Omron NJ501-1400, NJ501-1300, NJ501-1500 User Manual

Machine Automation Controller

NJ-series

CPU Unit
Motion Control

User’s Manual

NJ501-1300
NJ501-1400
NJ501-1500

CPU Unit

W507-E1-01

 OMRON, 2011

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.

Introduction

Thank you for purchasing an NJ-series CPU Unit.
This manual contains information that is necessary to use the Motion Control Function Module of an
NJ-series CPU Unit. Please read this manual and make sure you understand the functionality and per­formance of the NJ-series CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical sys­tems (an electrical engineer or the equivalent).

• Personnel in charge of introducing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of installing and maintaining FA systems.

• Personnel in charge of managing FA systems and facilities.

For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B3503.

Introduction

Applicable Products

This manual covers the following products.

• NJ-series CPU Units

• NJ501-1300

• NJ501-1400

• NJ501-1500

NJ-series CPU Unit Motion Control User’s Manual (W507)

1

Relevant Manuals

Relevant Manuals

There are three manuals that provide basic information on the NJ-series CPU Units: the NJ-series CPU
Unit Hardware User’s Manual, the NJ-series CPU Unit Software User’s Manual (this manual), and the
NJ-series Instructions Reference Manual.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu­dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.

Other manuals are necessary for specific system configurations and applications.
Read all of the manuals that are relevant to your system configuration and application to make the most
of the NJ-series CPU Unit.

Basic information

NJ-series User’s Manuals

Introduction to NJ-series Controllers

Setting devices and hardware

Using motion control

Using EtherCAT

Using EtherNet/IP

Using CJ-series Units

Software settings

Using motion control

Using EtherCAT

Using EtherNet/IP

Programming

Using motion control

Using EtherCAT

Using CJ-series Units

Programming error processing

Testing operation and debugging

Using motion control

Using EtherCAT

Using EtherNet/IP

Troubleshooting and managing
errors in an NJ-series Controller

NJ-series CPU Unit

Hardware User´s Manual

Use the
relevant
manuals for
references
according to
any error that
occurs.

NJ-series CPU Unit

Software User´s Manual

NJ-series Instructions

Reference Manual

NJ-series CPU Unit Motion

Control User´s Manual

NJ-series CPU Unit Built-in

EtherCAT Port User´s Manual

NJ-series Motion Control

Instructions Reference Manual

NJ-series CPU Unit Built-in

EtherNet/IP Port User´s Manual

NJ-series Troubleshooting Manual

CJ-series Special Unit Operation

Manuals for NJ-series CPU Unit

Maintenance

Using EtherCAT

Using EtherNet/IP

Using CJ-series Units

2

NJ-series CPU Unit Motion Control User’s Manual (W507)

Manual Configuration

NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

Section Description

Section 1
Introduction

Section 2
System Configuration

Section 3
Configuration Units

Section 4
Installation and Wiring

Section 5
Troubleshooting

Section 6
Inspection and Maintenance

Appendices

This section provides an introduction to the NJ-series Controllers and their features,
and gives the NJ-series Controller specifications.

This section describes the system configuration used for NJ-series Controllers.

This section describes the parts and functions of the configuration devices in the NJ­series Controller configuration, including the CPU Unit and Configuration Units.

This section describes where and how to install the CPU Unit and Configuration Units
and how to wire them.

This section describes the event codes, error confirmation methods, and corrections
for errors that can occur.

This section describes the contents of periodic inspections, the service life of the Bat­tery and Power Supply Units, and replacement methods for the Battery and Power
Supply Units.

The appendices provide the specifications of the Basic I/O Units, Unit dimensions,
load short-circuit protection detection, line disconnection detection, and measures for
EMC Directives.

Manual Configuration

NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

Section Description

Section 1
Introduction

Section 2
CPU Unit Operation

Section 3
I/O Ports, Slave Configuration, and
Unit Configuration

Section 4
Controller Setup

Section 5
Designing Tasks

Section 6
Programming

Section 7
Simulation, Transferring Projects to
the Physical CPU Unit, and Opera­tion

Section 8
CPU Unit Status

Section 9
CPU Unit Functions

Section 10
Communications Setup

Section 11
Example of Actual Application Pro­cedures

Section 12
Troubleshooting

Appendices

This section provides an introduction to the NJ-series Controllers and their features,
and gives the NJ-series Controller specifications.

This section describes the variables and control systems of the CPU Unit and CPU
Unit status.

This section describes how to use I/O ports, how to create the slave configuration
and unit configuration and how to assign functions.

This section describes the initial settings of the function modules.

This section describes the task system and types of tasks.

This section describes programming, including the programming languages and the
variables and instructions that are used in programming.

This section describes simulation of Controller operation and how to use the results
of simulation.

This section describes CPU Unit status.

This section describes the functionality provided by the CPU Unit.

This section describes how to go online with the CPU Unit and how to connect to
other devices.

This section describes the procedures that are used to actually operate an NJ-series
Controller.

This section describes the event codes, error confirmation methods, and corrections
for errors that can occur.

The appendices provide the CPU Unit specifications, task execution times, system­defined variable lists, data attribute lists, CJ-series Unit memory information, CJ­series Unit memory allocation methods, and data type conversion information.

NJ-series CPU Unit Motion Control User’s Manual (W507)

3

Manual Configuration

NJ-series CPU Unit Motion Control User’s Manual (Cat. No. W507)
(This Manual)

Section Description

Section 1
Introduction to the Motion Control
Function Module

Section 2
Motion Control Configuration and
Principles

Section 3
Configuring Axes and Axes Groups

Section 4
Checking Wiring from the Sysmac
Studio

Section 5
Motion Control Parameters

Section 6
Motion Control Programming

Section 7
Manual Operation

Section 8
Homing

Section 9
Motion Control Functions

Section 10
Sample Programming

Section 11
Troubleshooting

Appendices

This section describes the features, system configuration, and application flow for the
Motion Control Function Module.

This section outlines the internal structure of the CPU Unit and describes the config­uration and principles of the MC Function Module.

This section describes the concept of axes and axes groups, the settings for axes
that are required for the MC Test Run operations to function on the Sysmac Studio,
and the instructions for creating and configuring axes and axes groups using the Sys­mac Studio.

This section describes the MC Test Run operations of the Sysmac Studio. You can
use the MC Test Run operations to monitor sensor signals, check Servomotor wiring,
and more, all without any programming.

This section provides information on the axis parameters and axes group parameters
that are used for motion control.

This section provides the specifications of a motion control program and the operat­ing procedures that are required up through actual program development.

This section describes manual operation when the MC Function Module is used
together with an OMRON G5-series Servo Drive.

This section describes homing.

This section describes the motion control functions that are used when connected to
OMRON G5-series Servo Drives with built-in EtherCAT communications.

This section describes basic application methods for homing, error monitoring, and
other functions, and provides programming samples for absolute positioning, cam
operation, and other axis operations.

This section describes the items to check when problems occur in the MC Function
Module. It includes error diagnosis and countermeasures for error indications, and
error diagnosis and countermeasures for operating conditions.

The appendices describe settings and connection methods for OMRON G5-series
Servo Drive objects.

NJ-series Instructions Reference Manual (Cat. No. W502)

Section Description

Section 1
Instruction Set

Section 2
Instruction Descriptions

Appendices

4

This section provides a table of the instructions that are described in this manual.

This section describes instruction specifications in detail.

The appendices provide a table of error codes and other supplemental information to
use instructions.

NJ-series CPU Unit Motion Control User’s Manual (W507)

Manual Configuration

NJ-series CPU Unit Built-in EtherCAT Port User’s Manual
(Cat. No. W505)

Section Description

Section 1
Introduction

Section 2
Part Names and Slave Settings

Section 3
EtherCAT Communications

Section 4
EtherCAT Network Wiring

Section 5
Setting Up EtherCAT Communica­tions with the Sysmac Studio

Section 6
Process Data Communications and
SDO Communications

Section 7
System-defined Variables That Are
Related to the Built-in EtherCAT Port

Section 8
Example of Operations for EtherCAT
Communications

Section 9
Troubleshooting

Appendices

This section provides an overview of EtherCAT communications, describes the sys­tem configuration and specifications, and provides operating procedures.

This section provides the part names and describes the slave settings and Sysmac
device functions.

This section describes the different types of EtherCAT communications, EtherCAT
settings, and state transitions.

This section describes how to connect and wire an EtherCAT network.

This section describes how to set the network configuration information and how to
check EtherCAT communications from the Sysmac Studio.

This section describes the timing of communications, response times, and special
instructions for process data communications and SDO communications. It also pro­vides sample programming.

This section describes the system-defined variables that are related to the built-in
EtherCAT port.

This section provides a series of example operations for when an NJ-series CPU Unit
is connected to slaves.

This section describes the event codes, error confirmation methods, and corrections
for errors that can occur for EtherCAT communications. It also describes how to
replace slaves.

The appendices describe the relation of EtherCAT communications to overall CPU
Unit status, packet monitoring functions, and multi-vendor application.

NJ-series Motion Control Instructions Reference Manual
(Cat. No. W508)

Section Description

Section 1
Introduction to Motion Control
Instructions

Section 2
Variables and Instructions

Section 3
Axis Command Instructions

Section 4
Axes Group Instructions

Section 5
Common Command Instructions

Appendices The appendices describe the error codes that are generated by the instructions.

This section gives an introduction to motion control instructions supported by NJ­series CPU Units.

This section describes the variables and instructions for the Motion Control Function
Module.

This section describes the instructions that are used to perform single-axis control for
the MC Function Module.

This section describes the instructions to perform multi-axes coordinated control for
the MC Function Module.

This section describes the instructions that are used for both axes and axes groups.

NJ-series Troubleshooting Manual (Cat. No. W503)

Section Description

Section 1
Overview of Errors

Section 2
Error Troubleshooting Methods

Section 3
Error Tables

This section describes the errors that can occur on an NJ-series Controller, the oper­ation that occurs for errors, and methods to confirm errors.

This section describes how to handle errors.

This section lists all of the error events that can occur on NJ-series Controllers.

NJ-series CPU Unit Motion Control User’s Manual (W507)

5

Manual Configuration

Sysmac Studio Version 1 Operation Manual (Cat. No. W504)

Section Description

Section 1
Introduction

Section 2
Installation and Uninstallation

Section 3
System Design

Section 4
Programming

Section 5
Online Connections to a Controller

Section 6
Debugging

Section 7
Other Functions

Section 8
Reusing Programming

Section 9
Support Software Provided with the
Sysmac Studio

Section 10
Troubleshooting

Appendices

This section provides an overview and lists the specifications of the Sysmac Studio
and describes its features and components.

This section describes how to install and uninstall the Sysmac Studio.

This section describes the basic concepts for designing an NJ-series System with the
Sysmac Studio and the basic operating procedures.

This section describes how to create programs with the Sysmac Studio.

This section describes how to go online with a Controller.

This section describes how to debug the programs online on the Controller or debug
it offline with the Simulator.

This section describes Sysmac Studio functions other than system design functions.

This section describes how to reuse the programs that you create with the Sysmac
Studio.

This section describes the Support Software that is provided with the Sysmac Studio.

This section describes the error messages that are displayed when you check a pro­gram on the Sysmac Studio and how to correct those errors.

The appendices describe the following:
Driver Installation for Direct USB Cable Connection
Specifying One of Multiple Ethernet Interface Cards
Online Help
Simulation Instructions

6

NJ-series CPU Unit Motion Control User’s Manual (W507)

Manual Structure

Page Structure

The following page structure is used in this manual.

Manual Structure

Level 2 heading

Level 3 heading

A step in a procedure

Indicates a procedure.

Special information

Icons indicate
precautions, additional
information, or reference
information.

4 Installation and Wiring

4-3 Mounting Units

4-3-1 Connecting Controller Components

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.

1 Join the Units so that the connectors fit exactly.

2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders

toward the back of the Units as shown below until they click into place.

Precautions for Correct UsePrecautions for Correct Use

The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.

Hook

Connector

Move the sliders toward the back
until they lock into place.

Hook holes

Release

Lock

Slider

Level 1 heading
Level 2 heading
Level 3 heading

Gives the current
headings.

stinU gnitnuoM 3-4

4

stnenopmoC rellortnoC gnitcennoC 1-3-4

Page tab

Gives the number
of the main section.

Manual name

NJ-series CPU Unit Hardware User’s Manual (W500)

This illustration is provided only as a sample. It may not literally appear in this manual.

Special Information

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.
This information is provided to increase understanding or make operation easier.

Note References are provided to more detailed or related information.

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-9

7

Manual Structure

Precaution on Terminology

In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller
and “upload” refers to transferring data from the physical Controller to the Sysmac Studio.

For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchronize”
means to automatically compare the data for the Sysmac Studio on the computer with the data in the
physical Controller and transfer the data in the direction that is specified by the user.

