 and the axis is decelerating to a stop or stopped MC_Axis000 Details Idle BOOL FALSE TRUE when the command current velocity for axis 0 is zero...

Page 263: ...e device FaultHandler is executed Program the FaultHandler according to the device IF MC_Axis000 MFaultLvl Active TRUE THEN FaultHandler END_IF If ResetON is TRUE i e when the external button is ON an...

Page 264: ...l error for axes group 0 MC_Group000 Details Idle BOOL FALSE TRUE when the command interpolation velocity for axes group 0 is zero except when waiting for in position state MC_Axis000 _sAXIS_REF This...

Page 265: ...Pwr1_ErrID Pwr2_Status Enable Status ErrorID PWR2 Error MC_Power Axis Axis Busy MC_Axis001 Pwr2_Bsy Pwr2_Err Pwr2_ErrID Lock1 StartPg _EC_PDSlavTbl MC_Axis001 Cfg NodeAddress Lock2 When StartPg is TRU...

Page 266: ...Reset_Failure Grp_Reset_Err Grp_Reset_ErrID Done Error Failure AxesGroup Busy ErrorID Execute GRP_RESET MC_GroupReset AxesGroup MC_Group000 Hm2_Bsy Hm2_Ca Hm2_Err Hm2_ErrID Hm2_D Done Error CommandAbo...

Page 267: ...ess FALSE THEN Pwr2_En TRUE Turn ON the Servo for axis 1 ELSE Pwr2_En FALSE Turn OFF the Servo for axis 1 END_IF If there is a minor fault level error for a composition axis in the axes group execute...

Page 268: ...0 Execute Hm1_Ex Done Hm1_D Busy Hm1_Bsy CommandAborted Hm1_Ca Error Hm1_Err ErrorID Hm1_ErrID MC_Home2 HM2 Axis MC_Axis001 Execute Hm2_Ex Done Hm2_D Busy Hm2_Bsy CommandAborted Hm2_Ca Error Hm2_Err E...

Page 269: ...0 2 Basic Programming Samples 10 10 2 4 Error Monitoring and Error Resetting for Multi axes Coordinated Operation MC_GroupReset GRP_RESET AxesGroup MC_Group000 Execute Grp_Reset_Ex Done Grp_Reset_D Bu...

Page 270: ...BOOL FALSE This variable is assigned to the Busy output variable from the PWR instance of the MC_Power instruction It is TRUE when the Servo is ON StartPg BOOL FALSE When StartPg is TRUE the Servo is...

Page 271: ...data communications are not active the Servo is turned OFF IF StartPg TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TRUE AND _EC_CommErrTbl MC_Axis000 Cfg NodeAddress FALSE THEN Pwr_En TRUE ELSE P...

Page 272: ...nce of the MC_Power instruction It is TRUE when the Servo is ON ResetON BOOL FALSE This variable gives the status of the external button that is used to reset errors GetFaultFactor This is the process...

Page 273: ...Failure output variable from the MC_Reset instruction changes to TRUE processing is performed to read the cause of the error with GetFaultFactor Program GetFaultFactor according to the device IF MC_Ax...

Page 274: ...or for axis 0 MC_Axis000 Details Homed BOOL FALSE TRUE when home is defined for axis 0 Pwr_Status BOOL FALSE This variable is assigned to the Status output variable from the PWR instance of the MC_Pow...

Page 275: ...ive Axis Axis Execute Done Busy Error Jerk MC_Stop CommandAborted ErrorID MC_Axis000 StopOn LREAL 5000 0 Stp_Bsy Stp_Act Stp_Ca Stp_Err Stp_ErrID Stp_D IMD_STP StopMode Axis Axis Execute Done Busy Err...

Page 276: ...communications are active and normal IF StartPg TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TRUE AND _EC_CommErrTbl MC_Axis000 Cfg NodeAddress FALSE THEN Pwr_En TRUE ELSE Pwr_En FALSE END_IF If...

Page 277: ...BS Axis MC_Axis000 Execute Mv_Abs_Ex Position Mv_Abs_Pos Velocity Mv_Abs_Vel Acceleration Mv_Abs_Acc Deceleration Mv_Abs_Dec Direction Mv_Abs_Dir Done Mv_Abs_D Busy Mv_Abs_Bsy Active Mv_Abs_Act Comman...

Page 278: ...fault level error for axis 1 MC_Axis001 Details Homed BOOL FALSE TRUE when home is defined for axis 1 Pwr1_Status BOOL FALSE This variable is assigned to the Status output variable from the PWR1 insta...

Page 279: ...ID MC_Axis001 MFaultLvl Active MC_Group000 MFaultLvl Active HM2 Axis Axis Execute Error ErrorID CommandAborted MC_Home Done Busy MC_Axis001 Pwr2_Status Hm2_D Hm2_Bsy Hm2_Ca Hm2_Err Hm2_ErrID MC_Axis00...

Page 280: ..._Stp_Act Grp_Stp_Ca Grp_Stp_Err Grp_Stp_ErrID Grp_Stp_D GRP_IMD_STP AxesGroup AxesGroup Execute Done Busy Error MC_GroupImmediateStop CommandAborted ErrorID MC_Group000 Grp_Stp_Err Grp_Imd_Stp_Bsy Grp...

