Omron NJ501-1300, Руководство пользователя

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9 Motion Control Functions
9-46
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-6 Multi-axes Coordinated Control
This section describes the operation of multi-axes coordinated control. With the MC Function Module,
you can set an axes group in advance from the Sysmac Studio to perform interpolation control for mul-
tiple axes.
Multi-axes coordinated control performs a motion with multiple related axes together as a single group
to control the path of the target control object. The MC Function Module treats all axes that perform
coordinated operation as an axes group. Axes groups are set from the Sysmac Studio. In the user pro-
gram, turn ON the Servo for each axis and then enable the axes group that is going to perform the
multi-axes coordinated control. The purpose of multi-axes coordinated control is the coordinated opera-
tion of all axes belonging to the target axes group. Therefore, you cannot execute any single-axis oper-
ation motion control instructions on the axes in an enabled axes group. Furthermore, if any error occurs
for any axis in an axes group, all axes in the axes group will stop according to the setting of the Axis
Group Stop Method group axes parameter.
The MC Function Module can perform linear interpolation with two to four axes or circular interpolation
with two axes.
Additional Information
For devices that require you to modify the grouping of axes in motion to perform interpolation
control, you must create multiple axes groups that include the axes to modify from the Sysmac
Studio beforehand. After completing this step, you can execute by specifying the enabled axes
groups from the user program during operation.
For details on axes groups, refer to 3-3 Axes Groups .
9-6-1 Outline of Operation
Coordinate conversion
Profile
Output 3
Output 2
Output 1
EtherCAT
slave
Command
position 3
Command
position 2
Command
position 1
Commands
Actual
position 3
Actual
position 2
Actual
position 1
Feedback
Input 3
Input 2
Input 1
EtherCAT
slave
Multi-axes position
processing