8

NJ-series CPU Unit Motion Control User’s Manual (W507)

Sections in this Manual

Sections in this Manual

1

2

3

4

5

Introduction to the
Motion Control
Function Module

Motion Control
Configuration and
Principles

Configuring Axes
and Axes Groups

Checking Wiring from
the Sysmac Studio

Motion Control Parameters

10

11

A

I

Sample Programming

Troubleshooting

Appendices

Index

1

2

3

4I

10

11

A

5

6

7

6

7

8

9

8

Motion Control Programming

9

Manual Operation

Homing

Motion Control Functions

NJ-series CPU Unit Motion Control User’s Manual (W507)

9

Sections in this Manual

10

NJ-series CPU Unit Motion Control User’s Manual (W507)

CONTENTS

Introduction............................................................................................................... 1

Relevant Manuals...................................................................................................... 2

Manual Configuration............................................................................................... 3

Manual Structure ...................................................................................................... 7

Sections in this Manual............................................................................................ 9

Read and Understand this Manual........................................................................ 17

Safety Precautions ................................................................................................. 21

Precautions for Safe Use ....................................................................................... 22

CONTENTS

Precautions for Correct Use .................................................................................. 23

Regulations and Standards ................................................................................... 24

Unit Versions ........................................................................................................... 26

Related Manuals ..................................................................................................... 29

Revision History ..................................................................................................... 31

Section 1 Introduction to the Motion Control Function Module

1-1 Features.................................................................................................................................... 1-2

1-2 System Configuration ............................................................................................................. 1-3

1-3 Application Procedure ............................................................................................................ 1-4

1-4 Specifications .......................................................................................................................... 1-6

1-4-1 General Specifications................................................................................................................ 1-6

1-4-2 Performance Specifications ........................................................................................................ 1-6

1-4-3 Function Specifications............................................................................................................... 1-7

Section 2 Motion Control Configuration and Principles

2-1 Internal Configuration of the CPU Unit.................................................................................. 2-2

2-2 Motion Control Configuration.................................................................................................2-3

2-3 Motion Control Principles....................................................................................................... 2-4

2-3-1 CPU Unit Tasks........................................................................................................................... 2-4

2-3-2 Example of Task Operations for Motion Control ......................................................................... 2-7

2-4 EtherCAT Communications and Motion Control ................................................................ 2-11

2-4-1 CAN Application Protocol over EtherCAT (CoE)....................................................................... 2-11

2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module .............. 2-12

2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period ........ 2-13

NJ-series CPU Unit Motion Control User’s Manual (W507)

11

CONTENTS

Section 3 Configuring Axes and Axes Groups

3-1 Axes .......................................................................................................................................... 3-2

3-1-1 Introduction to Axes ....................................................................................................................3-2

3-1-2 Introduction to Axis Parameters ..................................................................................................3-3

3-1-3 Introduction to Axis Variables......................................................................................................3-5

3-1-4 Specifying an Axis in the User Program...................................................................................... 3-7

3-2 Axis Setting Procedure ........................................................................................................... 3-8

3-2-1 Axis Configuration Procedure .....................................................................................................3-8

3-2-2 Setting Procedure .......................................................................................................................3-8

3-3 Axes Groups .......................................................................................................................... 3-17

3-3-1 Introduction to Axes Groups......................................................................................................3-17

3-3-2 Introduction to Axes Group Parameters .................................................................................... 3-18

3-3-3 Introduction to Axes Group Variables........................................................................................3-19

3-3-4 Specifying an Axes Group in the User Program........................................................................3-21

3-4 Setting Procedures for Axes Groups................................................................................... 3-22

3-4-1 Setting Procedure for an Axes Group .......................................................................................3-22

3-4-2 Setting Procedure .....................................................................................................................3-22

Section 4 Checking Wiring from the Sysmac Studio

4-1 Functions of the Sysmac Studio ............................................................................................ 4-2

4-1-1 MC Test Run Function.................................................................................................................4-2

4-1-2 Application Procedure .................................................................................................................4-4

4-1-3 Axis Parameter Setting Example.................................................................................................4-5

4-1-4 Starting the MC Test Run Function .............................................................................................4-6

4-2 Monitoring Sensor Signals ..................................................................................................... 4-7

4-3 Checking Motor Operation...................................................................................................... 4-8

4-3-1 Turning ON the Servo ................................................................................................................. 4-8

4-3-2 Jogging........................................................................................................................................ 4-8

4-3-3 Homing........................................................................................................................................4-9

4-3-4 Absolute Positioning..................................................................................................................4-10

4-3-5 Relative Positioning ...................................................................................................................4-11

Section 5 Motion Control Parameters

5-1 Introduction.............................................................................................................................. 5-2

5-2 Axis Parameters....................................................................................................................... 5-4

5-2-1 Axis Parameters..........................................................................................................................5-4

5-2-2 Axis Basic Settings......................................................................................................................5-5

5-2-3 Unit Conversion Settings............................................................................................................. 5-8

5-2-4 Operation Settings ....................................................................................................................5-11

5-2-5 Other Operation Settings .......................................................................................................... 5-12

5-2-6 Limit Settings............................................................................................................................. 5-13

5-2-7 Position Count Settings.............................................................................................................5-13

5-2-8 Servo Drive Settings .................................................................................................................5-15

5-2-9 Homing Settings........................................................................................................................5-16

5-2-10 Axis Parameter Setting Example...............................................................................................5-17

5-3 Axes Group Parameters........................................................................................................5-20

5-3-1 Axes Group Parameters ............................................................................................................5-20

5-3-2 Axes Group Basic Settings ....................................................................................................... 5-21

5-3-3 Axes Group Operation Settings ................................................................................................5-22

5-3-4 Enabling an Axes Group ...........................................................................................................5-23

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Section 6 Motion Control Programming

6-1 Introduction.............................................................................................................................. 6-2

6-2 Motion Control Instructions.................................................................................................... 6-3

6-2-1 Function Blocks for PLCopen Motion Control............................................................................. 6-3

6-2-2 Motion Control Instructions of the MC Function Module............................................................. 6-3

6-3 State Transitions...................................................................................................................... 6-4

6-3-1 Status of the Motion Control Function Module............................................................................ 6-4

6-3-2 Axis States.................................................................................................................................. 6-4

6-3-3 Axes Group States...................................................................................................................... 6-6

6-4 Execution and Status of Motion Control Instructions.......................................................... 6-8

6-4-1 Basic Rules for Execution of Instructions ................................................................................... 6-8

6-4-2 Execution Timing Charts .......................................................................................................... 6-10

6-4-3 Timing Chart for Re-execution of Motion Control Instructions .................................................. 6-12

6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ............................................... 6-13

6-5 Positions................................................................................................................................. 6-14

6-5-1 Types of Positions..................................................................................................................... 6-14

6-5-2 Valid Positions for Each Axis Type............................................................................................ 6-14

6-6 System-defined Variables for Motion Control..................................................................... 6-15

6-6-1 Overview of System-defined Variables for Motion Control........................................................ 6-15

6-6-2 System for System-defined Variables for Motion Control ......................................................... 6-17

6-6-3 Tables of System-defined Variables for Motion Control ............................................................ 6-18

6-7 Cam Tables and Cam Data Variables ................................................................................... 6-28

CONTENTS

6-8 Programming Motion Controls............................................................................................. 6-32

6-9 Creating Cam Tables ............................................................................................................. 6-34

Section 7 Manual Operation

7-1 Outline ...................................................................................................................................... 7-2

7-2 Turning ON the Servo.............................................................................................................. 7-3

7-2-1 Turning ON the Servo................................................................................................................. 7-3

7-2-2 Setting Axis Parameters ............................................................................................................. 7-4

7-2-3 Programming Example ............................................................................................................... 7-4

7-3 Jogging..................................................................................................................................... 7-5

7-3-1 Jogging Procedure...................................................................................................................... 7-5

7-3-2 Setting Axis Parameters ............................................................................................................. 7-6

7-3-3 Setting Example for Input Variables............................................................................................ 7-6

7-3-4 Programming Example ............................................................................................................... 7-7

Section 8 Homing

8-1 Outline ...................................................................................................................................... 8-2

8-2 Homing Procedure................................................................................................................... 8-5

8-2-1 Setting Homing Parameters........................................................................................................ 8-5

8-2-2 Monitoring the Homing Operation............................................................................................. 8-10

8-3 Homing Operation ................................................................................................................. 8-11

8-4 Homing with an Absolute Encoder ...................................................................................... 8-12

8-4-1 Outline of Function.................................................................................................................... 8-13

8-4-2 Setting Procedure..................................................................................................................... 8-13

8-5 High-speed Homing............................................................................................................... 8-15

NJ-series CPU Unit Motion Control User’s Manual (W507)

13

CONTENTS

Section 9 Motion Control Functions

9-1 Single-axis Position Control................................................................................................... 9-3

9-1-1 Outline of Operation.................................................................................................................... 9-3

9-1-2 Absolute Positioning....................................................................................................................9-4

9-1-3 Relative Positioning .....................................................................................................................9-4

9-1-4 Interrupt Feeding.........................................................................................................................9-5

9-1-5 Stopping...................................................................................................................................... 9-6

9-1-6 Override Factors.......................................................................................................................... 9-9

9-2 Single-axis Synchronized Control ....................................................................................... 9-11

9-2-1 Overview of Synchronized Control............................................................................................9-11

9-2-2 Gear Operation .........................................................................................................................9-11

9-2-3 Positioning Gear Operation .......................................................................................................9-12

9-2-4 Cam Operation..........................................................................................................................9-13

9-2-5 Cam Tables ............................................................................................................................... 9-14

9-2-6 Synchronous Positioning...........................................................................................................9-19

9-2-7 Combining Axes........................................................................................................................9-21

9-2-8 Master Axis Phase Shift............................................................................................................ 9-22

9-3 Single-axis Velocity Control .................................................................................................9-23

9-3-1 Velocity Control ......................................................................................................................... 9-23

9-3-2 Cyclic Synchronous Velocity Control.........................................................................................9-24

9-4 Single-axis Torque Control ...................................................................................................9-25

9-5 Common Functions for Single-axis Control ....................................................................... 9-26

9-5-1 Positions....................................................................................................................................9-26

9-5-2 Velocity ......................................................................................................................................9-28

9-5-3 Acceleration and Deceleration ..................................................................................................9-29

9-5-4 Jerk ........................................................................................................................................... 9-31

9-5-5 Specifying the Operation Direction............................................................................................9-32

9-5-6 Re-executing Motion Control Instructions .................................................................................9-35

9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ...................................................9-41

9-6 Multi-axes Coordinated Control ........................................................................................... 9-46

9-6-1 Outline of Operation.................................................................................................................. 9-46

9-6-2 Linear Interpolation ...................................................................................................................9-48

9-6-3 Circular Interpolation................................................................................................................. 9-49

9-6-4 Stopping Under Multi-axes Coordinated Control....................................................................... 9-50

9-6-5 Overrides for Multi-axes Coordinated Control........................................................................... 9-51

9-7 Common Functions for Multi-axes Coordinated Control................................................... 9-53

9-7-1 Velocity Under Multi-axes Coordinated Control......................................................................... 9-53

9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control ..................................... 9-54

9-7-3 Jerk for Multi-axes Coordinated Control....................................................................................9-55

9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control.......................... 9-56

9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Control 9-

56

9-8 Other Functions..................................................................................................................... 9-65

9-8-1 Changing the Current Position .................................................................................................. 9-65

9-8-2 Torque Limit............................................................................................................................... 9-66

9-8-3 Latching.....................................................................................................................................9-66

9-8-4 Zone Monitoring ........................................................................................................................9-67

9-8-5 Software Limits..........................................................................................................................9-68

9-8-6 Following Error Monitoring ........................................................................................................ 9-69

9-8-7 Following Error Counter Reset..................................................................................................9-70

9-8-8 Axis Following Error Monitoring ................................................................................................9-70

9-8-9 In-position Check ...................................................................................................................... 9-71

Section 10 Sample Programming

10-1 Overview of Sample Programming ...................................................................................... 10-2

10-1-1 Devices .....................................................................................................................................10-2

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NJ-series CPU Unit Motion Control User’s Manual (W507)

CONTENTS

10-1-2 Installation and Wiring .............................................................................................................. 10-2

10-1-3 Setup ........................................................................................................................................ 10-3

10-2 Basic Programming Samples ............................................................................................... 10-4

10-2-1 Monitoring EtherCAT Communications and Turning ON Servos .............................................. 10-4

10-2-2 Interlocking Axis Operation with Master Control Instructions ................................................... 10-6

10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation. 10-8

10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation.......................... 10-10

10-2-5 Monitoring for Instruction Errors ............................................................................................. 10-16

10-2-6 Checking to See If Errors Are Reset....................................................................................... 10-18

10-2-7 Stopping Axes during Single-axis Operation .......................................................................... 10-20

10-2-8 Stopping an Axes Group in Coordinated Motion .................................................................... 10-24

10-2-9 Homing and Absolute Positioning........................................................................................... 10-30

10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................ 10-35

10-2-11 Interrupt Feeding .................................................................................................................... 10-41

10-2-12 Changing the Cam Table by Re-execution of an Instruction ................................................... 10-45

10-2-13 Using a Cam Profile Curve to Correct the Sync Start Position............................................... 10-54

10-2-14 Shifting the Phase of a Master Axis in Cam Motion................................................................ 10-64

10-2-15 Changing the Actual Position during Velocity Control............................................................. 10-72

10-2-16 Changing a Cam Data Variable and Saving the Cam Table ................................................... 10-78

10-2-17 Temporarily Changing Axis Parameters.................................................................................. 10-87

10-2-18 Updating the Cam Table End Point Index ............................................................................... 10-90

Section 11 Troubleshooting

11-1 Overview of Errors................................................................................................................. 11-2

11-1-1 How to Check for Errors............................................................................................................ 11-3

11-1-2 Errors Related to the Motion Control Function Module............................................................. 11-5

11-2 Troubleshooting................................................................................................................... 11-10

11-2-1 Error Table .............................................................................................................................. 11-10

11-2-2 Error Descriptions................................................................................................................... 11-19

11-2-3 Error Causes and Remedies .................................................................................................. 11-53

Appendices

A-1 Connecting the Servo Drive....................................................................................................A-2

A-1-1 Wiring the Servo Drive................................................................................................................A-2

A-1-2 Servo Drive Settings...................................................................................................................A-2

A-2 Connecting to Encoder Input Terminals .............................................................................A-11

A-2-1 Wiring to Encoder Input Terminals............................................................................................A-11

A-2-2 Settings for Encoder Input Terminals........................................................................................A-11

A-3 Terminology ...........................................................................................................................A-15

A-3-1 NJ-series Controller.................................................................................................................. A-15

A-3-2 Motion Control ..........................................................................................................................A-16

A-3-3 EtherCAT Communications.......................................................................................................A-17

Index

NJ-series CPU Unit Motion Control User’s Manual (W507)

15

CONTENTS

16

NJ-series CPU Unit Motion Control User’s Manual (W507)

Read and Understand this Manual

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative
if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON­INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

NJ-series CPU Unit Motion Control User’s Manual (W507)

17

Read and Understand this Manual

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.

18

NJ-series CPU Unit Motion Control User’s Manual (W507)

Read and Understand this Manual

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other
reasons.

It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

NJ-series CPU Unit Motion Control User’s Manual (W507)

19

Read and Understand this Manual

20

NJ-series CPU Unit Motion Control User’s Manual (W507)

Safety Precautions

Definition of Precautionary Information

Refer to the following manuals for safety precautions.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

• NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

Safety Precautions

NJ-series CPU Unit Motion Control User’s Manual (W507)

21

Precautions for Safe Use

Precautions for Safe Use

Refer to the following manuals for precautions for safe use.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

• NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

22

NJ-series CPU Unit Motion Control User’s Manual (W507)

Precautions for Correct Use

Refer to the following manuals for precautions for correct use.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

• NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

Precautions for Correct Use

NJ-series CPU Unit Motion Control User’s Manual (W507)

23

Regulations and Standards

Regulations and Standards

Conformance to EC Directives

Applicable Directives

• EMC Directives

• Low Voltage Directive

Concepts

z EMC Directive

OMRON devices that comply with EC Directives also conform to the related EMC standards so that
they can be more easily built into other devices or the overall machine. The actual products have
been checked for conformity to EMC standards.*
Whether the products conform to the standards in the system used by the customer, however, must
be checked by the customer. EMC-related performance of the OMRON devices that comply with EC
Directives will vary depending on the configuration, wiring, and other conditions of the equipment or
control panel on which the OMRON devices are installed. The customer must, therefore, perform the
final check to confirm that devices and the overall machine conform to EMC standards.

* Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN 61131-2 and EN 61000-6-2
EMI (Electromagnetic Interference): EN 61131-2 and EN 61000-6-4 (Radiated emission: 10-m regulations)

z Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards. The applicable directive is EN 61131-2.

z Conformance to EC Directives

The NJ-series Controllers comply with EC Directives. To ensure that the machine or device in which
the NJ-series Controller is used complies with EC Directives, the Controller must be installed as fol­lows:

• The NJ-series Controller must be installed within a control panel.

• You must use reinforced insulation or double insulation for the DC power supplies connected to
DC Power Supply Units and I/O Units.

• NJ-series Controllers that comply with EC Directives also conform to the Common Emission Stan­dard (EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending
on the configuration of the control panel used, other devices connected to the control panel, wir­ing, and other conditions.
You must therefore confirm that the overall machine or equipment complies with EC Directives.

24

NJ-series CPU Unit Motion Control User’s Manual (W507)

Conformance to Shipbuilding Standards

The NJ-series Controllers comply with the following shipbuilding standards. Applicability to the ship­building standards is based on certain usage conditions. It may not be possible to use the product in
some locations. Contact your OMRON representative before attempting to use a Controller on a
ship.

Usage Conditions for NK and LR Shipbuilding Standards

• The NJ-series Controller must be installed within a control panel.

• Gaps in the door to the control panel must be completely filled or covered with gaskets or other
material.

• The following noise filter must be connected to the power supply line.

Noise Filter

Manufacturer Model

Cosel Co., Ltd. TAH-06-683

Regulations and Standards

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products.

• Windows, Windows 98, Windows XP, Windows Vista, and Windows 7 are registered trademarks of
Microsoft Corporation in the USA and other countries.

•EtherCAT is a registered trademark of Beckhoff Automation GmbH for their patented technology.

• The SD logo is a trademark of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trade­marks of their respective companies.

Software Licenses and Copyrights

This product incorporates certain third party software. The license and copyright information associ­ated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.

NJ-series CPU Unit Motion Control User’s Manual (W507)

25

Unit Versions

Unit Versions

Unit Versions

A “unit version” has been introduced to manage CPU Units in the NJ Series according to differences in
functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

The unit version is given on the ID information label of the products for which unit versions are man­aged, as shown below.

Example for NJ-series NJ501-@@@@ CPU Unit:

ID information label

Unit model

NJ501 -1500 Ver.1.@@

PORT1 MAC ADDRESS: @@@@@@@@@@@@
PORT2 MAC ADDRESS: @@@@@@@@@@@@

Lot No. DDMYY@ xxxx

Unit version

Lot number and serial number MAC address

The following information is provided on the ID information label.

Item Description

Unit model Gives the model of the Unit.

Unit version Gives the unit version of the Unit.

Lot number and
serial number

MAC address Gives the MAC address of the built-in port on the Unit.

Gives the lot number and serial number of the Unit.

DDMYY: Lot number, @: For use by OMRON, xxxx: Serial number

“M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December)

26

Confirming Unit Versions with Sysmac Studio

You can use the Unit Production Information on the Sysmac Studio to check the unit version of the CPU
Unit, CJ-series Special I/O Units, CJ-series CPU Bus Units, and EtherCAT slaves. The unit versions of
CJ-series Basic I/O Units cannot be checked from the Sysmac Studio.

z CPU Unit and CJ-series Units

1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview

Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select
Edit from the menu.

The Unit Editor is displayed for the Controller Configurations and Setup layer.

NJ-series CPU Unit Motion Control User’s Manual (W507)

Unit Versions

2 Right-click any open space in the Unit Editor and select Production Information.

The Production Information Dialog Box is displayed.

Simple Display Detailed Display

In this example, “Ver.1.0” is displayed next to the unit model.

The following items are displayed.

CPU Unit CJ-series Units

Unit model

Unit version

Lot number

Unit model

Unit version

Lot number

Rack number, slot number, and unit number

z EtherCAT Slaves

1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right-

click EtherCAT under Configurations and Setup and select Edit from the menu.

The EtherCAT Configuration Tab Page is displayed for the Controller Configurations and Setup
layer.

2 Right-click the master in the EtherCAT Configurations Editing Pane and select Display Produc-

tion Information.

The Production Information Dialog Box is displayed.

The following items are displayed.
Node address
Type information*
Serial number

* If the model number cannot be determined (such as when there is no ESI file), the vendor ID, product

code, and revision number are displayed.

NJ-series CPU Unit Motion Control User’s Manual (W507)

27

Unit Versions

Unit Version Notation

In this manual, unit versions are specified as shown in the following table.

Product nameplate Notation in this manual Remarks

“Ver.1.0” or later to the right of
the lot number

Unit version 1.0 or later Unless unit versions are specified, the information in this manual

applies to all unit versions.

28

NJ-series CPU Unit Motion Control User’s Manual (W507)

Related Manuals

The following manuals are related to the NJ-series Controllers. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NJ-series CPU Unit
Hardware User’s Manual

NJ-series CPU Unit Soft­ware User’s Manual

NJ-series CPU Unit
Motion Control User’s
Manual

NJ-series Instructions
Reference Manual

NJ-series Motion Control
Instructions Reference
Manual

CJ-series Special Unit
Manuals for NJ-series
CPU Unit

W500 NJ501-@@@@ Learning the basic specifi-

cations of the NJ-series
CPU Units, including intro­ductory information,
designing, installation, and
maintenance. Mainly hard­ware information is pro­vided.

W501 NJ501-@@@@ Learning how to program

and set up an NJ-series
CPU Unit. Mainly software
information is provided.

W507 NJ501-@@@@ Learning about motion

control settings and pro­gramming concepts.

W502 NJ501-@@@@ Learning about the specifi-

W508 NJ501-@@@@ Learning about the specifi-

W490
W498
W499
W491
Z310
W492
W494
W497

CJ1W-@@@@ Learning how to use CJ-

cations of the instruction
set that is provided by
OMRON.

cations of the motion con­trol instructions that are
provided by OMRON.

series Units with an NJ­series CPU Unit.

An introduction to the entire NJ-series system is
provided along with the following information on
a Controller built with an NJ501 CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the NJ-series
CPU Unit Software User’s Manual (Cat. No.
W501).

The following information is provided on a Con­troller built with an NJ501 CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Programming based on IEC 61131-3 lan­guage specifications

Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500).

The settings and operation of the CPU Unit and
programming concepts for motion control are
described. Use this manual together with the
NJ-series CPU Unit Hardware User’s Manual
(Cat. No. W500) and NJ-series CPU Unit Soft-
ware User’s Manual (Cat. No. W501).

The instructions in the instruction set (IEC
61131-3 specifications) are described. When
programming, use this manual together with the

NJ-series CPU Unit Hardware User’s Manual
(Cat. No. W500) and NJ-series CPU Unit Soft­ware User’s Manual (Cat. No. W501).

The motion control instructions are described.
When programming, use this manual together
with the NJ-series CPU Unit Hardware User’s
Manual (Cat. No. W500), NJ-series CPU Unit
Software User’s Manual (Cat. No. W501) and

NJ-series CPU Unit Motion Control User’s Man­ual (Cat. No. W507).

The methods and precautions for using CJ­series Units with an NJ501 CPU Unit are
described, including access methods and pro­gramming interfaces. Manuals are available for
the following Units.
Analog I/O Units, Insulated-type Analog I/O
Units, Temperature Control Units, ID Sensor
Units, High-speed Counter Units, Serial Com­munications Units, and DeviceNet Units.

Use these manuals together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ-series CPU Unit Software User’s
Manual (Cat. No. W501).

Related Manuals

NJ-series CPU Unit Motion Control User’s Manual (W507)

29

Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ-series CPU Unit Built­in EtherCAT Port User’s
Manual

NJ-series CPU Unit Built­in EtherNet/IP Port
User’s Manual

NJ-series Troubleshoot­ing Manual

Sysmac Studio Version 1
Operation Manual

CX-Integrator
CS/CJ/CP/NSJ-series
Network Configuration
Tool Operation Manual

CX-Designer User’s
Manual

CX-Protocol Operation
Manual

W505 NJ501-@@@@ Using the built-in EtherCAT

port on an NJ-series CPU
Unit.

W506 NJ501-@@@@ Using the built-in Ether-

Net/IP port on an NJ-series
CPU Unit.

W503 NJ501-@@@@ Learning about the errors

that may be detected in an
NJ-series Controller.

W504 SYSMAC-

SE2@@@

W464 Learning how to configure

V099 Learning to create screen

W344 Creating data transfer pro-

Learning about the operat­ing procedures and func­tions of the Sysmac Studio.

networks (data links, rout­ing tables, Communica­tions Unit settings, etc.).

data for NS-series Pro­grammable Terminals.

tocols for general-purpose
devices connected to CJ­series Serial Communica­tions Units.

Information on the built-in EtherCAT port is pro­vided. This manual provides an introduction and
provides information on the configuration, fea­tures, and setup.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ-series CPU Unit Software User’s
Manual (Cat. No. W501).

Information on the built-in EtherNet/IP port is
provided. Information is provided on the basic
setup, tag data links, and other features.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ-series CPU Unit Software User’s
Manual (Cat. No. W501).

Concepts on managing errors that may be
detected in an NJ-series Controller and informa­tion on individual errors are described.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ-series CPU Unit Software User’s
Manual (Cat. No. W501).

Describes the operating procedures of the Sys­mac Studio.

Describes operating procedures for the CX-Inte­grator.

Describes operating procedures for the CX­Designer.

Describes operating procedures for the CX-Pro­tocol.

30

NJ-series CPU Unit Motion Control User’s Manual (W507)

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.

Revision History

Cat. No.

Revision code Date Revised content

01 July 2011 Original production

W507-E1-01

Revision code

NJ-series CPU Unit Motion Control User’s Manual (W507)

31

Revision History

32

NJ-series CPU Unit Motion Control User’s Manual (W507)

Introduction to the Motion Control
Function Module

This section describes the features, system configuration, and application flow for the
Motion Control Function Module.

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-3 Application Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-4-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-4-3 Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1

NJ-series CPU Unit Motion Control User’s Manual (W507)

1-1

1 Introduction to the Motion Control Function Module

1-1 Features

The Motion Control Function Module (sometimes abbreviated to “MC Function Module”) is a software
function module that is built into the CPU Unit. The MC Function Module can perform motion control for
up to 64 axes through the EtherCAT port that is built into the CPU Unit. Cyclic communications are per­formed with Servo Drives that are connected to the EtherCAT port to enable high-speed, high-precision
machine control.

Motion Control Instructions Based on PLCopen

The motion control instructions of the MC Function Module are based on motion control function blocks
that are standardized by PLCopen. These instructions allow you to program single-axis PTP position­ing, interpolation control, synchronized control (e.g., of electronic cams), velocity control, and torque
control. You can set the velocity, acceleration rate, deceleration rate, and jerk each time a motion con­trol instruction is executed to flexibly control operation according to the application.

Additional Information

• PLCopen

PLCopen is an association that promotes IEC 61131-3. It has its headquarters in Europe and a
world-wide membership. PLCopen standardizes function blocks for motion control to define a
program interface for the languages specified in IEC 61131-3 (JIS B 3503).

•Jerk

Jerk is the rate of change in the acceleration rate or deceleration rate. If you specify the jerk, the
velocity graph will form an S-curve for acceleration and deceleration.

Data Transmission Using EtherCAT Communications

The MC Function Module can be combined with OMRON G5-series Servo Drives with built-in EtherCAT
communications to enable exchange of all control information with high-speed data communications.
The various control commands are transmitted via data communications. That means that the Servo­motor's operational performance is maximized without being limited by interface specifications, such as
the response frequency of the encoder feedback pulses. You can use the Servo Drive's various control
parameters and monitor data on a host controller to unify management of system information.

Additional Information

1-2

What Is EtherCAT?

EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE

802.3). Each node achieves a short cycle time by transmitting Ethernet frames at high speed. A
mechanism that allows sharing clock information enables high-precision synchronized control
with low communications jitter.

NJ-series CPU Unit Motion Control User’s Manual (W507)

1 Introduction to the Motion Control Function Module

1-2 System Configuration

The MC Function Module receives sensor signal status from devices and control panels. It receives
commands from the motion control instructions that are executed in the user program. It uses both of
these to perform motion control with the Servo Drives and Encoder Input Terminals.

1-2 System Configuration

z Motion Control Configuration

The EtherCAT network configuration and Sysmac Studio are used for the MC Function Module.

• EtherCAT Network Configuration
The MC Function Module performs control for Servo Drives and Encoder Input Terminals through
the EtherCAT master port that is built into the CPU Unit. The EtherCAT network configuration is
used to perform precise motion control in a fixed period with very little deviation.

• Sysmac Studio
The Sysmac Studio is connected to the peripheral USB port on the CPU Unit with a commercially
available USB cable. You can also connect it to the built-in EtherNet/IP port on the CPU Unit with
Ethernet cable.

Sysmac Studio

Peripheral USB port

EtherCAT

G5-series Servo Drives with Built-in

EtherCAT Communications

EtherCAT Network

Configuration

Encoder Input Terminal

LAN

USB

Or

EtherNet/IP

NJ-series Controller

Power Supply Unit

Built-in EtherNet/IP port

Built-in EtherCAT port

Positive limit input
Negative limit input
Immediate stop input
Home proximity input
Home input
External latch input, etc.

CPU Unit

1

NJ-series CPU Unit Motion Control User’s Manual (W507)

1-3

1 Introduction to the Motion Control Function Module

1-3 Application Procedure

This section provides the basic procedure to perform motion control with the MC Function Module.

Basic Flow of Operation

START

Transferring

Checking Wiring

Checking Operation

Create a project.Setup

Create the EtherCAT Network Configuration.

Add axes.

Assign the axes.

Set the axis parameters.

Set the Controller Setup.

Transfer the project to the Controller.

Open the MC Test Run Tab Page.

Monitor input signals to check the wiring.

Perform jogging.

Sysmac Studio Version 1 Operation Manual

(Cat. No. W504)

NJ-series CPU Unit Software User’s Manual

*

(Cat. No. W501)

Section 3 Configuring Axes and Axes Groups

NJ-series CPU Unit Software User’s Manual

(Cat. No. W501)

Section 4 Checking Wiring from the Sysmac
Studio

Continues to on next page.

