Omron NJ501-1300, User Manual

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3 Configuring Axes and Axes Groups
3-2
NJ-series CPU Unit Motion Control User’s Manual (W507)
3-1 Axes
This section describes the axes that are used in a MC Function Module.
In a motion control system, the targets of motion control are called axes. An axis can be an actual
Servo Drive or encoder connected using EtherCAT or it can be a virtual Servo Drive or encoder within
the MC Function Module.
The MC Function Module supports the axis types that are given in the following table.
*1 The applicable Servo Drives are the OMRON G5-series Servo Drives with Built-in EtherCAT Communications.
*2 The applicable Encoder Input Terminals are the OMRON GX-series GX-EC0211/EC0241 Encoder I/O Termi-
nals.
*3 Virtual encoder axes are used in combination with motion control instructions that update the actual position of
the virtual encoder axis. Counting cannot be used with versions of the MC Function Module that do not support
these instructions.
The following elements are related to the axes of the MC Function Module.
These elements exist for each axis. The NJ501-1300 has axis parameters for 16 axes, the NJ501-1400
has axis parameters for 32 axes, and the NJ501-1500 has axis parameters for 64 axes.
3-1-1 Introduction to Axes
Axis type Description
Servo axis
These are the axes used by the EtherCAT slave Servo Drives
*1
. They are
assigned to actual Servo Drives. One Servomotor is used as one axis.
Virtual servo axis These are virtual 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 EtherCAT slave encoder input terminal
*2
.
Encoder axes are assigned to actual encoder input terminals. If one
encoder input terminal contains two encoder inputs, the individual encoder
inputs will act as one axis.
Virtual encoder axis These axes are used virtually for encoder operation. A virtual encoder axis
is used temporarily in place of an encoder axis when there is no physical
encoder.
*3
Configuration element Description Page
Axis parameters The axis parameters set the maximum velocity, jogging, homing,
and other items for the axes operations controlled by the MC Func-
tion Module. Use the Sysmac Studio to set the axis parameters. 3-3
Axis Variables Axis Variables are system-defined variables for the actual position,
error information, and other monitor information for axes controlled
by the MC Function Module. Axis Variables are created when you
add an axis from the Multiview Explorer of the Sysmac Studio. The
names of the Axis Variables (called the Axis Variable names) are set
here. 3-5
Specifying axes in the
user program In the user program, motion control is implemented with motion con-
trol instructions. Motion control instructions that perform single-axis
control are used to create axis commands. To control an axis with
axis commands, specify the Axis Variable name of the system-
defined variable or the Axis Variable name that was set with the Sys-
mac Studio for the
Axis in-out variable of the instruction.
3-7