Omron NJ501-1300, Руководство пользователя

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9-3
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-1 Sing
le-axis P
o
s
ition
Co
ntr
o
l
9
9-1-1
Outline of Oper
ation
9-1 Single-axis Position Control
The MC Function Module can be connected to OMRON G5-series Servo Drives with built-in EtherCAT
communications to implement position control, velocity control, and torque control. This section
describes positioning operation for single axes.
The single-axis control function of the MC Function Module consists of control for motion profile com-
mands and synchronized control. There are three Control Modes for motion profile commands: position
control, velocity control, and torque control. In synchronized control, the slave axis (i.e., the axis being
controlled) operates in a synchronized relationship to the master axis, as expressed by a cam profile
curve or a gear ratio. Manual operations such as jogging and homing are also supported.
Note You can use the command position or actual position as the input to the synchronization processing.
9-1-1 Outline of Operation
+
I/O processing for EtherCAT slave
EtherCAT
slave
Commands
Command
position
External
output
Command
torque
Command
velocity
Synchronization
processing
Phasing
Actual
position
Feedback
Input
EtherCAT
slave
External
input
Position processing
Velocity processing
Torque processing
Output