* The EtherCAT Network Configuration can be set online if you are connected to the physical network.

The EtherCAT Network Configuration can be selected offline if the hardware is not available yet.

1-4

A

NJ-series CPU Unit Motion Control User’s Manual (W507)

A

1 Introduction to the Motion Control Function Module

1-3 Application Procedure

Programming

Manual operation

Homing

Programming

Debugging

Operation

Write a program to perform jogging.

Jog the axes with the user program.

Define the homes of the Servomotor axes to
control.

Program the motion controls.

Error?

No

Operate the Controller and the machine.

Yes

Read the error code.

Remove the cause of the error and clear the error.

Section 6 Motion Control Pro­gramming

Section 7 Manual Operation

Section 8 Homing

Section 6 Motion Control Pro­gramming

Section 10 Sample Program­ming

Section 11 Troubleshooting

Section 9 Motion Control
Functions

1

Maintenance

Perform periodic maintenance.

END

NJ-series CPU Unit Motion Control User’s Manual (W507)

1-5

1 Introduction to the Motion Control Function Module

1-4 Specifications

This section gives the specifications of the MC Function Module.

1-4-1 General Specifications

General specifications conform to the general specifications of the CPU Unit.

Refer to the NJ-series CPU Unit Hardware User's Manual (Cat. No. W500) for details.

1-4-2 Performance Specifications

Item

Applicable Servo Drives OMRON G5-series Servo Drives with Built-in EtherCAT Communica-

Applicable Encoder Input Terminals

Control method Control commands using EtherCAT communications

Control modes Position control (Cyclic Synchronous Position Control Mode)

Number of con­trolled axes

Number of axes groups 32 axes groups max.

Unit conversions Unit of display Pulses, millimeters, micrometers, nanometers, degrees, or inches

Positions that can be administered Command position and actual position

Position command values

Velocity command values Negative or positive long reals (LREAL) or 0 (command units/s)

Acceleration command values and decel­eration command values

Jerk command values

Override factors 0.00% or 0.01% to 500.00%

Axis types Servo axes, virtual servo axes, encoder axes, and virtual encoder

Motion control period Same as the process data communications cycle for EtherCAT com-

Maximum number of
controlled axes

Single-axis control 16 axes max. 32 axes max. 64 axes max.

Linear interpolation
control

Circular interpolation
control

Electronic gear ratio Pulses per motor rotation/travel distance per motor rotation

NJ501-1300 NJ501-1400 NJ501-1500

*1

tions

OMRON GX-series GX-EC0211/EC0241 Encoder I/O Terminals*2

Velocity control (Cyclic Synchronous Velocity Control Mode)

Torque control (Cyclic Synchronous Torque Control Mode)

16 axes 32 axes 64 axes

4 axes max. per axes group

2 axes per axes group

Negative or positive long reals (LREAL) or 0 (command units

Positive long reals (LREAL) or 0 (command units/s

Positive long reals (LREAL) or 0 (command units/s

axes

munications

Specification

*2

)

2

)

3

)

1-6

NJ-series CPU Unit Motion Control User’s Manual (W507)

1 Introduction to the Motion Control Function Module

Item

Cams Cam data points 65,535 points max. per cam table

Number of cam tables 640 tables max.

Cam profile curves Created with Cam Editor.

Overwriting cam data Cam data can be overwritten from the user program.

*1 The recommended unit version is 2.1 or later.

*2 The recommended unit version is 1.1 or later.

*3 Positions can be set to within the range of 40-bit signed integers when they are converted to pulses.

1-4-3 Function Specifications

The following functions are supported when connected to an OMRON G5-series Servo Drive with built­in EtherCAT communications.

Item Description

Single
axes

Single-axis
position
control

Single-axis
velocity
control

Single-axis
torque con­trol

Single-axis
synchro­nized con­trol

Single-axis
manual
operation

Absolute positioning The absolute target position is specified to perform position-

Relative positioning The travel distance from the command current position is

Interrupt feeding Positioning is performed for the specified travel distance from

Velocity control Velocity control is implemented in Position Control Mode.

Cyclic synchronous
velocity control

Torque control The torque of the motor is controlled.

Starting cam operation Cam operation is started using a specified cam table.

Ending cam operation Cam operation is ended for the axis specified with the input

Starting gear operation The gear ratio between the master axis and the slave axis is

Positioning gear opera­tion

Ending gear operation The current gear operation or positioning gear operation is

Synchronous position­ing

Master axis phase shift The phase of the master axis currently in synchronized con-

Combining axes The sum or difference of the command positions of two axes

Powering the Servo The Servo for the Servo Drive is turned ON to enable opera-

Jogging Jogging is performed according to the specified target veloc-

Specification

NJ501-1300 NJ501-1400 NJ501-1500

1,048,560 points max. total for all cam tables

Positions (master axis phase and slave axis displacement) can be
specified to change phase pitches for each section.

ing.

specified to perform positioning.

the position where an external device triggers an interrupt
input.

A velocity command is output each control period in Velocity
Control Mode.

parameter.

specified and gear operation is started.

The gear ratio between the master axis and the slave axis
and the position to synchronize are specified and gear oper­ation is started.

stopped.

Positioning is performed in sync with the specified master
axis.

trol is shifted.

is output as the command position.

tion.

ity.

1-4 Specifications

1

1-4-3 Function Specifications

NJ-series CPU Unit Motion Control User’s Manual (W507)

1-7

1 Introduction to the Motion Control Function Module

Item Description

Single
axes

Axes
groups

Com­mon
items

Auxiliary
functions
for single­axis control

Multi-axes
coordi­nated con­trol

Auxiliary
functions
for multi­axes coor­dinated
control

Cams Setting cam table prop-

Parameters Writing MC settings Some of the axis parameters or axes group parameters are

Resetting axis errors Axis errors are cleared.

Homing The motor is operated to determine the home using the limit

signals, home proximity signal, and home signal.

High-speed homing The axis returns to home using an absolute position of 0 as

the target position.

Stopping The axis is forced to stop.

Immediate stop The axis is stopped immediately.

Setting override factors The target velocity for an axis is changed.

Changing the current
position

Enabling external
latches

Disabling external
latches

Zone monitoring The system determines if the command position or actual

Axis following error
monitoring

Following error counter
reset

Torque limit The output torque is limited by enabling and disabling the

Absolute linear interpo­lation

Relative linear interpola­tion

Circular 2D interpolation Circular interpolation is performed for two axes.

Resetting axes group
errors

Enabling an axes group An axes group is enabled.

Disabling an axes group An axes group is disabled.

Stopping an axes group All axes in interpolated movement are decelerated to a stop.

Immediately stopping an
axes group

Setting axes group over­ride factors

erties

Saving cam tables The cam table that is specified in the input parameter is

The command current position or the actual current position
is changed as required for an axis.

The position of an axis is recorded when a trigger occurs.

The current latch is disabled.

current position of an axis is within a specified zone.

The following error between the command positions or actual
positions of two specified axes is monitored to see if it
exceeds the allowed value.

The error between the command current position and the
actual current position is set to zero.

torque limit function of the Servo Drive and by setting the
torque limit value.

An absolute position is specified and linear interpolation is
performed.

A relative position is specified and linear interpolation is per­formed.

Axes group errors and axis errors are cleared.

All axes in interpolated movement are stopped immediately.

The blended target velocity is changed during interpolated
movement.

The end point index of the cam table that is specified in the
input parameter is changed.

saved to non-volatile memory in the CPU Unit.

overwritten temporarily.

1-8

NJ-series CPU Unit Motion Control User’s Manual (W507)

1 Introduction to the Motion Control Function Module

Item Description

Auxiliary
functions

External interface signals The following Servo Drive input signals are used.

Count Modes You can select either Linear Mode (finite length) or Rotary

Mode (infinite length).

Unit conversions You can set the display unit for each axis according to the

machine.

Accelera­tion/decel­eration
control

In-position check You can set an in-position range and in-position check time

Stop Method You can set the stop method to determine when the immedi-

Re-execution of motion control instruc­tions

Multi-execution of motion control
instructions (Buffer Mode)

Continuous axes group motions (Tran­sition Mode)

Monitoring
functions

Absolute encoder support You can use an OMRON G5-series Servomotor with an

Backlash compensation Servo Drive auxiliary functions are used.

Automatic accelera­tion/deceleration control

Changing the accelera­tion and deceleration
rates

Software limits Software limits are set for each axis.

Following error The following error between the command current value and

Velocity, acceleration
rate, deceleration rate,
torque, interpolation
velocity, interpolation
acceleration rate, and
interpolation decelera­tion rate

The acceleration/deceleration curve is automatically
adjusted for an axis motion or axes group motion. You can
select a trapezoidal curve or you can set the jerk for an S­curve.

You can change the acceleration or deceleration rate even
during acceleration or deceleration.

to confirm when positioning is completed.

ate stop input signal or limit input signal is valid.

You can change the input variables for a motion control
instruction during execution and execute the instruction
again to change the target values during operation.

You can specify when to start execution and how to connect
the velocities between operations when another motion con­trol instruction is executed during operation.

You can specify the Transition Mode for multi-execution of
instructions for axes group operation.

You can detect when a range is exceeded during axis motion
and when the target position is outside the range when a
motion control instruction is executed. You can also set
warning values.

the actual current value is monitored for each axis and an
error is created to stop motion if a set value is exceeded.

You can set warning values for each axis and each axes
group.

Absolute Encoder to eliminate the need to perform homing at
startup.

The compensation method and setting range depend on the
specifications of the Servo Drive.

Home signal, home proximity signal, positive limit signal,
negative limit signal, immediate stop signal, and interrupt
input signal

1-4 Specifications

1

1-4-3 Function Specifications

NJ-series CPU Unit Motion Control User’s Manual (W507)

1-9

1 Introduction to the Motion Control Function Module

1-10

NJ-series CPU Unit Motion Control User’s Manual (W507)

Motion Control Configuration and
Principles

This section outlines the internal structure of the CPU Unit and describes the configura­tion and principles of the MC Function Module.

2-1 Internal Configuration of the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-2 Motion Control Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2-3 Motion Control Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-3-1 CPU Unit Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-3-2 Example of Task Operations for Motion Control . . . . . . . . . . . . . . . . . . . . . . . 2-7

2-4 EtherCAT Communications and Motion Control . . . . . . . . . . . . . . . . . . . . 2-11

2-4-1 CAN Application Protocol over EtherCAT (CoE) . . . . . . . . . . . . . . . . . . . . . . 2-11

2-4-2 Relationship between EtherCAT Master Function Module and MC Function

Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-4-3 Relationship between Process Data Communications Cycle and Motion Control

Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2

NJ-series CPU Unit Motion Control User’s Manual (W507)

2-1

2 Motion Control Configuration and Principles

2-1 Internal Configuration of the CPU

Unit

This section provides an overview of the internal mechanisms of the NJ-series CPU Unit. The CPU Unit
has the following software configuration. The Motion Control Function Module is a software module that
performs motion control.

Motion Control Function

Module

PLC Function Module

* Refer to the NJ-series CPU Unit Hardware User's Manual (Cat. No. W500) for details.

The PLC Function Module runs on top of the OS. The other Function Modules run on top of the PLC
Function Module. A description of each Function Module is given in the following table.

Function Module name Abbreviation Description

PLC Function Module PLC This module manages overall scheduling, executes

Motion Control Function Module MC This module performs motion control according to

EtherCAT Master Function Module ECAT This module communicates with the EtherCAT

EtherCAT Master Function

Module

OS

the user program, sends commands to the Motion
Control Function Module, and provides interfaces to
USB and the SD Memory Card.

the commands from motion control instructions that
are executed in the user program. It sends data to
the EtherCAT Master Function Module.

slaves as the EtherCAT master.

Other Function

Modules

*

2-2

Note Refer to the NJ-series CPU Unit Hardware User's Manual (Cat. No. W500) for details on other Function Mod-

ules.

This manual provides the specifications and operating procedures for the Motion Control Function Mod­ule (sometimes abbreviated to “MC Function Module”). Refer to the other NJ-series user’s manuals as
required when using the MC Function Module in an application.

NJ-series CPU Unit Motion Control User’s Manual (W507)

2 Motion Control Configuration and Principles

2-2 Motion Control Configuration

A control system built with Servo Drives generally controls motor operation with a semi-closed loop.
The semi-closed loop uses an encoder attached to the motor to detect the amount of rotation that has
been performed by the motor in response to the command value. This is provided as feedback of the
machine’s travel distance. The following error between the command value and actual motor rotation is
calculated and control is performed to bring the following error to zero.

In a machine configuration that uses the MC Function Module, no feedback information is provided for
the commands from the user program in the CPU Unit. A feedback system is built into the Servo Drive.

NJ-series CPU Unit

User program MC Function

Motion
control

instruction

Module

Command

interpretation

Data processing

EtherCAT

Communications

Master Module

Communications

processing

EtherCAT

communications

Servo Drive

Communica-

tions

processing

Command

interpretation

Status

Position

control

Velocity

control

Torque
control

2-2 Motion Control Configuration

2

M

E

A feedback system is not configured.

A feedback system is configured.

• When motion control instructions are executed in the user program, the MC Function Module inter­prets 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 Servo Drive. The
following command values are generated: target position, target velocity, and target torque.

• The command values are sent by using PDO communications during each process data communica­tions cycle of EtherCAT communications.

• The Servo Drive performs position loop control, velocity loop control, and torque loop control based
on the command values received during each process data communications cycle of EtherCAT com­munications.

• The encoder’s current value and the Servo Drive status are sent to the CPU Unit during each process
data communications cycle of EtherCAT communications.

Additional Information

• Motion control processing and process data communications in EtherCAT communications are

performed during the same time period.

• The MC Function Module controls the Servo Drive, which contains the position control loop,
velocity control loop, and torque control loop.

NJ-series CPU Unit Motion Control User’s Manual (W507)

2-3

2 Motion Control Configuration and Principles

2-3 Motion Control Principles

This section provides information on the CPU Unit tasks and how they relate to motion control.

2-3-1 CPU Unit Tasks

Tasks are attributes of programs that determine the execution conditions and sequence of the pro­grams. The NJ-series CPU Units support the following tasks.

Typ e of t ask Task name

Tasks that execute programs at a fixed period Primary periodic task

Periodic tasks (execution priority: 16, 17, and 18)

Refer to the NJ-series CPU Unit Software User’s Manual (Cat. No. W501) for details on programs,
tasks, and setting methods.