Page 281: ...rned OFF IF StartPg TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TRUE AND _EC_CommErrTbl MC_Axis000 Cfg NodeAddress FALSE THEN Pwr1_En TRUE Turn ON the Servo for axis 0 ELSE Pwr1_En FALSE Turn OF...

Page 282: ...stopped IF MC_Group000 Status Moving TRUE AND StopOn TRUE THEN Grp_Stp_Ex TRUE END_IF If the CommandAborted or Error output variable from the Group Stop instruction are TRUE the axes group is stopped...

Page 283: ...ty Mv_Lin_Abs_Vel Acceleration Mv_Lin_Abs_Acc Deceleration Mv_Lin_Abs_Dec Jerk Mv_Lin_Abs_Jrk Done Mv_Lin_Abs_D Busy Mv_Lin_Abs_Bsy Active Mv_Lin_Abs_Act CommandAborted Mv_Lin_Abs_Ca Error Mv_Lin_Abs_...

Page 284: ...ormed the axis starts moving in the negative direction Home Input Detection Direction 1 Positive direction Home is detected while the axis moves in the pos itive direction Main Variables Used in the P...

Page 285: ...riable is used to execute the MC_MoveAbsolute Absolute Positioning instruction It is used in ST programming Timing Chart Variable name Data type Default Comment MV_ABS Execute HM_D Hm_Bsy Mv_Abs_Act M...

Page 286: ...ection eMC_DIRECTION _mcShortestWay BufferMode If the Servo is ON and home is defined absolute positioning is executed StartPg Lock _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress _EC_CommErrTbl MC_Axis000 C...

Page 287: ...g TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TRUE AND _EC_CommErrTbl MC_Axis000 Cfg NodeAddress FALSE THEN Pwr_En TRUE ELSE Pwr_En FALSE END_IF If a minor fault level error occurs for axis 0 th...

Page 288: ...7 MC_MoveAbsolute MV_ABS Axis MC_Axis000 Execute Mv_Abs_Ex Position Mv_Abs_Pos Velocity Mv_Abs_Vel Acceleration Mv_Abs_Acc Deceleration Mv_Abs_Dec Direction Mv_Abs_Dir Done Mv_Abs_D Busy Mv_Abs_Bsy Ac...

Page 289: ...r axis 0 MC_Axis000 MFaultLvl Active BOOL FALSE TRUE when there is a minor fault level error for axis 0 MC_Axis000 Details Homed BOOL FALSE TRUE when home is defined for axis 0 Pwr_Status BOOL FALSE T...

Page 290: ...gramming 10 36 NJ series CPU Unit Motion Control User s Manual W507 z Ladder Diagram Timing Chart ReExeSw Mv_Abs_D Mv_Abs_Act Mv_Abs_Bsy Mv_Abs_Ex Hm_Bsy Hm_D Pwr_Status Command velocity Time Command...

Page 291: ...User s Manual W507 10 2 Basic Programming Samples 10 10 2 10 Changing the Target Position by Re execution of an Instruction z ST Programming ReExeSw Mv_Abs_D Mv_Abs_Act Mv_Abs_Bsy Mv_Abs_Ex Hm_Bsy Hm_...

Page 292: ..._Axis000 Cfg NodeAddress _EC_CommErrTbl MC_Axis000 Cfg NodeAddress PWR Error Axis Axis Enable Status Busy MC_Power ErrorID Lock MC_Axis000 Pwr_Status Pwr_Bsy Pwr_Err Pwr_ErrID When StartPg is TRUE the...

Page 293: ...AND _EC_CommErrTbl MC_Axis000 Cfg NodeAddress FALSE THEN Pwr_En TRUE ELSE Pwr_En FALSE END_IF If a minor fault level error occurs for axis 0 the error handler for the device FaultHandler is executed...

Page 294: ...Hm_D Busy Hm_Bsy CommandAborted Hm_Ca Error Hm_Err ErrorID Hm_ErrID MC_MoveAbsolute MV_ABS Axis MC_Axis000 Execute Mv_Abs_Ex Position Mv_Abs_Pos Velocity Mv_Abs_Vel Acceleration Mv_Abs_Acc Deceleratio...

Page 295: ...Parameter Settings Parameter name Setting Description Count Mode Rotary Mode Rotary Mode is set as the count mode for the position Modulo Maximum Position Setting Value 360 The Modulo Maximum Position...

Page 296: ...L 1000 0 Mv_Feed_Acc LREAL 10000 0 Mv_Feed_Dec LREAL 10000 0 Mv_Feed_Dir _eMC_DIRECTION _mcCurrentDirection Mv_Feed_Mm _eMC_MOVE_MODE _mcVelocity Mv_Feed_FeedDis LREAL 500 0 Mv_Feed_FeedVel LREAL 500...

Page 297: ...ON for axis 0 if process data communications are active and normal IF StartPg TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TRUE AND _EC_CommErrTbl MC_Axis000 Cfg NodeAddress FALSE THEN Pwr_En TRU...

