Omron NX-EC0112, User Manual

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8 Pulse Output Units
8 - 42 NX-series Position Interface Units User’s Manual (W524)
The NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) is written based on the
assumption that a G5-series Servo Drive or Motor is used. Some functions are not the same as when a
Pulse Output Unit is used.
When you refer to the above manual, keep in mind the following differences between when a G5-series
Servo Drive or Motor is used and when a Pulse Output Unit is used.
8-9-2 Precautions When Using the Pulse Output Unit
Function When using a G5-series Servo Drive When Using a Pulse Output Unit
Control mode • Position control
• Velocity control
• Torque control Position control
Positions that
can be man-
aged Command posi-
tion This is the command position for the
Servomotor. Command value for pulse output
Actual current
position
*1
This is the present rotation position of
the Servomotor.
*2
This is the position that results from
subtracting the following error accumu-
lated in the Servo Drive from the com-
mand position.
This is the number of output pulses (output
count value).
This is the pulse output count value for the
command value, so the actual current position
equals the command position.
The actual current position is delayed in
respect to the command position because the
pulse count that is actually output by the
Pulse Output Unit is returned. The unit is
pulses, so the decimal portion of the actual
current position is truncated.
However, these values may not match
depending on pulse unit rounding error in the
MC Function Module or when Pulse Output
Unit processing is stopped during a com-
mand.
Single-axis
position con-
trol Interrupt feeding This function performs position control
in Position Control Mode and uses the
interrupt input (latch input) that is built
into the Servo Drive to perform feeding.
This function performs position control in
Position Control Mode and uses the interrupt
input (latch input) that is built into the Pulse
Output Unit to perform feeding.
Single-axis
velocity control Cyclic synchro-
nous velocity
control This outputs velocity commands in
Velocity Control Mode. Cannot be used.
Single-axis
torque control Torque control This controls the motor torque in Torque
Control Mode. Cannot be used.
Single-axis
manual opera-
tion
Powering the
Servo (Servo
ON/OFF) This turns the power to the Servomotor
ON or OFF. This enables or disables pulse output.
You cannot use the MC Function Module to
control the power to the motor drive that is
connected to a Pulse Output Unit. Use a sep-
arate digital output and perform this type of
control from the user program.