Types of Tasks and Task Priority

The NJ-series CPU Unit can execute the user program with a single task or multiple tasks. Tasks have
an execution priority. Tasks with the highest execution priority are executed first. If the execution condi­tions are met for another task with a higher execution priority while a task is under execution, the task
with the higher execution priority is given priority in execution. The following table lists the tasks in which
you can use motion control instructions and the task priorities for the NJ-series CPU Unit.

Type of task

Primary
periodic task

Periodic tasks 0 or 1

* The CPU Unit has some periodic tasks with an execution priority of 17 or 18. However, you cannot use motion

control instructions in these tasks. These tasks also do not perform I/O refreshing.

Number of

tasks

1 4 (fixed) This task executes I/O refreshing, programs, and motion con-

Priority Operation

trol in the specified task period. This task has the highest exe­cution priority of all tasks and can be executed quickly and
precisely. Therefore, this task is best suited for situations when
synchronized control or highly responsive control is required.
Use the primary periodic task to execute all control with a sin­gle task.

16

*

These tasks execute programs and I/O refreshing in the speci­fied task period. The execution period for this task is longer
than the execution period of the primary periodic task. There­fore, periodic tasks are used to execute programs. For exam­ple, synchronized control and control requiring a fast response
time are placed in the primary periodic task. Overall device
control is placed in a periodic task.

2-4

Precautions for Correct UsePrecautions for Correct Use

• Motion control instructions can be used in the primary periodic task and in a priority-16 peri-

odic task.

• If motion control instructions are used in any other tasks, an error will occur when the user pro­gram is built on the Sysmac Studio.

NJ-series CPU Unit Motion Control User’s Manual (W507)

2 Motion Control Configuration and Principles

Basic Operation of Tasks

z Overall Task Operation

The primary periodic task and periodic tasks operate based on the task period of the primary peri­odic task (also known as the primary period). The primary periodic task includes operations such as
system common processing and motion control in addition to I/O refreshing and user program exe­cution. Processing of motion control instructions in the programs is executed during the next motion
control (MC) period after the END instruction is executed in the task.

Primary period Primary period

Primary

periodic task

Priority-16

periodic task

IO: I/O refreshing

UPG: User program execution

MC: Motion control

IO UPG MC IO UPG MC

A dotted line
represents a transition
to another task.

IO UPG UPG

Task period (primary period × 2)

A double line means that
all processing for that
task has been completed.

A dashed-dotted line means that
processing for that task has been
interrupted.

2-3 Motion Control Principles

2

2-3-1 CPU Unit Tasks

z Operation of the Primary Periodic Task

Task period (= primary period)

Task execution time

I/O refresh

Refresh

executed.

Output data processing

Processing Processing contents

Output data processing • Output refresh data is created for Output Units that execute I/O refreshing.

Refresh execution • This process exchanges data with I/O.

Input data processing • Input refresh data is loaded from Input Units that execute I/O refreshing.

System common processing 1 • Variable refresh processing (if there are accessing tasks) is performed.

Control processing

User program

execution

Input data processing

System common processing 1

• If forced refreshing is set, the forced refreshing values are reflected in the
output refresh data.

• If forced refreshing is set, the forced refreshing values are reflected in the
input refresh data that was read.

• Motion input processing is performed.

• Data tracing processing (sampling and trigger checking) is performed.

Motion control

System common processing 2

NJ-series CPU Unit Motion Control User’s Manual (W507)

2-5

2 Motion Control Configuration and Principles

Processing Processing contents

User program execution • Programs assigned to tasks are executed in the order that they are

assigned.

Motion control • The motion control commands from the motion control instructions in the

programs are executed.

• Motion output processing is performed.

System common processing 2 • Variable refresh processing (if there are refreshing tasks) is performed.

• Variable access processing is performed.

z Operation of a Periodic Task with an Execution Priority of 16

You can refresh I/O in the priority-16 periodic task.

Task period

Task execution time

Task processing time

**

I/O refresh

Refresh

Output data processing

* The CPU Unit will temporarily interrupt the execution of a task in order to execute a task with a higher execution

priority.

Control
processing

executed.

Input data processing

System common

processing 1

User program

execution

Task processing time

Control
processing

User program

execution

System common

processing 2

Task Period

The primary period, which is the task period for the primary periodic task, is the standard period for exe­cution. The primary period is automatically used as the motion control period. (It is also the same as the
process data communications cycle for EtherCAT communications.) Periodic task execution is synchro­nized with the primary period. Set the task period of a periodic task as an integer multiple of the primary
period. For example, if the primary period is 1 ms, then you can set the task period of a priority-16 peri­odic task to 4 ms. In that case, the start of the period for the primary periodic task and the periodic task
will match once every four primary periods. The following table lists the possible combinations of pri­mary periodic task and periodic task periods.

Primary period Valid task periods for periodic tasks

500 µs 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40 ms,

50 ms, 60 ms, 75 ms, or 100 ms

1 ms 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40 ms,

50 ms, 60 ms, 75 ms, or 100 ms

2 ms 2 ms, 4 ms, 8 ms, 10 ms, 20 ms, 30 ms, 40 ms, 50 ms, 60 ms, or 100 ms

4 ms 4 ms, 8 ms, 20 ms, 40 ms, 60 ms, or 100 ms

2-6

NJ-series CPU Unit Motion Control User’s Manual (W507)

2 Motion Control Configuration and Principles

2-3-2 Example of Task Operations for Motion Control

Motion control instructions can be used in the primary periodic task or in a priority-16 periodic task. This
section provides examples of task operations.

Using Motion Control Instructions in the Primary Periodic Task

If high-speed motion control is required, place the motion control instructions (FB) in the primary peri­odic task.

Slave A

IN

Primary period Primary period

Primary

periodic task

1

Loading Data

The input data from the EtherCAT slaves (slave A) is loaded during the I/O refresh (IO).

2

Instruction Execution

The motion control instructions (FB) are executed based on the data that was loaded during
user program execution (UPG).
The output variables of the motion control instructions are refreshed at this point.

UPG

IO MC UPG

FB

Execution of motion control instructions

Servo

Execution command

IO MC

FB

2-3 Motion Control Principles

2

2-3-2 Example of Task Operations for Motion Control

3

Command Generation

Motion processing according to the motion control instructions (FB) that were executed is per­formed during motion control (MC) immediately after user program execution in the primary
periodic task. During this processing, execution commands for the Servo Drives are generated.

4

Sending Commands

The execution commands that were generated are sent to the Servo Drive during the I/O refresh
(IO) in the next period.

Additional Information

All instructions from inputs to execution command outputs to the Servo Drive are processed
quickly in this task. We recommend placing all motion control instructions in the primary periodic
task.

NJ-series CPU Unit Motion Control User’s Manual (W507)

2-7

2 Motion Control Configuration and Principles

Using Motion Control Instructions in a Priority-16 Periodic Task

If high speed motion control is not required and/or your user program is too large, place motion control
instructions in a priority-16 periodic task.

z Timing of Processing

Motion control processing (MC) for the motion control instructions (FB) that are executed in the
same task period as the priority-16 periodic task are performed at the same time. Therefore, pro­cessing for multiple axes can be simultaneously executed or stopped.

Primary

periodic task

Priority-16

periodic task

Primary

periodic task

Priority-16

periodic task

Slave A

IN

Primary period

UPG

IO MC

Execution of motion control instructions

Slave A

IN

IO MC

UPG

IO MC

UPG

FB

Task period (primary period × 3)

IO MC

UPG

Primary period

UPG

UPG

IO MC

UPG

IO MC

UPG

FB

UPG

IO MC

UPG

IO MC

Servo

Execution command

UPG

IO MC

Servo

Execution command

UPG

IO MC

Execution of motion control instructions

Task period (primary period × 3)

1

Loading Data

The input data from the EtherCAT slaves (slave A) is loaded during the I/O refresh (IO).

2

Instruction Execution

The motion control instructions (FB) are executed based on the data that was loaded during
user program execution (UPG) in the priority-16 periodic task.
The output variables of the motion control instructions are refreshed at this point.

3

Command Generation

Motion control instructions (FB) are executed in the task period of the priority-16 periodic task
according to the motion control instructions (FB) that were executed. Motion processing is per­formed during motion control processing (MC) in the next primary periodic task after the peri­odic task. During this processing, execution commands for the Servo Drives are generated.

4

Sending Commands

The execution commands that were generated are sent to the Servo Drive during the I/O refresh
(IO) in the next period.

2-8

NJ-series CPU Unit Motion Control User’s Manual (W507)

2 Motion Control Configuration and Principles

z Axis Variable Update Timing

Axis Variables are system-defined variables for some of the axis parameters and for the monitor
information, such as the actual position and error information for the axes controlled by the MC
Function Module.
If you access an Axis Variable during the priority-16 periodic task, the values of the variable that
were read at the start of the periodic task are used.
Also, the values of an Axis Variable are not written when a motion control instruction (FB) is exe­cuted. They are written in motion control processing (MC) at the start of the next periodic task.

I/O

OUT

Primary period

Primary

periodic task

Priority-16

periodic task

UPG

IO MC

Values of
Axis
Variable
are read

*1

UPG

IO MC

UPG

Execution of motion control instructions

Task period (primary period × 3)

UPG

FB

UPG

IO MC

UPG

IO MC

*3

*2

*1 The values of an Axis Variable are read at the start of user program execution for the periodic task.

*2 The values of an Axis Variable are not written when a motion control instruction (FB) is executed in the periodic

task.

*3 The values are written during this motion control processing (MC).

Servo

Execution
command

UPG

IO MC

2-3 Motion Control Principles

2

2-3-2 Example of Task Operations for Motion Control

Precautions for Correct UsePrecautions for Correct Use

• When motion control instructions are placed in a periodic task, the response time of the Servo

Drive will increase if the task period of the periodic task is lengthened.

• Make sure that all axes can be stopped safely for emergency stops, including emergency
stops commanded from external devices.

• The execution timing of motion control instructions in a priority-16 periodic task is not the same
as the execution timing for I/O control. Design the user program to allow for this.

Additional Information

For information on Axis Variables, refer to 3-1-3 Introduction to Axis Variables.

NJ-series CPU Unit Motion Control User’s Manual (W507)

2-9

2 Motion Control Configuration and Principles

Using Motion Control Instructions in Two Different Types of Tasks

If you have processes that require high-speed motion control and processes that do not require high­speed motion control for the same axis, you can place the motion control instructions (FB) both in the
primary periodic task and in a priority-16 periodic task.

If motion control instructions (FB) are executed in both tasks within the period of the priority-16 periodic
task, the MC Function Module will perform motion processing for instructions in the primary periodic
task first.

For example, the MC_MoveAbsolute instruction is executed in the priority-16 periodic task. Then, the
MC_MoveRelative is executed for the same axis in the primary periodic task. The operation for this is
shown below.

• The MC Function Module will execute MC_MoveRelative first. MC_MoveAbsolute is executed with
multi-execution of instructions.

Servo

Primary period

Execution command for MC_MoveRelative

Primary

periodic task

Priority-16

periodic task

The values of output variables for a motion control instruction and the values of system-defined vari­ables for motion control will change during the I/O refresh of the task that executed the instruction.
Therefore, you may notice different behavior depending on the task if you use motion control instruc­tions for the same axis in different tasks. Make sure that you thoroughly understand the processes of
each task before you start to develop your user program.

UPG

IO MC

UPG

FB1

Task period (primary period × 3)

UPG

IO MC

FB2 FB2 FB2 FB2

FB2: MC_MoveRelative

FB1: MC_MoveAbsolute

UPG

IO MC

UPG

IO MC

The instruction is buffered for
multi-execution of instructions.

UPG

IO MC

Precautions for Correct UsePrecautions for Correct Use

• If you include motion control instructions for the same axis in both the primary periodic task

and the priority-16 periodic task, pay close attention to the following when you develop your
user program: the execution order of the motion control instructions, the timing of updates for
system-defined variables for motion control, and the output timing of command values.

• If you use system-defined variables for motion control for the same axis in multiple tasks, pay
close attention to the differences in timing for updating system-defined variables for motion
control when you develop your user program.

2-10

Additional Information

For information on multi-execution of instructions, refer to 9-5-7 Multi-execution of Motion Control
Instructions (Buffer Mode).

NJ-series CPU Unit Motion Control User’s Manual (W507)

2 Motion Control Configuration and Principles

2-4 EtherCAT Communications and

Motion Control

The MC Function Module controls Servo Drive and encoder input slaves through the PDO communica­tions of the EtherCAT Master Function Module in the CPU Unit. This section describes EtherCAT com­munications and other items related to the MC Function Module.

2-4-1 CAN Application Protocol over EtherCAT (CoE)

The MC Function Module exchanges data with the slaves on EtherCAT using the CAN application pro­tocol over EtherCAT (CoE). With CoE, the parameters and control information held by the slaves are
specified according to data specifications of the object dictionary (OD). To communicate the data
between the Controller (communications master) and slaves, two methods are used: process data
objects (PDOs), which periodically exchange data in realtime, and service data objects (SDOs), which
exchange data when required.

2-4 EtherCAT Communications and Motion

Control

2

2-4-1 CAN Application Protocol over EtherCAT (CoE)

The MC Function Module uses PDO communications for commands to refresh I/O data, such as data
for Servomotor position control, on a fixed control period. It uses SDO communications for commands
to read and write data at specified times, such as for parameter transfers.

Controller

(communications master)

PDO communications

SDO communications

EtherCAT

communications lines

Executed periodically.

Output data

Input data

Write data

Read data

Executed for requests.

Slaves

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2 Motion Control Configuration and Principles

2-4-2 Relationship between EtherCAT Master Function Module and MC

Function Module

The NJ-series CPU Unit can perform sequence control and motion control through connections to
EtherCAT slaves.

z Sequence Control

• I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-

uration in EtherCAT Edit Tab Page.

• Perform sequence control through instructions other than motion control instructions.

z Motion Control

• I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-

uration in EtherCAT Edit Tab Page.

• Create Axis Variables in Motion Control Setup View and assign the EtherCAT slaves for which
motion control is performed.

• Perform motion control through motion control instructions.

There are two types of EtherCAT slaves that can be assigned to Axis Variables: Servo Drive slaves and
encoder input terminal slaves.

Sequence

control

Motion control

User program in PLC
Function Module

Instructions

other than

motion control

instructions

User-created
function block

Motion control
instructions

Motion control
instructions

Executed

Executed

Executed

Ex-

ecuted

Ex-

ecuted

Axis Variables

CPU Unit

Variables

MC Function Module

Profile processing
Synchronization

processing

Other processing

Task period

Task period

EtherCAT

Master

Function

Module

I/O ports

EtherCAT

EtherCAT

CJ-series Units

Basic I/O

Units

Special Units

EtherCAT

slaves

Servo Drive or
encoder input terminal
EtherCAT slaves

Additional Information

• Commands are not sent directly through PDO communications to an EtherCAT slave that is

assigned to an Axis Variable for instructions other than motion control instructions. However,
the status of such an EtherCAT slave can be accessed indirectly through the Axis Variables.

