Omron NJ501-1300, Руководство пользователя

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9-7
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-1 Sing
le-axis P
o
s
ition
Co
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9
9-1-5
S
to
pping
Use the MC_Stop or MC_ImmediateStop instruction to stop single-axis operation.
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MC_Stop Instruction
You can specify the deceleration rate and jerk for single-axis control and synchronized control to
decelerate to a stop. Specify a deceleration rate of 0 to send a command that immediately stops the
Servo Drive. Other operation commands are not acknowledged while decelerating to a stop for this
instruction and while the input variable
Execute is TRUE.
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MC_ImmediateStop Instruction
You can perform an immediate stop for single-axis control or synchronized control functions. You can
also execute this instruction on axes that are enabled in an axes group.
For details, refer to the MC_Stop and MC_ImmediateStop instructions in the NJ-series Motion Control
Instructions Reference Manual (Cat. No. W508).
Additional Information
When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE, the
MC Function Module immediately stops the command value and turns OFF the Servo. When the
Servo is turned OFF, the Servo Drive will operate according to the settings in the Servo Drive.
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Stopping for Errors during Single-axis Operation
When an error occurs during single-axis operation, the axis will stop immediately or decelerate to a
stop depending on the error. Refer to
11-2-2 Error Descriptions for details on the stop method for
each error.
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Stopping for a Software Limit
To stop for a software limit, set the Software Limits axis parameter. You can select from the following
stop methods for the software limits.
• Enabled for command position. Decelerate to a stop.
• Enabled for command position. Immediate stop.
• Enabled for actual position. Decelerate to a stop.
• Enabled for actual position. Immediate stop.
Refer to 9-8-5 Software Limits for details on software limits.
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Stopping Due to Excessively Long Motion Control Period
If motion control processing does not end within two periods, it is considered to be an excessive
control period. Control will be stopped immediately.
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Errors That Cause the Servo to Turn OFF
An immediate stop is performed if an error occurs that causes the Servo to turn OFF. When the
Servo is turned OFF, the Servo Drive will operate according to the settings in the Servo Drive.
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Stopping Due to Start of MC Test Run
All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.
Stopping with Motion Control Instructions
Stopping Due to Errors or Other Problems