Page 298: ...sy Pwr_Bsy Error Pwr_Err ErrorID Pwr_ErrID MC_Home HM Axis MC_Axis000 Execute Hm_Ex Done Hm_D Busy Hm_Bsy CommandAborted Hm_Ca Error Hm_Err ErrorID Hm_ErrID MC_MoveFeed MV_FEED Axis MC_Axis000 Trigger...

Page 299: ...RUE when the Servo is ON CamTable0 BOOL FALSE TRUE when CamProfile0 is used for the cam table CamTable1 BOOL FALSE TRUE when CamProfile1 is used for the cam table Camin_InCam0 BOOL FALSE This variable...

Page 300: ...in_InCam0 Camin_Bsy CAMIN Execute Mv_Abs_Act CamTable1 CamTable0 CamTable1 5000 0 Camin_InCam1 CamProfile0 CamProfile1 MV_ABS CAMIN Command current position of axis 0 Camin_Act Camin_InSync Camin_InCa...

Page 301: ...MC_Axis001 Cfg NodeAddress Pwr1_Status Lock0 Lock1 Enable Status ErrorID PWR1 Error MC_Power Axis Axis Busy MC_Axis000 Pwr1_Bsy Pwr1_Err Pwr1_ErrID Pwr2_Status Enable Status ErrorID PWR2 Error MC_Pow...

Page 302: ...n eMC_DIRECTION _mcPositiveDirection BufferMode 1 2 3 4 5 6 7 IF MC_Axis000 Cmd Pos LREAL 5000 0 THEN CamTable0 BOOL TRUE CamTable1 BOOL FALSE ELSE CamTable0 BOOL FALSE CamTable1 BOOL TRUE END_IF CamT...

Page 303: ...mIn_Index CamIn_Bsy CamIn_Act CamIn_Ca CamIn_ErrID CamIn_InSync CamIn_Eop CamIn_Err Execute CamIn_InCam1 Error ErrorID CommandAborted CAMIN Slave Busy MC_CamIn Master Direction Active MC_Axis000 Refer...

Page 304: ...o TRUE InitFlag TRUE END_IF When StartPg is TRUE the Servo is turned ON for axis 0 if process data communications are active and normal IF StartPg TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TRU...

Page 305: ...If CamTable0 is TRUE during absolute positioning then the instance that uses CamProfile0 for the cam table is executed If InCam is TRUE Execute is changed to FALSE IF Mv_Abs_Act TRUE AND CamTable0 TRU...

Page 306: ...in_SSc MasterOffset Camin_MO SlaveOffset Camin_SO ReferenceType Camin_RT Direction Camin_Dir InCam Camin_InCam1 InSync Camin_InSync EndOfProfile Camin_EOP Index Camin_Index Busy Camin_Bsy Active Camin...

Page 307: ...D MC_Home for axis 1 HM2 Axis MC_Axis001 Execute Hm2_Ex Done Hm2_D Busy Hm2_Bsy CommandAborted Hm2_Ca Error Hm2_Err ErrorID Hm2_ErrID MC_MoveAbsolute MV_ABS Axis MC_Axis000 Execute Mv_Abs_Ex Position...

Page 308: ...ult level error for axis 0 MC_Axis001 _sAXIS_REF This is the Axis Variable for axis 1 MC_Axis001 MFaultLvl Active BOOL FALSE TRUE when there is a minor fault level error for axis 1 MC_Axis002 _sAXIS_R...

Page 309: ...2 The variable is used in ST programming StartPg BOOL FALSE When StartPg is TRUE the Servo is turned ON if EtherCAT process data communica tions are active and normal Gearin_Ex BOOL FALSE This variabl...

Page 310: ...507 z Ladder Diagram Timing Chart Vel_InVel VEL GEARIN Execute Gearin_InGear Gearin_Bsy Gearin_Act GEARIN CAMIN Execute Camin_InCam Camin_InSync Camin_Bsy Camin_Act CAMIN COMBINE Execute Combine_Bsy C...

Page 311: ...10 2 13 Using a Cam Profile Curve to Correct the Sync Start Position z ST Programming Vel_InVel VEL Gearin_Ex Gearin_InGear Gearin_Bsy Gearin_Act GEARIN Camin_Ex Camin_InCam Camin_InSync Camin_Bsy Ca...

Page 312: ...EC_CommErrTbl MC_Axis000 Cfg NodeAddress StartPg Lock3 _EC_PDSlavTbl MC_Axis003 Cfg NodeAddress _EC_CommErrTbl MC_Axis003 Cfg NodeAddress When StartPg is TRUE the status of process data communications...

Page 313: ...MC_Axis001 _eMC_REFERENCE_TYPE _mcCommand LREAL 0 0 LREAL 0 0 UINT 10 1 UINT 10 1 Vel_InVel GearIn_Ca GearIn_Err GearIn_ErrID GearIn_Bsy GearIn_Act Execute CamIn_InCam Error ErrorID CommandAborted CAM...