• You can use SDO communications to read and write the objects of EtherCAT slaves that are
assigned to axes variables. However, do not use SDO communications to write objects that
are mapped to PDO communications. If you do, the operation of the slaves will depend on
slave specifications. For OMRON slaves, SDO communications will result in errors.

• If Servo Drive and encoder input terminal EtherCAT slaves are not assigned to axes variables,
you must execute sequence control for them in the same way as for general-purpose Ether­CAT slaves.

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2 Motion Control Configuration and Principles

2-4-3 Relationship between Process Data Communications Cycle and

Motion Control Period

The PLC Function Module sends motion control commands to the MC Function Module when motion
control instructions are executed in the user program. The MC Function Module then performs motion
control processing based on those commands and sends the results of processing as commands to the
EtherCAT’s Servo Drive.

This type of data exchange is updated as shown in the following processing period.

Primary period = Motion control period = Process data communications cycle
for EtherCAT communications

CPU Unit

Basic I/O Units,

Special I/O Units,

and CPU Bus Units

Execution of user
program in PLC
Function Module

Sequence control period
(primary periodic task period or
periodic task period)

Slaves

2-4 EtherCAT Communications and Motion

Control

2

2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period

Sequence control period

(primary periodic task)

Motion control processing
by MC Function Module

Motion control period

= Primary periodic

task period

EtherCAT

Communications cycle
(EtherCAT data communi­cations cycle = Primary
periodic task period)

Processing in slave

Data refresh

period in slave

(depends on

the slave)

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2 Motion Control Configuration and Principles

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Configuring Axes and Axes
Groups

This section describes the concept of axes and axes groups, the settings for axes that
are required for the MC test run function to operate on the Sysmac Studio, and the
instructions for creating and configuring axes and axes groups using the Sysmac Stu­dio.

3-1 Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 Introduction to Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-2 Introduction to Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-1-3 Introduction to Axis Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3-1-4 Specifying an Axis in the User Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-2 Axis Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-2-1 Axis Configuration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-2-2 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-3 Axes Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3-3-1 Introduction to Axes Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3-3-2 Introduction to Axes Group Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3-3-3 Introduction to Axes Group Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3-3-4 Specifying an Axes Group in the User Program . . . . . . . . . . . . . . . . . . . . . . 3-21

3-4 Setting Procedures for Axes Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3-4-1 Setting Procedure for an Axes Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3-4-2 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3

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3-1

3 Configuring Axes and Axes Groups

3-1 Axes

This section describes the axes that are used in a MC Function Module.

3-1-1 Introduction to Axes

In a motion control system, the targets of motion control are called axes. An axis can be an actual
Servo Drive or encoder connected using EtherCAT or it can be a virtual Servo Drive or encoder within
the MC Function Module.

The MC Function Module supports the axis types that are given in the following table.

Axis type Description

Servo axis

Virtual servo axis These are virtual axes that exist only inside the MC Function Module. They

Encoder axis

Virtual encoder axis These axes are used virtually for encoder operation. A virtual encoder axis

*1

These are the axes used by the EtherCAT slave Servo Drives
assigned to actual Servo Drives. One Servomotor is used as one axis.

are not used by actual Servo Drives. For example, they are used as master
axes for synchronizing control.

An encoder axis uses an EtherCAT slave encoder input terminal
Encoder axes are assigned to actual encoder input terminals. If one
encoder input terminal contains two encoder inputs, the individual encoder
inputs will act as one axis.

is used temporarily in place of an encoder axis when there is no physical
encoder.

*3

. They are

*2

.

*1 The applicable Servo Drives are the OMRON G5-series Servo Drives with Built-in EtherCAT Communications.

*2 The applicable Encoder Input Terminals are the OMRON GX-series GX-EC0211/EC0241 Encoder I/O Termi-

nals.

*3 Virtual encoder axes are used in combination with motion control instructions that update the actual position of

the virtual encoder axis. Counting cannot be used with versions of the MC Function Module that do not support
these instructions.

The following elements are related to the axes of the MC Function Module.
These elements exist for each axis. The NJ501-1300 has axis parameters for 16 axes, the NJ501-1400
has axis parameters for 32 axes, and the NJ501-1500 has axis parameters for 64 axes.

Configuration element Description Page

Axis parameters The axis parameters set the maximum velocity, jogging, homing,

and other items for the axes operations controlled by the MC Func­tion Module. Use the Sysmac Studio to set the axis parameters.

Axis Variables Axis Variables are system-defined variables for the actual position,

error information, and other monitor information for axes controlled
by the MC Function Module. Axis Variables are created when you
add an axis from the Multiview Explorer of the Sysmac Studio. The
names of the Axis Variables (called the Axis Variable names) are set
here.

Specifying axes in the
user program

In the user program, motion control is implemented with motion con­trol instructions. Motion control instructions that perform single-axis
control are used to create axis commands. To control an axis with
axis commands, specify the Axis Variable name of the system­defined variable or the Axis Variable name that was set with the Sys­mac Studio for the Axis in-out variable of the instruction.

3-3

3-5

3-7

3-2

NJ-series CPU Unit Motion Control User’s Manual (W507)

3-1-2 Introduction to Axis Parameters

z Axis Parameters

Classification Parameter name

Axis Basic
Settings

Unit Conversion
Settings

Operation Settings Maximum Velocity

Other
Operation Settings

Limit Settings Software Limits

Position Count
Settings

Servo Drive
Settings

Axis Number

Axis Use

Axis Type

Node Address (input devices and output devices)

Unit of Display

Command Pulse Count Per Motor Rotation

Work Travel Distance Per Motor Rotation

Maximum Jog Velocity

Maximum Acceleration

Maximum Deceleration

Acceleration/Deceleration Over

Operation Selection at Reversing

Velocity Warning Value

Acceleration Warning Value

Deceleration Warning Value

Positive Torque Warning Value

Negative Torque Warning Value

Actual Velocity Filter Time Constant

In-position Range

In-position Check Time

Zero Position Range

Immediate Stop Input Stop Method

Limit Input Stop Method

Drive Error Reset Monitoring Time

Maximum Positive Torque Limit

Maximum Negative Torque Limit

Positive Software Limit

Negative Software Limit

Following Error Over Value

Following Error Warning Value

Count Mode

Modulo Maximum Position Setting Value

Modulo Minimum Position Setting Value

Encoder Type

Modulo Maximum Position Setting Value

Modulo Minimum Position Setting Value

3 Configuring Axes and Axes Groups

3-1 Axes

3

3-1-2 Introduction to Axis Parameters

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3-3

3 Configuring Axes and Axes Groups

Classification Parameter name

Homing Settings Homing Method

Home Input Signal

Homing Start Direction

Home Input Detection Direction

Operation Selection at Positive Limit Input

Operation Selection at Negative Limit Input

Homing Velocity

Homing Approach Velocity

Homing Acceleration

Homing Deceleration

Homing Jerk

Home Input Mask Distance

Home Offset

Homing Holding Time

Homing Compensation Value

Homing Compensation Velocity

Refer to 5-2 Axis Parameters for details on axis parameters.

z Settings Required to Use Axes

The following settings must be made to use the axes that are created with the Sysmac Studio.

Classification Parameter name Setting Page

Axis Basic
Settings

Axis Number Axis numbers are automatically set in the order

that the axes are created.

Axis Use Select Used axis.

Axis Type Select the type of axis to control.

Node Address (input
devices and output
devices)

Specify the node address of the EtherCAT slave
device that is assigned to the axis. The Node
Address parameter cannot be selected if the Axis
Type parameter is set to use a virtual axis.

5-5

z Required Settings to Perform a Servo Drive Test Run from the Sysmac Studio

Make the following settings to operate an EtherCAT-connected Servo Drive using the MC test run
function of the Sysmac Studio.

Classification Parameter name Setting Page

Axis Basic Set­tings

Axis Number Axis numbers are set in order from the lowest

number.

Axis Use Select Used axis.

Axis Type Select Servo axis.

Node Address (input
devices and output
devices)

Specify the node address of the EtherCAT slave
device that is assigned to the axis. The Node
Address parameter cannot be selected if the Axis
Type parameter is set to use a virtual axis.

5-5

3-4

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3 Configuring Axes and Axes Groups

Classification Parameter name Setting Page

Unit Conversion
Settings

Position Count
Settings

Limit Settings Software Limits Set this parameter according to the device speci-

* For example, if the encoder resolution is 10,000 pulses/rotation, set 10,000.

Precautions for Correct UsePrecautions for Correct Use

Unit of Display Select the display unit (mm, degrees, etc.). 5-8

Command Pulse Count
Per Motor Rotation

Work Travel Distance
Per Motor Rotation

Count Mode Set this parameter according to the machine

Set the number of command pulses per motor
rotation according to the encoder resolution.

Set the workpiece travel distance per motor rota­tion according to the machine specifications.

specifications.

fications.

*

5-13

5-13

3-1 Axes

• Select the appropriate values based on the machine’s operating conditions for parameters

such as the maximum velocity, maximum acceleration/deceleration, or stop settings when the
motor is actually operated.

• OMRON G5-series Servo Drives can be set to specific node addresses by using the rotary
switches on the front panels. If the rotary switches are set to 00, the node address will be
determined by the settings made in the EtherCAT Editor of the Sysmac Studio. If the rotary
switches are set to 00 for all connected Servo Drives, errors will not occur even if the Servo
Drive’s connection position is changed. Set the node addresses on the rotary switches to
assign specific Servo Drives for each machine control.

3-1-3 Introduction to Axis Variables

Axis Variables are system-defined variables for some of the axis parameters and for the monitor infor­mation, such as the actual position and error information, for the axes controlled by the MC Function
Module. When you create axes with the Sysmac Studio, Axis Variables are registered in the variable
table in the order that the axes are created. Axis variables are structures with a data type of
_sAXIS_REF.

z Axis Variables

Each Axis Variable in the MC Function Module has two variable names: The Axis Variable name in
the system-defined variables and the Axis Variable name that is assigned when the axis is added on
the Sysmac Studio. The Axis Variable names in the system-defined variables are _MC_AX[0] to
_MC_AX[63].
When you add axes on the Sysmac Studio, the MC_Axis000 to MC_Axis063 are set by default for
_MC_AX[0] to _MC_AX[63]. The numbers are assigned in the order that the axes are added. You
can change each of these Axis Variables as required from the Sysmac Studio. You can use either
the Axis Variables for the system-defined variables or the Axis Variables that are added on the Sys­mac Studio to specify the Axis Variables in the user program.

Axis Variable name in the system-

defined variables (AT specification

in global variable table)*

_MC_AX[0] MC_Axis000 Axis 0

_MC_AX[1] MC_Axis001 Axis 1
.

.
.

_MC_AX[63] MC_Axis063 Axis 63

Default Axis Variable name when

axis is added on the Sysmac Studio

.
.
.

Axis number example

.
.
.

3

3-1-3 Introduction to Axis Variables

* An error will occur if you change the names in the AT column in the global variable table on the Sysmac Studio.

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3 Configuring Axes and Axes Groups

z Examples of Axis Variable Levels and Changing Axis Variable Names

_MC_AX[0] Axis Variable

_MC_AX[0].Status Level that indicates the axis status

_MC_AX[0].Status.Ready Variable that indicates that the axis is ready for operation

_MC_AX[0].Status.Disabled Variable that indicates when the axis is disabled
.

.
.

_MC_AX[0].Details Level that indicates the axis control status

_MC_AX[0].Details.Idle Variable that indicates when the axis is idle

_MC_AX[0].Details.InPosWaiting Variable that indicates in-position waiting
.

.
.

_MC_AX[0].Cmd Level that indicates the axis command values

_MC_AX[0].Cmd.Pos Variable that indicates the command current position

_MC_AX[0].Cmd.Vel Variable that indicates the command current velocity

_MC_AX[0].Cmd.AccDec Variable that indicates the command current acceleration/decelera-

.
.
.

_MC_AX[0].Act Level that indicates the axis current values

_MC_AX[0].Act.Pos Variable that indicates the actual current position

_MC_AX[0].Act.Vel Variable that indicates the actual current velocity

_MC_AX[0].Act.Trq Variable that indicates the actual current torque
.

.
.

_MC_AX[0].Cfg Level that indicates the axis basic settings

_MC_AX[0].Cfg.AxNo Variable that indicates the axis number

_MC_AX[0].Cfg.AxEnable Variable that indicates when the axis is enabled

_MC_AX[0].Cfg.AxType Variable that indicates the axis type
.

.
.

_MC_AX[0].Scale.Units Variable that indicates the display unit

_MC_AX[1] Axis Variable

.
.
.

tion rate in the axis monitor

3-6

Example: If MC_Axis000 is changed to MyAxis1, then either MyAxis1.Act.Pos or

_MC_AX[0].Act.Pos can be used as the variable that indicates the actual current posi­tion.

Refer to Axis Variables on page 6-19 for details on Axis Variables.

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3 Configuring Axes and Axes Groups

3-1-4 Specifying an Axis in the User Program

In the user program, an Axis Variable name is specified for the in-out variable Axis in motion control
instructions. In the following example, the Axis Variable name for the axis that was added for the sys­tem-defined Axis Variable name of _MC_AX[0] has been changed to MyAxis1 in the Sysmac Studio.

In-out variable Axis

Specify an Axis

Variable name.

MyAxis1

ServoOn

MC_Power_instance

MC_Power

Axis Axis

Enable Status

Busy

Error

ErrorID

MyAxis1

MyAxis1OnStatus

MyAxis1OnBusy

MyAxis1OnError

MyAxis1OnErrorID

You can also use the _MC_AX[0] system-defined variable in place of MyAxis1.

Refer to 6-2 Motion Control Instructions for details on motion control instructions.

Refer to the instruction descriptions in the NJ-series Motion Control Instructions Reference Manual
(Cat. No. W508) for details on motion control instructions.

3-1 Axes

3

3-1-4 Specifying an Axis in the User Program

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3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

This section gives the procedures to set servo axes that are newly created with the Sysmac Studio.

3-2-1 Axis Configuration Procedure

START

Create a project.

Create the EtherCAT Network Configuration.

Add axes.

Assign the axes.

Set the axis parameters.

Go online and synchronize the data.

Transfer the project to the Controller.

