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9 Motion Control Functions
9-32
NJ-series CPU Unit Motion Control User’s Manual (W507)
You can read Axis Variables in the user program to monitor jerk.
If you want to specify a rotation direction, such as shortest way, using an index table, set the Count
Mode to Rotary Mode. Next, set the operation direction with the
Direction
input variable to the motion
control instruction for an absolute position. You can specify any target position that is within one ring
counter cycle and that is within the upper and lower limits of the ring counter. The
Direction
input vari-
able will be ignored when the Count Mode is set to Linear Mode. Positioning will be performed to the
target position.
The following table lists the different directions you can specify in the MC Function Module.
The following example illustrates when positioning is performed towards a target position of
−
20 when
the command current position is 50.
Additional Information
Moves in the same direction as the Current Direction specification if the travel distance is the
same in the positive and negative directions.
Monitoring Jerk
Variable name
Data type
Meaning
Function
_MC_AX[0-63].Cmd.Jerk
LREAL
Command Current
Jerk
This is the current value of the com-
mand jerk.
9-5-5
Specifying the Operation Direction
Direction
Operation
Shortest way
Motion starts in the direction where the command current position and the target posi-
tion are closer to each other.
Positive direction
Motion starts in the positive direction.
Negative direction
Motion starts in the negative direction.
Current direction
Motion starts in the same direction as the previous operation.
No direction specified
Motion starts in the direction that does not pass through the upper and lower limits of
the ring counter. With this direction specification, you can specify a target position that
exceeds the upper or lower limits of the ring counter. If that occurs, relative positioning
is performed using the difference between the target position and the command current
position as the target distance. This enables you to perform multi-turn positioning on
the ring counter.
Example for Shortest Way
0
Target position:
−
20
Moves in negative direction.
Target position:
−
20
Command current position:
50
Modulo minimum
position setting
value:
−
70
Modulo maximum
position setting
value: 100
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...