Omron NJ501-1300, User Manual

Page: 132 / 432

6 Motion Control Programming
6-10
NJ-series CPU Unit Motion Control User’s Manual (W507)
Precautions for Correct Use Precautions for Correct Use
• Confirm that EtherCAT process data communications are active and normal before you exe-
cute motion control instructions.
Refer to
10-2-1 Monitoring EtherCAT Communications and Turning ON Servos for details.
• Write the user program so that Execute is FALSE during the first period in which the instruction
is executed.
The motion control instructions in the MC Function Module are function blocks that are unconditionally
executed. This section calls instructions that are executed according to the
Execute input variable "exe-
cute-type instructions" and instructions that are executed according to the Enable input variable
"enable-type instructions."
Precautions for Correct Use Precautions for Correct Use
The timing in the timing charts that are given in this manual may not necessarily be the same as
the timing displayed for data traces on the Sysmac Studio. Refer to the
NJ-series CPU Unit Soft-
ware User’s Manual (Cat. No. W501) for details on data tracing.
• The following timing chart shows the operation of the instruction when it is completed while 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 input variable Execute is TRUE. After
completion, the output variable Error will remain TRUE even if Execute changes to FALSE.
6-4-2 Execution Timing Charts
Execution condition Description
Execute variable These motion control instructions are executed when the input variable Execute to the
instruction changes to TRUE. These instructions will continue execution until one of the
following status occurs.
• The specified operation is completed.
• Another motion control instruction is executed and interrupts operation.
• The instruction is restarted when Execute changes from FALSE to TRUE again.
Values for the other input variables are input when Execute changes to TRUE.
Enable variable These motion control instructions are executed every period while the input variable
Enable to the motion control instruction is TRUE. As long as Enable is TRUE, the other
input variables are also input every period. However, MC_MoveJog input variables Veloc-
ity , Acceleration , and Deceleration are an exception to this rule. The values when Posi-
tiveEnable or NegativeEnable changes to TRUE are used for these input variables.
Timing Charts for Execute-type Instructions
Busy
Done
Execute
CommandAborted
Error