Page 314: ...CombineAxes Combine Axes instruction are set Combine_Cm _eMC_COMBINE_MODE _mcAddAxes Combine_RefMas _eMC_REFERENCE_TYPE _mcLatestCommand Combine_RefAux _eMC_REFERENCE_TYPE _mcLatestCommand The Input P...

Page 315: ...andler END_IF If the Servo is ON for axis 0 and home is not defined the MC_Home instruction is executed for axis 0 IF Pwr1_Status TRUE AND MC_Axis000 Details Homed FALSE THEN Hm1_Ex TRUE END_IF If the...

Page 316: ...CommandAborted Hm4_Ca Error Hm4_Err ErrorID Hm4_ErrID MC_MoveVelocity VEL Axis MC_Axis000 Execute Vel_Ex Velocity Vel_Vel Acceleration Vel_Acc Deceleration Vel_Dec Direction Vel_Dir InVelocity Vel_In...

Page 317: ...ecute Gearin_Ex RatioNumerator Gearin_RatN RatioDenominator Gearin_RatD ReferenceType Gearin_RefTyp Acceleration Gearin_Acc Deceleration Gearin_Dec InGear Gearin_InGear Busy Gearin_Bsy Active Gearin_A...

Page 318: ...L FALSE TRUE when home is defined for axis 1 MC_Axis001 MFaultLvl Active BOOL FALSE TRUE when there is a minor fault level error for axis 1 CamProfile0 ARRAY 0 360 OF _sMC_CAM_REF This is the cam data...

Page 319: ...mples 10 10 2 14 Shifting the Phase of a Master Axis in Cam Motion z Ladder Diagram Timing Chart Phasing_D Phasing_Bsy PHASING Execute MC_Phasing Phasing_Act StartOn Camin_InSync Camin_InCam Camin_Bsy...

Page 320: ...Motion Control User s Manual W507 z ST Programming Phasing_D Phasing_Bsy Phasing_Ex MC_Phasing Phasing_Act StartOn Camin_InSync Camin_InCam Camin_Bsy Camin_Ex MC_CamIn MC_MoveVelocity Vel_InVel Vel_E...

Page 321: ...Cfg NodeAddress _EC_CommErrTbl MC_Axis000 Cfg NodeAddress StartPg Lock1 _EC_PDSlavTbl MC_Axis001 Cfg NodeAddress _EC_CommErrTbl MC_Axis001 Cfg NodeAddress When StartPg is TRUE the status of process d...

Page 322: ...g MasterOffset SlaveOffset MC_Axis001 CamProfile0 LREAL 20 0 LREAL 40 0 LREAL 1 0 LREAL 1 0 LREAL 0 0 BOOL True _eMC_STARTMODE _mcRelativePosition _eMC_DIRECTION _mcNoDirection _eMC_REFERENCE_TYPE _mc...

Page 323: ...n The Input Parameter Initialization Completed Flag is changed to TRUE InitFlag TRUE END_IF When StartPg is TRUE the Servo is turned ON for axis 0 if process data communications are active and normal...

Page 324: ...is in sync shifting the phase of the master axis is started IF StartOn TRUE AND Camin_InSync TRUE THEN Phasing_Ex TRUE END_IF MC_Power for axis 0 PWR1 Axis MC_Axis000 Enable Pwr1_En Status Pwr1_Statu...

Page 325: ...sing_Ps Velocity Phasing_Vel Acceleration Phasing_Acc Deceleration Phasing_Dec Done Phasing_D Busy Phasing_Bsy Active Phasing_Act CommandAborted Phasing_Ca Error Phasing_Err ErrorID Phasing_ErrID MC_C...

Page 326: ...Setting Value 0 The Modulo Minimum Position is set to 0 Homing Method Zero position preset A zero position preset is performed to define home Main Variables Used in the Programming Samples Variable na...

Page 327: ...ples 10 10 2 15 Changing the Actual Position during Velocity Control z Ladder Diagram Timing Chart Vel_Bsy Set_Pos_Bsy MC_Axis000 MC_SetPosition Set_Pos_D SET_POS Execute MC_MoveVelocity MC_Power Ve_I...

Page 328: ...CPU Unit Motion Control User s Manual W507 z ST Programming Vel_Bsy Set_Pos_Bsy MC_Axis000 MC_SetPosition Set_Pos_D Set_Pos_Ex MC_MoveVelocity Ve_InVel Vel_Ex Time Command current velocity Command cur...

Page 329: ...OS Set_Pos_Ca Set_Pos_Err Set_Pos_ErrID Set_PosD Done ErrorID Error Axis CommandAborted Execute MC_SetPosition Axis MC_Axis000 Pwr_Status Set_Pos_Bsy Busy Position LREAL 0 0 Relative ReferenceType Exe...

Page 330: ...data communications are not active the Servo is turned OFF IF StartPg TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TRUE AND _EC_CommErrTbl MC_Axis000 Cfg NodeAddress FALSE THEN Pwr_En TRUE ELSE...

Page 331: ...ity Control Velocity Vel_Vel Acceleration Vel_Acc Deceleration Vel_Dec Jerk Vel_Jrk InVelocity Vel_InVel Busy Vel_Bsy Active Vel_Act CommandAborted Vel_Ca Error Vel_Err ErrorID Vel_ErrID MC_SetPositio...

