Omron NJ501-1300, Руководство пользователя

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A-17
Appendices
NJ-series CPU Unit Motion Control User’s Manual (W507)
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A-3-3 EtherCA
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following error The difference between the command current position and actual current position.
There is a following error only in position control mode. (Other modes do not have a
command current position.)
The following error is also called the following error counter value and the remaining
pulses.
following error reset Setting the following error to zero.
cam profile curve A curve that shows the relationship between phases and displacements in a cam
operation.
The cam profile curve is created on the Sysmac Studio.
cam data Data made up of phases (master axis) and displacements (slave axis) for cam oper-
ation.
cam data variable A structure array variable for cam data. It contains phases and displacements and is
defined as a structure array.
cam table A data table that contains cam data.
Use the Sysmac Studio to download the cam profile curves that you created with the
Cam Editor to the CPU Unit to save them as cam tables in the non-volatile memory
in the CPU Unit.
override A function that allows the operator to temporarily change programmed values during
operation.
jerk The rate of change in the acceleration or deceleration rate.
If you specify the jerk, the velocity graph will form an S-curve for acceleration and
deceleration.
Jerk is also called jolt, surge, and lurch.
A-3-3 EtherCAT Communications
Term Description
CAN application protocol over Ether-
CAT(CoE) A CAN application protocol service implemented on EtherCAT.
CAN in Automation(CiA) CiA is the international users’ and manufacturers’ group that develops and supports
higher-layer protocols.
EtherCAT Technology Group The ETG is a global organization in which OEM, End Users and Technology Provid-
ers join forces to support and promote the further technology development.
Object) An abstract representation of a particular component within a device, which consists
of data, parameters, and methods.
Object Dictionary A data structure addressed by Index and Subindex that contains description of data
type objects, communications objects and application objects.
Process Data Collection of application objects designated to be transferred cyclically or acyclically
for the purpose of measurement and control.
Process Data Object A process data (I/O data) object that exchanges data at regular periods with CoE.
Service Data Object CoE asynchronous mailbox communications where all objects in the object dictionary
can be read and written.
Receive PDO A process data object received by an EtherCAT slave.
Transmit PDO A process data object sent from an EtherCAT slave.
Device Profile A collection of device dependent information and functionality providing consistency
between similar devices of the same device type.
Term Description