Omron NX-EC0112, Руководство пользователя

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8 Pulse Output Units
8 - 8 NX-series Position Interface Units User’s Manual (W524)
The following figure shows an outline of motor control performed in Cyclic Synchronous Position Con-
trol Mode.
In Cyclic Synchronous Position Control Mode, motor position control is performed by sending the motor
target position on a fixed synchronization cycle. The result of that operation is monitored as the position
actual value.
The Controlword, Statusword, Command Position, and Command Present Position that are used as I/O
data by the Pulse Output Unit correspond to the following control data used in control execution: Con-
trolword, Statusword, Target Position, and Position Actual Value.
Additional Information
The Pulse Output Unit uses a control method equivalent to the Cyclic Synchronous Position
Control Mode in the CiA402 drive profile, but it only controls pulse output. The Unit cannot per-
form processing to control the main power or turn ON the Servo as is the case for Servo Drives
that use the complete CiA402 drive profile.
To enable pulse output, you must turn ON the Servo and enter the Operation Enabled state
from the user program.
8-3-2 Cyclic Synchronous Position Control Mode
I/O data of Pulse
Output Unit
Controlword
Controlword
Target position
Position actual value
Control command
Statusword Statusword
Control status
Command position
Command present position
Refreshed on
a fixed period.
Position
control
processing
Control from position
control processing to
motor drive and
other motor control
(not shown in the
figure)
M
Motor