Page 332: ...the Sysmac Studio The range of the array is 0 to 360 in this sample 10 2 16 Changing a Cam Data Variable and Saving the Cam Table Main Variables Used in the Programming Samples Variable name Data typ...

Page 333: ...le z Ladder Diagram z ST Programming Timing Chart SaveCamtable SV_CAM Sv_Cam_Ex Write_Camdata WriteDone Sv_Cam_Bsy Sv_Cam_D _MC_COM Status CamTableBusy Camin_Ex Camin_Bsy Camin_Act Camin_InCam Camin_I...

Page 334: ...000 Cfg NodeAddress StartPg Lock1 _EC_PDSlavTbl MC_Axis001 Cfg NodeAddress _EC_CommErrTbl MC_Axis001 Cfg NodeAddress The Servo for axis 0 is turned ON if process data communications for axis 0 are act...

Page 335: ...mTableBusy FALSE THEN Sv_Cam_Ex TRUE END_IF Sv_Cam_Ex Sv_Cam_Ex Sv_Ca_TimeUp Sv_Cam_Disable Sv_Ca_CountUp Sv_Cam_Ca If Sv_Ca_TimeUp is TRUE Sv_Cam_Ex is changed to FALSE If Sv_Cam_Ex changes to FALSE...

Page 336: ...1_D Sv_Ca_TimeUp Vel_Bsy Busy Velocity LREAL 1000 0 Deceleration LREAL 0 0 Direction eMC_DIRECTION _mcPositiveDirection Acceleration LREAL 0 0 Jerk Continuous BOOL False BufferMode Sv_Cam_Disable PT T...

Page 337: ...0 if process data communications for axis 0 are active and normal If process data communications are not active the Servo is turned OFF IF StartPg TRUE AND _EC_PDSlavTbl MC_Axis000 Cfg NodeAddress TR...

Page 338: ...amProfile0 Index Distance REAL 0 5 END_IF END_FOR WriteDone TRUE WriteCamdata FALSE END_IF If homing is completed for axis 0 velocity control is executed IF Hm1_D TRUE THEN Vel_Ex TRUE END_IF If the c...

Page 339: ...for the MC_SaveCamTable instruction is completed Sv_Ca_CTD CD Sv_Cam_Disable LOAD Sv_Ca_CountLoad PV INT 3 Q Sv_Ca_CountUP If the changes to the cam data variable and saving the cam table are complet...

Page 340: ...Error Pwr2_Err ErrorID Pwr2_ErrID MC_Home for axis 0 HM1 Axis MC_Axis000 Execute Hm1_Ex Done Hm1_D Busy Hm1_Bsy CommandAborted Hm1_Ca Error Hm1_Err ErrorID Hm1_ErrID MC_Home for axis 1 HM2 Axis MC_Axi...

Page 341: ...Error CommandAborted SettingValue Busy ErrorID Execute WRITE1 MC_Write SettingValue Write1_Sv ParameterNumber Write1_Pn Target Target MC_Axis000 StartPg Write2_Bsy Write2_Ca Write2_Err Write2_ErrID W...

Page 342: ...IF If changing the setting of the In Position Check Time is completed the setting of the Positive Software Limit is changed IF Write1_D TRUE THEN Write2_Ex TRUE END_IF If changing the setting of the P...

Page 343: ...2 Target MC_Axis000 SettingValue Write2_Sv Execute Write2_Ex ParameterNumber Write2_Pn Done Write2_D Busy Write2_Bsy CommandAborted Write2_Ca Error Write2_Err ErrorID Write2_ErrID WRITE3 Target MC_Axi...

Page 344: ...to the cam data are completed It changes to TRUE when the changes to the cam data are completed Ladder Diagram InitFlag 1 2 3 4 5 StartPg 1 2 3 4 5 6 7 WriteCamData _MC_COM MFaultLvl Active EN FaultHa...

Page 345: ...es to the cam data variable are completed WriteDone is changed to TRUE IF StartPg TRUE AND WriteCamData TRUE THEN FOR Index UINT 10 100 TO UINT 10 109 DO PhaseData PhaseData REAL 1 0 DistanceData Dist...

Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...

Page 347: ...and countermeasures for error indications and error diagnosis and countermeasures for operating conditions 11 1 Overview of Errors 11 2 11 1 1 How to Check for Errors 11 3 11 1 2 Errors Related to th...

Page 348: ...heck for errors that have occurred and find corrections for them This manual describes the errors that originate in the Motion Control Function Module Refer to the NJ series Troubleshooting Manual Cat...

Page 349: ...ng status Troubleshooter of the Sysmac Studio You can check for current Controller errors a log of past Controller errors error sources error causes and corrections Checking with the Troubleshooter of...

Page 350: ...m defined variables for motion control to check for errors that have occurred in the Motion Control Function Module z Error Status Variables You can check for errors in each function module of the NJ...

Page 351: ...n Control Function Module or they can occur in EtherCAT com munications which are used to connect to the Servo Drives and other slaves Inside MC Function Module EtherCAT Master Function Module Built i...

