Omron NX-EC0112, Руководство пользователя

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1 Features and System Configuration
1 - 6 NX-series Position Interface Units User’s Manual (W524)
This section describes the operation of the Position Interface Units when you use them together with an
NJ/NX-series Controller and the MC Function Module.
You can use the Position Interface Units together with an NJ/NX-series Controller and the MC Function
Module to perform the following control operations.
• Positioning for motor drives with pulse inputs
• Motion control based on position information obtained from an encoder
The MC Function Module in the NJ/NX-series Controller is used to perform motion control for encoders
or motor drives connected to the Position Interface Units.
You can connect the Position Interface Units through an EtherCAT Coupler Unit to the built-in EtherCAT
port on an NJ/NX-series Controller to use the MC Function Module.
I/O control for the motion control functions that are executed by the MC Function Module is performed
through cyclic communications with the NJ/NX-series Controller.
The operation is as follows:
• When motion control instructions are executed in the user program, the MC Function Module inter-
prets the resulting commands.
• The MC Function Module then performs motion control processing at a fixed period based on the
results of the command interpretation. It generates command values to send to the Pulse Output
Unit.
• The EtherCAT Master Function Module sends the command values with PDO communications dur-
ing each process data communications cycle of EtherCAT communications.
• The Pulse Output Unit outputs the appropriate number and frequency of pulses based on the com-
mand values received during each process data communications cycle of EtherCAT communica-
tions.
• The Incremental Encoder Unit and SSI Input Unit send the current count values of the encoders to
the CPU Unit during each process data communications cycle of EtherCAT communications.
1-1-3 Operation of Position Interface Units
Command
interpretation
Data processing
Encoder
count value
Pulse
output Pulse
input SSI communi-
cations data
E E
Drive with pulse
input
Encoder SSI encoder
M
Stepper motor or
other compatible
motor
I/O data is updated and motion control processing is
performed in the process data communications cycle.
Position Interface Units
User program
NJ/NX-series CPU Unit
MC Function
Module
Motion
control
instructions
EtherCAT Master
Function Module
Communications
processing
EtherCAT
communications
Communi-
cations
processing Command
interpretation
Pulse
generation
Pulse output Pulse input
Counting SSI
communi-
cations
processing
Counting
Position
commands,
velocity
commands,
etc.
EtherCAT
Coupler Unit Pulse
Output Unit
Incremental
Encoder Input
Unit
SSI Input
Unit