END

3-2-2 Setting Procedure

This section describes how to set an axis.

Starting the Sysmac Studio

1

Start the Sysmac Studio and click the New Project Button.

2

Set the project properties and click the Create Button.

3-8

A new project is displayed.

NJ-series CPU Unit Motion Control User’s Manual (W507)

3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

Creating the EtherCAT Network Configuration

There are two methods to create an EtherCAT Network Configuration: online and offline.

z Online Method

1

Double-click EtherCAT in the Multiview Explorer.

The EtherCAT Edit Tab Page is displayed.

2

Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

3

Right-click the Master Icon in the EtherCAT Tab Page and select Compare and Merge with
Actual Network Configuration from the menu.

3

3-2-2 Setting Procedure

When obtaining the information is completed, the physical slave configuration of the EtherCAT
slaves is displayed. Right-click the displayed physical configuration and select Apply actual

network configuration.

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3 Configuring Axes and Axes Groups

z Offline Method

1

Double-click EtherCAT in the Multiview Explorer.

The EtherCAT Edit Tab Page is displayed.

2

Right-click the slave to connect and select Insert from the menu.

3-10

NJ-series CPU Unit Motion Control User’s Manual (W507)

The slave is inserted on the display.

3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

3

3-2-2 Setting Procedure

3

Insert the remaining slaves.

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3-11

3 Configuring Axes and Axes Groups

Adding Axes

1

Right-click Axis Settings in the Multiview Explorer and select Axis Settings from the Add
Menu.

An axis is added to the Multiview Explorer. The default name for the new axis is MC_Axis000.

z Copying an Axis

You can also add an axis by copying the axis settings for an existing axis.

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Assigning an Axis

1

Right-click an axis in the Multiview Explorer and select Edit from the menu.

The Axis Basic Settings are displayed in the Axis Parameter Settings Tab Page.

3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

3

3-2-2 Setting Procedure

2

Select Servo axis in the Axis type Box.

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3 Configuring Axes and Axes Groups

3

Select the Servo Drive to use in the Input Device Box.

This setting allows you to use the EtherCAT slave Servo Drive as an axis.

Setting Axis Parameters

1

Click each of the icons in the Axis Parameter Settings Tab Page.

The settings for each icon are displayed on the Axis Parameter Settings Tab Page.

3-14

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3 Configuring Axes and Axes Groups

Right-click Axis Settings in the Multiview Explorer and select Axis Setting Table to enable set-
ting the axes parameters for all axes at the same time.

3-2 Axis Setting Procedure

3

3-2-2 Setting Procedure

Precautions for Correct UsePrecautions for Correct Use

When making operation settings such as the display unit, electronic gear (unit conversion for­mula), maximum velocity, or maximum acceleration/deceleration, be sure to use appropriate val­ues for the operating conditions of the device.

Additional Information

Changing Axis Variable Names in the User Program

Perform the following two procedures to change Axis Variable names that are already used.

• Change the Axis Variable name in the variable table in the variable declarations.

• Change the Axis Variable name in the user program.

Even if you change the Axis Variable names in the variable table, the Axis Variable names in the
user program do not change. An error will occur if you use a variable name that is not declared in
the variable table, in the user program. Always change the names in both places.

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3-15

3 Configuring Axes and Axes Groups

Downloading to the CPU Unit

Use the Synchronization menu command of the Sysmac Studio to download the project to the CPU
Unit.

1

Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

2

Select Synchronization from the Controller Menu and then click the Transfer to Controller
Button.

Additional Information

Introduction to Servo Drive Settings

The MC Function Module connects to OMRON G5-series Servo Drives with built-in EtherCAT
communications.

Compatible Models

The applicable model numbers are R88D-KN@@@-ECT.
The R88D-KN@@@-ECT-R Servo Drives support only Position Control Mode (Cyclic Syn-
chronous Position Control Mode). Therefore, any functions that use Velocity Control Mode
(Cyclic Synchronous Velocity Control Mode) or Torque Control Mode (Cyclic Synchronous
Torque Control Mode) cannot be used.

Servo Drive Settings

The MC Function Module uses some of the input signals and functions of the Servo Drives.
Servo Drive signal wiring and object setting are required to use the MC Function Module
properly. Refer to A-1 Connecting the Servo Drive for specific settings.

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NJ-series CPU Unit Motion Control User’s Manual (W507)

3-3 Axes Groups

This section describes the axes groups of the MC Function Module.

3 Configuring Axes and Axes Groups

3-3-1 Introduction to Axes Groups

Use axes groups to perform complex operations on multiple axes, such as linear or circular interpola­tion. An axes group consists of multiple axes. Use the Sysmac Studio to set Axes Group Variables to
enable execution of axes group motion control instructions or to enable access of the status of the axes
group. The MC Function Module can handle up to 32 groups. The specifications for axes groups are
shown in the following table.

Item Specification

Number of axes groups 32 groups max.

Number of composition axes 4 axes max. per axes group

The following elements are related to the axes groups of the MC Function Module.

Configuration element Description Page

Axes group parameters The axes group parameters set the maximum interpolation veloc-

ity, maximum interpolation acceleration/deceleration, and other
items for the axes groups controlled by the MC Function Module.
Use the Sysmac Studio to set the axes group parameters.

Axes Group Variable Axes Group Variables are system-defined variables that include a

portion of the axes group parameters as well as the command
interpolation velocity, error information, and other monitor informa­tion for the axes groups controlled by the MC Function Module.
Axes Group Variables are created when you add an axes group
from the Multiview Explorer of the Sysmac Studio. The names of
the Axes Group Variables (called the Axes Group Variable names)
are set here.

Specifying axes groups
in the user program

In the user program, motion control is implemented with motion
control instructions. Motion control instructions that perform multi­axis coordinated control are used to create axes group commands.
To control an axes group with axes group commands, specify the
axes group variable name of the system-defined variable or the
axes group variable name that was set with the Sysmac Studio for
the AxesGroup in-out variable of the instruction.

3-3 Axes Groups

3

3-3-1 Introduction to Axes Groups

3-18

3-19

3-21

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3 Configuring Axes and Axes Groups

3-3-2 Introduction to Axes Group Parameters

z Axes Group Parameters

Classification Parameter name

Axes Group Basic Set­tings

Axes Group Operation
Settings

Axes Group Number

Axes Group Use

Composition

Composition Axes

Maximum Interpolation Velocity

Maximum Interpolation Acceleration

Maximum Interpolation Deceleration

Interpolation Acceleration/Deceleration Over

Interpolation Velocity Warning Value

Interpolation Acceleration Warning Value

Interpolation Deceleration Warning Value

Axes Group Stop Method

Correction Allowance Ratio

Refer to 5-3 Axes Group Parameters for details on axes group parameters.

z Settings Required to Use an Axes Group

The following settings must be made to use the axes groups that are created with the Sysmac Stu­dio.

Classification Parameter name Setting Page

Axes Group
Basic Settings

Precautions for Correct UsePrecautions for Correct Use

Set appropriate values for the maximum interpolation velocity, stop method, and other items
based on the operating conditions.

Axes Group
Number

Axes Group Use Select Use.

Composition Select the axis composition to control.

Composition Axes This parameter sets the axes to assign to the axes

Axes group numbers are automatically set in the
order that the axes groups are created.

group.

5-21

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3 Configuring Axes and Axes Groups

3-3-3 Introduction to Axes Group Variables

Axes Group Variables are system-defined variables for the setting information and the monitoring infor­mation, such as the actual position and error information, for the axes groups controlled by the MC
Function Module. When you create axes groups with the Sysmac Studio, Axes Group Variables are reg­istered in the variable table in the order that the axes groups are created. Axes Group Variables are
structures with a data type of _sGROUP_REF.

z Axes Group Variable Names

Each Axes Group Variable in the MC Function Module has two variable names: The Axes Group
Variable name in the system-defined variables and the Axes Group Variable that is assigned when
the axes group is added on the Sysmac Studio. The Axes Group Variable names in the system­defined variables are _MC_GRP[0] to _MC_GRP[31].
When you add axes groups on the Sysmac Studio, MC_Group000 to MC_Group031 are set by
default for _MC_GRP[0] to _MC_GRP[31]. The numbers are assigned in the order that the axes are
added. You can change each of these Axes Group Variable names as required from the Sysmac
Studio.
You can use either the Axes Group Variable names for the system-defined variables or the Axes
Group Variable names that are set on the Sysmac Studio to specify the Axes Group Variables in the

user program.

Axes Group Variable name in the

system-defined variables (AT speci-

fication in global variable table)*

_MC_GRP[0] MC_Group000 Axes group 0

_MC_GRP[1] MC_Group001 Axes group 1
.

.
.

_MC_GRP[31] MC_Group031 Axes group 31

Default Axes Group Variable name when

axes group is added on Sysmac Studio

.
.
.

Axes group number

example

.
.
.

3-3 Axes Groups

3

3-3-3 Introduction to Axes Group Variables

* An error will occur if you change the names in the AT column in the global variable table on the Sysmac Studio.

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3-19

3 Configuring Axes and Axes Groups

z Examples of Axes Group Variable Levels and Changing Axes Group Variable

Names

_MC_GRP[0] Axes Group Variables

_MC_GRP[0].Status Level that indicates the axes group status

.
.
.

_MC_GRP[0].Cmd Level that indicates the axes group command values

_MC_GRP[0].Cmd.Vel Variable that indicates the command interpolation velocity

_MC_GRP[0].Cmd.AccDec Variable that indicates the command interpolation accelera-

.
.
.

_MC_GRP[0].Cfg Level that indicates the axes group basic settings

_MC_GRP[0].Cfg.GrNo Variable that indicates the axes group number

_MC_GRP[0].Cfg.GrEnable Variable that indicates when the axes group is enabled

_MC_GRP[0].Kinematics Level that indicates the kinematics transformation settings

_MC_GRP[0].Kinematics.GrType Variable that indicates the axis composition

_MC_GRP[0].Kinematics.Axis[0] Variable that indicates the axis A0 composition axis
.

.
.

_MC_GRP[0].Kinematics.Axis[3] Variable that indicates the axis A3 composition axis

_MC_GRP[1] Axes Group Variable

.
.
.

tion/deceleration rate

Example: If MC_Group000 is changed to MyGroup1, then either MyGroup1.Cmd.Vel or

_MC_GRP[0].Cmd.Vel can be used as the variable that indicates the command inter-

polation velocity.

Refer to Axes Group Variables on page 6-25 for details on Axes Group Variables.

3-20

NJ-series CPU Unit Motion Control User’s Manual (W507)

3 Configuring Axes and Axes Groups

3-3-4 Specifying an Axes Group in the User Program

In the user program, an axes group variable name is specified for the in-out variable AxesGroup in
motion control instructions. In the following example, the Axes Group Variable name for the axes group
that was added for the system-defined Axes Group Variable name of _MC_GRP[0] has been changed
to MyGroup1 in the Sysmac Studio.

In-out variable AxesGroup

Specify an Axes
Group Variable
name.

MovLStart

MyGroup1

MC_MoveLinear_instance

MC_MoveLinear

AxesGroup AxesGroup

Execute

Position

Velocity

Acceleration

Deceleration

Jerk

CoordSystem

BufferMode

TransitionMode

MoveMode

CommandAborted

Done

Busy

Active

Error

ErrorID

MyGroup1

MyGroup1OnDone

MyGroup1OnBusy

MyGroup1OnActive

MyGroup1OnCA

MyGroup1OnError

MyGroup1OnErrorID

3-3 Axes Groups

3

3-3-4 Specifying an Axes Group in the User Program

You can also use the _MC_GRP[0] system-defined variable in place of MyGroup1.

Refer to 6-2 Motion Control Instructions for details on motion control instructions.

Refer to the instruction descriptions in the NJ-series Motion Control Instructions Reference Manual
(Cat. No. W508) for details on motion control instructions.

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3-21

3 Configuring Axes and Axes Groups

3-4 Setting Procedures for Axes Groups

This section gives the procedures to use the Sysmac Studio to set up an axes group. No configuration
is required if you are not going to use any axes group command instructions, such as linear interpola­tion or circular interpolation.

3-4-1 Setting Procedure for an Axes Group

START

Start the Sysmac Studio.

Add an axes group.

Set the axes group parameters.

Go online and synchronize the data.

Transfer the project to the Controller.

END

3-4-2 Setting Procedure

This section gives the procedures to use the Sysmac Studio to set up an axes group in a project that
already contains the axes.

Starting the Sysmac Studio

1

Start the Sysmac Studio and open the project.

3-22

NJ-series CPU Unit Motion Control User’s Manual (W507)

3 Configuring Axes and Axes Groups

Adding an Axes Group

1

Right-click Axes Group Settings in the Multiview Explorer and select Axes Group Settings
from the Add Menu.

An axes group is added to the Multiview Explorer. The default name for the new axes group is
MC_Group000.

3-4 Setting Procedures for Axes Groups

3

3-4-2 Setting Procedure

z Copying an Axes Group

You can also create an axes group by copying an axes group from a project.

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3-23

3 Configuring Axes and Axes Groups

Setting Axes Group Parameters

1

Right-click an axes group in the Multiview Explorer and select Edit from the menu.

The Axes Group Basic Settings are displayed in the Axes Group Parameter Settings Tab Page.

3-24

NJ-series CPU Unit Motion Control User’s Manual (W507)

3 Configuring Axes and Axes Groups

2

Select Used axes group in the Axes group use Box.

3

Select the composition of the axes group in the Composition Box. A 2-axis composition is
selected in the following example.

3-4 Setting Procedures for Axes Groups

3

3-4-2 Setting Procedure

4

Assign the axis to use in the Logical axes Box.

NJ-series CPU Unit Motion Control User’s Manual (W507)

3-25

3 Configuring Axes and Axes Groups

5

Click the bottom icon. The Axes Group Operation Settings Tab Page is displayed.

Set appropriate values for the settings based on the operating conditions of the device.

Additional Information

Changing Axes Group Variable Names in the User Program

Perform the following two procedures to change Axes Group Variable names that are already
used.

• Change the Axes Group Variable name in the variable table in the variable declarations.

• Change the Axes Group Variable name in the user program.

Even if you change the Axes Group Variable names in the variable table, the Axes Group Vari­able names in the user program do not change. An error will occur if you use a variable name
that is not declared in the variable table, in the user program. Always change the names in both
places.

3-26

NJ-series CPU Unit Motion Control User’s Manual (W507)

3 Configuring Axes and Axes Groups

Downloading to the CPU Unit

Use the Synchronization menu command of the Sysmac Studio to download the project to the CPU
Unit.