Page 352: ...atus variable shows the error Event Levels Event level of the error Operation Major fault All NJ series Controller control operations stop for errors in this event level Partial fault All control oper...

Page 353: ...Positive Software Limit Exceeded Negative Software Limit Exceeded In position Check Time Exceeded Following Error Limit Exceeded Immediate Stop Input Positive Limit Input Detected Negative Limit Input...

Page 354: ...op Instruction Executed Home Undefined during Coordinated Motion Axes Group Composition Axis Error Other execution errors for motion control instructions Observation Velocity Warning Acceleration Warn...

Page 355: ...r in the Servo Drive and the error code z Error Notification When the Motion Control Function Module detects an error a Slave Error Detected minor fault level error 742F0000 hex occurs At this point t...

Page 356: ...rogram or Controller Configurations and Setup are not correct because the power supply to the Controller was interrupted or communications with the Sysmac Studio were disconnected during a down load o...

Page 357: ...s not fin ished within two control periods The processing load in the pri mary periodic task is too heavy page 11 24 14630000 hex Cam Table Save Error Saving a cam table to a file failed Saving a cam...

Page 358: ...negative limit input signal was detected The negative limit input signal is not connected correctly or the logic setting for the negative limit input is wrong page 11 30 64560000 hex Illegal Follow i...

Page 359: ...r that outputs the interrupt signal has failed page 11 33 74240000 hex Homing Opposite Direction Limit Input Detected The limit signal in the direction oppo site to the homing direction was detected d...

Page 360: ...g location The contact logic of the home input signal or limit signal is not correct The home input signal output device or limit sensor failed page 11 36 742A0000 hex Home Input Hom ing Direction Lim...

Page 361: ...position for the MC_TouchProbe Enable External Latch instruction An underflow occurred for the latched position for the MC_TouchProbe Enable Exter nal Latch instruction page 11 40 74360000 hex Master...

Page 362: ...for the master axis of a synchro nized instruction page 11 43 743B0000 hex Auxiliary Axis Position Read Error The synchronized instruction was not executed because an error occurred in the position of...

Page 363: ...n exceeded the valid range It under flowed In Linear Mode the command position when converted to pulses exceeded the lower limit of signed 40 bit data page 11 48 64540000 hex Actual Posi tion Overflow...

Page 364: ...d so it was changed to Buffered because the profile could not be created Blending was specified for an interpolation instruction but based on the results of profile creation this was changed to Buffer...

Page 365: ...starts 11 2 2 Error Descriptions Controller Error Descriptions Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Source Give...

Page 366: ...oject from the Sysmac Stu dio If attached information is registered cycle the power supply to the Controller and then implement the above correction Do not turn OFF the power supply to the Controller...

Page 367: ...failed Replace the CPU Unit and perform homing to define home None Attached information None Precautions Remarks None Event name Motion Control Parameter Setting Error Event code 14610000 hex Meaning...

Page 368: ...hed information None Precautions Remarks None Event name Required Process Data Object Not Set Event code 34600000 hex Meaning The object that is required for the axis type is not allocated to PDO Sour...

Page 369: ...ves set the axis type to a virtual axis when using an axis in the program Attached information None Precautions Remarks None Event name Network Configuration Information Missing for Axis Slave Event c...

Page 370: ...ion Control Period Exceeded Event code 74200000 hex Meaning Processing for the primary periodic task was not finished within two control periods Source Motion Control Function Module Source details MC...

Page 371: ...Source details Axis Detection timing During instruc tion execution Error attributes Level Minor fault Recovery Error reset Log category System Effects User program Continues Operation Operation is no...

Page 372: ...L Axis Minor Fault Occurrence Cause and correction Assumed cause Correction Prevention An Immediate Stop instruction was executed Attached information None Precautions Remarks None Event name Axes Gro...

Page 373: ...easures are not required Attached information None Precautions Remarks Whenever you change the positive software limit setting make sure that the new setting is safe Event name Negative Software Limit...

Page 374: ...the cause of poor following performance or oscillation vibration in the positioning operation as much as possible Attached information None Precautions Remarks None Event name Following Error Limit E...

Page 375: ...autions Remarks You must turn OFF the immediate stop input signal before you reset the error Event name Positive Limit Input Detected Event code 644A0000 hex Meaning The positive limit input turned ON...

Page 376: ...ve limit sig nal connection and logic setting for the negative limit input are correct Attached information None Precautions Remarks None Event name Illegal Following Error Event code 64560000 hex Mea...

Page 377: ...code 64580000 hex Meaning It was not possible to correctly restore the current position from the absolute encoder information that was saved when power was interrupted Source Motion Control Function M...

Page 378: ...a logical axis and home became undefined during axes group motion or while decelerating to a stop Correct the slave communications error and define home None A slave for a logical axis left the net w...

Page 379: ...rrupt signal for the instruction where this error occurred None Attached information None Precautions Remarks None Event name Homing Opposite Direction Limit Input Detected Event code 74240000 hex Mea...

