7
Motion Control Concepts
Section 1-3
used. For details, refer to the DeviceNet Configurator Operation Manual
(W328).
The following OMRON Master Units can be used.
Note Some CPUs can control 16 Master Units and other CPUs can control 10.
1-3
Motion Control Concepts
The MC Unit offers the following types positioning control operations.
1.
Point-to-point control
2.
Continuous Path control
3.
Electronic Gearing
This section will introduce some of the commands and parameters as used in
the BASIC programming of the motion control application. Refer to
SECTION 6 BASIC Motion Control Programming Language for details.
Coordinate System
Positioning operations performed by the MC Unit are based on an axis coordi-
nate system. The MC Unit converts the position data from either the con-
nected Servo Driver or the connected encoder into an internal absolute
coordinate system.
The engineering unit which specifies the distances of travelling can be freely
defined for each axis separately. The conversion is performed through the
use of the unit conversion factor, which is defined by the UNITS axis parame-
ter. The origin point of the coordinate system can be determined using the
DEFPOS command. This command re-defines the current position to zero or
any other value.
A move is defined in either absolute or relative terms. An absolute move takes
the axis to a specific predefined position with respect to the origin point. A rel-
ative move takes the axis from the current position to a position that is defined
relative to this current position. The following diagram shows gives an exam-
CPU Unit
Master Unit
Remote I/O communications
Slave
Slave
MC Unit
Master Unit
Master Unit
Message
communications
Configurator
ISA Board
MC Unit
Applicable PC
Master Unit model
number
Mounting position
Max. number of Units
With
Configurator
Without
Configurator
CS1 Series
CS1-DRM21
CPU Rack or Expansion I/O Rack
(Classified as Special I/O Units)
16
1
C200HZ/HX/HG/HE
C200HW-DRM21-V1
CPU Rack or Expansion I/O Rack
(Classified as Special I/O Units)
10 or 16 (see
note)
1