1

Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

2

Select Synchronization from the Controller Menu and then click the Transfer to Controller
Button.

3-4 Setting Procedures for Axes Groups

3

3-4-2 Setting Procedure

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3-27

3 Configuring Axes and Axes Groups

3-28

NJ-series CPU Unit Motion Control User’s Manual (W507)

Checking Wiring from the Sysmac
Studio

This section describes the MC Test Run operations of the Sysmac Studio. You can use
the MC Test Run to monitor sensor signals, check Servomotor wiring, and more, all
without any programming.

4-1 Functions of the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-1 MC Test Run Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-2 Application Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-1-3 Axis Parameter Setting Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-1-4 Starting the MC Test Run Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4-2 Monitoring Sensor Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4-3 Checking Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4-3-1 Turning ON the Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4-3-2 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4-3-3 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4-3-4 Absolute Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4-3-5 Relative Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-1

4 Checking Wiring from the Sysmac Studio

4-1 Functions of the Sysmac Studio

This section describes how to use the MC test run function to check wiring and basic settings. You can
use the MC test run function in the Sysmac Studio to check wiring without any programming.

4-1-1 MC Test Run Function

The MC test run operation supports the following functions.

Category

Axis operation Deceleration

Function Description Setting/monitor item

stop

Servo
ON/OFF

Resetting
errors

Jogging Jogging is performed in the positive or negative

Absolute posi­tioning

Relative posi­tioning

Homing Homing is performed using the homing parame-

A deceleration stop is performed during the MC
Test Run.

The Servo is turned ON and OFF. ---

The errors in the MC Function Module are
reset.

direction.

Absolute positioning is performed.

Relative positioning is performed. Travel Distance

ter settings.

*

---

---

Target Velocity

Acceleration/Deceleration

Target Position

Target Velocity

Acceleration/Deceleration

Jerk

Target Velocity

Acceleration/Deceleration

Jerk

Homing Parameters

4-2

NJ-series CPU Unit Motion Control User’s Manual (W507)

4 Checking Wiring from the Sysmac Studio

Category

Monitoring Error list The errors in the MC Function Module are mon-

Function Description Setting/monitor item

itored.

Axis status The status of the axes is monitored. Axis Ready-to-execute

Actual posi­tion monitor

Actual velocity
monitor

Servo Drive
status

Input signals The status of the input signals are monitored. Positive Limit Input

The actual position is monitored. Command and Actual Cur-

The actual velocity is monitored. Command and Actual Cur-

The status of the Servo Drive is monitored. Servo ON/OFF

MC Common Errors

Axis Errors

Axes Group Errors

Standstill

Discrete Motion

Continuous Motion

Homing

Stopping

Home Defined

In Home Position

rent Positions

rent Velocities

Servo Ready

Main Power

Negative Limit Input

Immediate Stop Input

Home Proximity Input

Home Input

External Latch Inputs 1 to 2

4-1 Functions of the Sysmac Studio

4

4-1-1 MC Test Run Function

* When the Count Mode of the axis is set to Rotary Mode, positioning is performed toward the target position in the

positive direction. For details, refer to the MC_MoveAbsolute (Absolute Positioning) instruction in the NJ-series
Motion Control Instructions Reference Manual (Cat. No. W508).

Note This MC Test Run is used for an OMRON G5-series Servo Drive with built-in EtherCAT communications. Do

not use it with servo drives from any other manufacturer.

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-3

4 Checking Wiring from the Sysmac Studio

4-1-2 Application Procedure

Before you perform an MC Test Run, check the following two items.

• Are the Sysmac Studio and Controller connected and are they online?

• Is the MC Test Run Mode currently in use from any other copy of the Sysmac Studio?

After you have confirmed these two items, perform the following operations as instructed.

START

Setup

Starting the MC
test run function

Checking wiring

Checking motor
operation

Checking electronic
gear settings

Confirming homing

Create the EtherCAT slave configuration, add axes,
assign the axes, and set the axis parameters.

Start the MC test run function.

Confirm sensor wiring.

Use jogging to check the direction of the motor.

Perform relative positioning to check the travel distance.

Perform homing to check the homing operation.

Section 3 Configuring Axes and
Axes Groups

Section 4 Checking Wiring
from the Sysmac Studio

Precautions for Correct UsePrecautions for Correct Use

• When one of the following operations is performed for a command from the Sysmac Studio,

the Servomotor will operate at the set velocity: Servo ON, jogging, relative positioning, abso­lute positioning, or homing. Always confirm that it is safe for the Servomotor to operate before
executing any of these operations.

• When operating the Controller from the Sysmac Studio, always install external emergency cir­cuits so that the Servomotor can be stopped safely whenever necessary. The Sysmac Studio
may not be able to send commands under some circumstances, e.g., if an error occurs in the
computer.

• Set the EtherCAT communications and establish communications before you attempt to per­form operation from the Sysmac Studio.

4-4

Additional Information

You can perform the following operations to end the MC test run function at any time.

• Select MC Test Run

−

Stop from the Controller Menu of the Sysmac Studio.

• Right-click the axis in the Multiview Explorer of the Sysmac Studio and select Stop MC Test
Run from the menu.

• Close the MC Test Run Tab Page on the Sysmac Studio.

• Exit the Sysmac Studio.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

NJ-series CPU Unit Motion Control User’s Manual (W507)

4 Checking Wiring from the Sysmac Studio

4-1-3 Axis Parameter Setting Example

Set the following axis parameters before you execute the MC Test Run Mode in the Sysmac Studio.
The following setting example is for a one-axis device.

Servomotor

Encoder resolution: 20 bits/rotation

Encoder Output Pulse Count per Motor Rotation

20 bits = 1,048,576

10 mm

Ball screw

Ball screw pitch: 10 mm

1 rotation

Parameter name Setting

Axis Variable Name

Axis Number

Axis1

*2

1

*1

Axis Use Used axis

Axis Type Servo axis

Node Address (input device)

*3

1

Unit of Display µm

Command Pulse Count Per Motor Rotation

Work Travel Distance Per Motor Rotation

Maximum Velocity

Maximum Jog Velocity

Maximum Acceleration

Maximum Deceleration

1,048,576

10,000

500,000

50,000

5,000,000

5,000,000

*4

*4

*5

*6

*7

*7

Software Limits Immediate stop for command position

Positive Software Limit

Negative Software Limit

500,000

0

*8

*8

Count Mode Linear Mode

4-1 Functions of the Sysmac Studio

4

4-1-3 Axis Parameter Setting Example

*1 If there is more than one axis, a different variable name is set for each axis.

*2 If there is more than one axis, a different value is set for each axis.

*3 Set the same node address as for the Servo Drive.

If there is more than one axis, a different value is set for each axis.

*4 The position command unit will be 1 µm.
*5 The maximum velocity will be 3,000 r/min = 30 m/min = 0.5 m/s = 500,000 µm/s.
*6 The maximum jog velocity will be 10% of the maximum velocity, i.e., 0.05 m/s = 50,000 µm/s.

*7 The maximum acceleration and the maximum deceleration will be 5 m/s

The acceleration time to the maximum velocity (3,000 r/min) will be 0.1 s.

*8 Set a value that is within the movable range of the device.

The positive software limit is set to 50 cm = 500,000 µm.

NJ-series CPU Unit Motion Control User’s Manual (W507)

2

.

4-5

4 Checking Wiring from the Sysmac Studio

4-1-4 Starting the MC Test Run Function

The MC Test Run Mode is started from the Sysmac Studio.

1

Start the Sysmac Studio and open a project in which the axis settings are completed.

2

Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

3

Select MC Test Run − Start from the Controller Menu.

When the following caution dialog box appears, read the message carefully. After you confirm
safety, click the OK Button.

The MC Test Run Tab Page is displayed.

4-6

NJ-series CPU Unit Motion Control User’s Manual (W507)

4 Checking Wiring from the Sysmac Studio

4-2 Monitoring Sensor Signals

You can use the input signal display to check sensor signal wiring.

1

Select the axis to check on the MC Test Run Tab Page.

2

Check to see if the signals turn ON and OFF properly on the monitor screen by turning ON and
OFF the sensor connected to each input signal.

4-2 Monitoring Sensor Signals

4

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-7

4 Checking Wiring from the Sysmac Studio

4-3 Checking Motor Operation

Use the functions of the MC Test Run to check motor operation.

4-3-1 Turning ON the Servo

You can use the Servo ON Button to turn the Servo ON and OFF.

1

Select the axis for which to turn ON the Servo.

2

Click the Servo ON Button to turn ON the Servo.

3

Click the Servo OFF Button to turn OFF the Servo.

Precautions for Correct UsePrecautions for Correct Use

• When one of the following operations is performed for a command from the Sysmac Studio,

the Servomotor will operate at the set velocity: Servo ON, jogging, relative positioning, abso­lute positioning, or homing. Always confirm that it is safe for the Servomotor to operate before
executing any of these operations.

• When you operate the Controller from the Sysmac Studio, always install external emergency
circuits so that the Servomotor can be stopped safely whenever necessary. The Sysmac Stu­dio may not be able to send commands under some circumstances, e.g., if an error occurs in
the computer.

• Set the EtherCAT communications and establish communications before you attempt to per­form operation from the Sysmac Studio.

4-3-2 Jogging

1

Select the axis to jog on the Jogging Tab Page of the MC Test Run Tab Page.

2

Click the Servo ON Button to turn ON the Servo.

4-8

3

Enter the target velocity, acceleration rate, and deceleration rate, and then press the Apply But­ton.

4

Click the or Button.

The motor will operate in either the positive or negative direction while one of these buttons is
clicked. Check to see if the motor operates in the set direction.

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-3-3 Homing

1

Set the homing parameters in the Homing Settings on the Axis Parameter Settings Tab Page.

2

Click the Homing Tab on the MC Test Run Tab Page.

4 Checking Wiring from the Sysmac Studio

The following dialog box is displayed.

3

Select the axis to home.

4-3 Checking Motor Operation

4

4-3-3 Homing

4

Click the Servo ON Button to turn ON the Servo.

5

Click the Apply homing parameters Button.

6

Click the Button.

Check to see if the homing operation agrees with the settings.

Additional Information

• When you click the Homing Settings Button, the Homing Settings are displayed on the Axis

Parameter Settings Tab Page. Set the homing parameters.

• If the homing parameters were set in advance, click the Apply homing parameters Button to
apply those settings.

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-9

4 Checking Wiring from the Sysmac Studio

4-3-4 Absolute Positioning

1

Click the Absolute positioning Tab on the MC Test Run Tab Page.

The following dialog box will appear.

2

Select the axis to perform absolute positioning.

3

Click the Servo ON Button to turn ON the Servo.

4

Enter the target position, target velocity, acceleration rate, deceleration rate, and jerk, and then
click the Apply Button.

5

Click the Button. Absolute positioning will start.

Check to see if positioning agrees with the settings.

4-10

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-3-5 Relative Positioning

1

Click the Relative positioning Tab on the MC Test Run Tab Page.

The following dialog box will appear.

4 Checking Wiring from the Sysmac Studio

4-3 Checking Motor Operation

2

Select the axis to perform relative positioning.

3

Click the Servo ON Button to turn ON the Servo.

4

Enter the target travel distance, target velocity, acceleration rate, deceleration rate, and jerk, and
then click the Apply Button.

5

Click the Button. Relative positioning will start.

Check to see if the travel distance agrees with the settings.

4

4-3-5 Relative Positioning

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-11

4 Checking Wiring from the Sysmac Studio

4-12

NJ-series CPU Unit Motion Control User’s Manual (W507)

Motion Control Parameters

This section explains about axis parameters and axes group parameters used for
motion control.

5-1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-2 Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5-2-1 Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5-2-2 Axis Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5-2-3 Unit Conversion Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5-2-4 Operation Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5-2-5 Other Operation Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12

5-2-6 Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

5-2-7 Position Count Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

5-2-8 Servo Drive Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5-2-9 Homing Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5-2-10 Axis Parameter Setting Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5-3 Axes Group Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20

5-3-1 Axes Group Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20

5-3-2 Axes Group Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21

5-3-3 Axes Group Operation Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

5-3-4 Enabling an Axes Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23

5

NJ-series CPU Unit Motion Control User’s Manual (W507)

5-1

5 Motion Control Parameters

5-1 Introduction

You can use motion control instructions to perform single-axis operations and multi-axis operations on
axes groups with the NJ-series CPU Unit’s MC Function Module. Axis and axes group parameters are
used to set these operations. Axis parameters must be set, but axes group parameters are not required
if you do not use multi-axis operations for axes groups.

These parameters are called motion control parameter settings (MC parameter settings).

Sysmac Studio

Transferred

ID211

0123 4567

9

8

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

COM

DC24

V

7mA

AD042

10 1112 13 14 15

MACH

No

x10

x10

CPU Unit

RUN
ERC
ERH

B1 A1

8

7

9

6

0

.

5

1

4

2

3

1

8

7

9

6

0

5

1

4

2

3

0

Transferred

Non-volatile memory

MC common parameter settings

*1

Axis parameter settings

Axes group parameter settings

• After the setting
are downloaded

• When power is
turned ON

Main memory

MC common parameter settings

*1

Axis parameter settings

Axes group parameter settings

Temporary
changes to some
parameters

Accessing some
parameters as

User program

MC_Write instruction

Data movement or
other instructions

variables

*1 There are no MC Common Parameter Settings for the current version of the MC Function Module.

*2 Use the Synchronization menu command of the Sysmac Studio to upload and download the project.

z Data Flow for Setting MC Parameters

• Download your MC Parameter Settings to the CPU Unit using the Sysmac Studio to save those

settings in the CPU Unit's non-volatile memory.

• Saved settings are applied to the main memory after you download them or when the power is
turned ON.

• If there are no problems with the saved settings, the MC Function Module executes control based
on the settings in the main memory.

• The settings of some of the parameters can be accessed as system-defined variables for motion
control.

• You can upload and download MC parameter settings regardless of the CPU Unit’s mode or the
status of the MC Function Module.

• When you start the download process, all axes in motion will stop immediately and the Servo will
turn OFF.

5-2

z Overwriting Parameters with the MC_Write (Write MC Setting) Instruction

• You can use the MC_Write (Write MC Setting) motion control instruction to change the settings of

some parameters in the main memory while the user program is running.

• If the specified setting value is outside the allowed range, the output variable Error from the
instruction changes to TRUE and the parameter setting is not changed.

• Parameter settings become valid in either of the following two situations.

• The axis or axes group is stopped and you execute an instruction for an axis command or

axes group command.

• You set the Buffer Mode Selection for the instruction to Aborting and execute more than one
instruction.

NJ-series CPU Unit Motion Control User’s Manual (W507)