Page 380: ...t signal sensors homing settings and homing start position so that a limit input is not reached The input signal sensor wiring is incorrect or the sensor is faulty Correct the wiring of the input sign...

Page 381: ...variables Variable Data type Name _MC_AX MFaultLvl Active BOOL Axis Minor Fault Occurrence Cause and correction Assumed cause Correction Prevention The wiring of the home proximity sig nal or limit s...

Page 382: ...sensor or limit sensor failed Replace the home proximity sensor or limit sensor Attached information None Precautions Remarks None Event name Home Input Homing Opposite Direction Limit Input Detected...

Page 383: ...t sen sor The home input signal output device or limit sensor failed Replace the home input signal output device or limit sensor Attached information None Precautions Remarks None Event name Invalid H...

Page 384: ...the homing opera tion Make sure that the home signal is detected before a limit signal Also check to make sure there are no wir ing problems with the home input Attached information None Precautions...

Page 385: ...User program Continues Operation If an immediate stop is performed for one of the composi tion axes operation will follow the setting of the Axes Group Stop Method Selection Otherwise an interpolated...

Page 386: ...ration The axis decelerates to a stop The Enable External Latch instruction cannot retrieve the latch position System defined variables Variable Data type Name _MC_AX MFaultLvl Active BOOL Axis Minor...

Page 387: ...el Minor fault Recovery Error reset Log category System Effects User program Continues Operation The axis decelerates to a stop System defined variables Variable Data type Name _MC_AX MFaultLvl Active...

Page 388: ...hat an error does not occur For an OMRON G5 series Servo Drive the actual current velocity was not reduced to 10 or less of the maximum velocity within 10 seconds for three consecutive periods when th...

Page 389: ...d variable for the EtherCAT master of the master axis is FALSE investigate the error in the master axis and remove the cause If you execute synchronized instruc tions after you turn ON the power suppl...

Page 390: ...ected Check the slave of the auxiliary axis and reconnect it if it was discon nected Make sure that the slave of the auxil iary axis is not disconnected during execution of a synchronized instruc tion...

Page 391: ...ove the cause of poor following performance in the positioning opera tion much as possible Attached information None Precautions Remarks None Event name Velocity Warning Event code 644D0000 hex Meanin...

Page 392: ...when the acceleration warning value is exceeded Preventative measures are not required Attached information None Precautions Remarks None Event name Deceleration Warning Event code 644F0000 hex Meani...

Page 393: ...The goal is to enable detecting when the torque warning value is exceeded Preventative measures are not required Attached information None Precautions Remarks None Event name Negative Torque Warning E...

Page 394: ...the converted number of pulses does not exceed the range of signed 40 bit data Attached information None Precautions Remarks None Event name Command Position Underflow Event code 64530000 hex Meaning...

Page 395: ...ake sure that the converted number of pulses does not exceed the range of signed 40 bit data Allow some lee way Attached information None Precautions Remarks None Event name Actual Position Underflow...

Page 396: ...information Attached information 1 Drive warning code Precautions Remarks None Event name Cannot Execute Save Cam Table Instruction Event code 743C0000 hex Meaning You cannot save a cam table to a fi...

Page 397: ...n Use rapid acceleration deceleration Blending is changed to Buffered if you do not want to change to Buffered operation Blending was specified but the target position was already reached so it was ch...

Page 398: ...ibutes Level Information Recovery Log category System Effects User program Continues Operation Not affected System defined variables Variable Data type Name None Cause and correction Assumed cause Cor...

Page 399: ...e Controller Is the ambient temperature higher than the ambient operating temperature in the specifications Is the ambient area humid due to moisture in the air use of water etc Does the ambient air c...

Page 400: ...or does not lock The MC Function Module does not output operation commands to the Servo Drive Make sure that you exe cute the MC_Power instruction Correct the program Servo Drive setting error Check t...

Page 401: ...range is too narrow Increase the Servo Drive gain Increase the in position range Homing approach velocity is too high Check the homing approach velocity Lower the homing approach velocity of the MC F...

Page 402: ...otor output shaft with the motor power line disconnected because the dynamic brake may be applied Replace the Servomotor Broken Servomotor wind ing Use a tester to check the resistance between phases...

Page 403: ...al noise Mechanical vibration Check the moving parts of the machine for intrusion of foreign matter dam age deformation and loosening Correct the problem Insufficient adjustment of the Servo Drive gai...

Page 404: ...ce is located nearby Isolate the Controller from any nearby welders inverters etc Mechanical shift Check if dimensional shifts accumulated Mark the mechanical connections to check for shifting Securel...

Page 405: ...1 Connecting the Servo Drive A 2 A 1 1 Wiring the Servo Drive A 2 A 1 2 Servo Drive Settings A 2 A 2 Connecting to Encoder Input Terminals A 11 A 2 1 Wiring to Encoder Input Terminals A 11 A 2 2 Setti...

Page 406: ...R88D KN ECT R unit version 1 0 Servo Drives support only position control Cyclic Synchronous Position Control Mode You can use them for applications that do not require velocity control Cyclic Synchr...

