Omron NJ501-1300, User Manual

Page: 204 / 432

9 Motion Control Functions
9-22
NJ-series CPU Unit Motion Control User’s Manual (W507)
The phase of the master axis as viewed from the slave axis can be shifted for the current instruction.
The shift amount as viewed from the slave axis is a relative amount. During synchronization, the slave
axis will synchronize to the relative distance of the master axis. You can execute the MC_Phasing (Shift
Master Axis Phase) instruction to shift the phase for a synchronized control instruction.
You can specify the phase 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 synchronized control instructions for which a
master axis phase shift can be applied, refer to the MC_Phasing (Shift Master Axis Phase) instruction
in the
NJ-series Motion Control Instructions Reference Manual (Cat. No. W508).
9-2-8 Master Axis Phase Shift
Execute
Busy
Active
Done
Command Aborted
Error
ErrorID
16#0000
Time
Time
Time
Actual master
axis position
Slave axis position
Main axis velocity
as viewed from the
slave axis
Main axis position
as viewed from the
slave axis
Slave axis
position when
phase offset is 0