Page 407: ...No I576 for details on backlash compensation Signal name Input signal Immediate stop input Servo Drive general purpose input 1 IN1 pin 5 on connector CN1 NC Positive limit input Servo Drive general pu...

Page 408: ...ion If you use the recommended Servo Drives OMRON R88D KN ECT version 2 1 or higher then it is not necessary to change the default PDO map on the Sysmac Studio PDO Mapping RxPDO 1704 hex Controlword 6...

Page 409: ...e PDOs on the Sysmac Studio z Output Settings Controller to Servo Drive The input settings apply to the command data that is sent from the MC Function Module to the Servo Drive The default settings in...

Page 410: ...00 0 Modes of operation This data is required to change the control mode This object is necessary to change to a control mode other than Cyclic Synchronous Position Control Mode for the MC_SyncMoveVel...

Page 411: ...l and other instructions Normally set 6077 hex Torque actual value Modes of operation display 6061 hex 00 0 Modes of oper ation display Shows the operation mode This object is necessary to change to a...

Page 412: ...input signals of the Servo Drive Touch probe position 2 posi tion value 60BC hex 00 0 Touch probe pos2 pos value The latched position for touch probe 2 This object is required for the touch probe func...

Page 413: ...ts for an OMRON G5 series Servo Drive External Latch Input 2 60FD hex 00 18 Digital inputs Shows the status of the signal that is used for external latch input 2 Set Bit 18 External Latch Input 2 of 6...

Page 414: ...0 hex Software Limit Function 0003 hex Disable the software limits in both directions 3758 hex 00 hex Latch Trigger Selection 0100 hex Touch probe1 External latch signal 1 Touch probe2 External latch...

Page 415: ...onal Information Only the OMRON GX EC0211 EC0241 can be used for encoder axes of EtherCAT slaves Unit version 1 0 of the GX EC0211 EC0241 can also be used for encoder axes but they do not support the...

Page 416: ...Input Terminals GX EC0211 EC0241 version 1 1 or higher then it is not necessary to change the default PDO map on the Sysmac Studio PDO Mapping RxPDO 1700 hex Channel 1 Instruction Bits 4020 hex 01 hex...

Page 417: ...n it is not necessary to change the default relationships between the functions and process data on the Sysmac Studio z Output Settings Controller to Servo Drive The input settings apply to the comman...

Page 418: ...t the left for each channel Touch probe posi tion 1 position value 4012 hex 01 0 Latch Value A 4012 hex 02 0 Latch Value A This is the latched position for latch 1 Store the values of latch positions...

Page 419: ...A variable that can be accessed only from the POU in which it is defined Local variables include internal variables input variables output variables in out vari ables and external variables download...

Page 420: ...ordinated control Controlling the motion of more than one axis such as linear interpolation and circular interpolation You specify an axes group to specify the axes to coordinate auxiliary functions f...

Page 421: ...ill form an S curve for acceleration and deceleration Jerk is also called jolt surge and lurch A 3 3 EtherCAT Communications Term Description CAN application protocol over Ether CAT CoE A CAN applicat...

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 424: ...rs 3 18 5 20 list 5 20 axes group states 6 6 Deceleration Stopping 6 7 Error Deceleration Stopping 6 6 6 7 Group Standby 6 7 Moving 6 7 Axes Group Status 6 25 Axes Group Stop Method 5 23 Axes Group Us...

Page 425: ...de 6 20 Cyclic Synchronous Velocity CSV Control Mode 6 20 cyclic synchronous velocity control 9 24 D data types 6 16 deceleration rate changing 9 38 deceleration stop of command value 9 8 Deceleration...

Page 426: ...ity 5 11 Maximum Negative Torque Limit 5 13 maximum number of cam data 9 14 Maximum Positive Torque Limit 5 13 Maximum Velocity 5 11 MC Common Error Status 11 4 MC Common Errors 11 6 MC Common Minor F...

Page 427: ...n Observation Occurrence 6 18 _MC_COM Obsr Code MC Common Observation Code 6 18 _MC_COM PFaultLvl Active MC Common Partial Fault Occurrence 6 18 _MC_COM PFaultLvl Code MC Common Partial Fault Code 6 1...

Page 428: ...ion Module 2 2 PLCopen 1 2 Position Count Settings 5 13 positioning gear operation 9 12 positions 6 14 9 26 types 9 26 Positive Direction 6 20 Positive Limit Input 6 20 Positive Software Limit 5 13 Po...

Page 429: ...que command changing 9 39 torque limit 9 66 transition disabled 9 60 Transition Modes 9 60 travel distance changing 9 38 trial operation 4 2 Troubleshooter 11 4 troubleshooting 11 4 U Unit Conversion...

Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...

Page 431: ...nt or addition to the above warranty See http www omron247 com or contact your Omron representative for pub lished information 14 Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SP...

Page 432: ...rasil 55 11 2101 6300 www omron com br OMRON ARGENTINA SALES OFFICE Cono Sur 54 11 4783 5300 OMRON CHILE SALES OFFICE Santiago 56 9 9917 3920 OTHER OMRON LATIN AMERICA SALES 54 11 4783 5300 OMRON INDU...

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