Omron NX701-1, NX102-1, NX102-90, NJ501, NJ301-1 User Manual

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Page 1

Machine Automation Controller

NJ/NX-series

CPU Unit

Motion Control User’s Manual

NX701-1 NX102-1 NX102-90 NX1P2-1 NX1P2-90 NJ501- NJ301-1 NJ101-10

CPU Unit

W507-E1-18

Page 2

NOTE

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.

Trademarks

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

• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

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

Copyrights

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Page 3

Introduction

Thank you for purchasing an NJ/NX-series CPU Unit. This manual contains information that is necessary to use the Motion Control Function Module of an NJ/NX-series CPU Unit. Please read this manual and make sure you understand the functionality and performance of the NJ/NX-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 B 3503.

Introduction

Applicable Products

This manual covers the following products.

• NX-series CPU Units

• NX701-17

• NX701-16

• NX102-12

• NX102-11

• NX102-10

• NX102-90

• NX1P2-11

• NX1P2-111

• NX1P2-10

• NX1P2-101

• NX1P2-90

• NX1P2-901

• NJ-series CPU Units

• NJ501-5

• NJ501-4

• NJ501-3

• NJ301-12

• NJ301-11

• NJ101-10

Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Relevant Manuals on page 2 and Related Manuals on page 25.

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

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Relevant Manuals

The following provides the relevant manuals for the NJ/NX-series CPU Units.

Read all of the manuals that are relevant to your system configuration and application before you use the NJ/NX-series CPU Unit.

Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu- dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.

Basic information

NX-series CPU Unit

Hardware User’s Manual

NX-series NX102 CPU Unit

Hardware User’s Manual

NX-series NX1P2 CPU Unit

Hardware User's Manual

NJ-series CPU Unit

Hardware User’s Manual

Software User’s Manual

Manual

NJ/NX-series CPU Unit

NX-series NX1P2 CPU Unit

Built-in I/O and Option Board User's Manual

NJ/NX-series

Instructions Reference Manual

NJ/NX-series CPU Unit

Motion Control User’s Manual

NJ/NX-series

Motion Control Instructions Reference Manual

NJ/NX-series CPU Unit

Built-in EtherCAT Port User’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User’s Manual

NJ/NX-series CPU Unit

OPC UA User’s Manual

NX-series CPU Unit

FINS Function User’s Manual

NJ/NX-series Database Connection CPU Units

User’s Manual

NJ-series SECS/GEM CPU Units

User’s Manual

NJ-series NJ Robotics

CPU Unit User’s Manual

NJ/NY-series NC Integrated Controller

User’s Manual

NJ/NX-series

Troubleshooting Manual

Purpose of use

Introduction to NX701 CPU Units 

Introduction to NX102 CPU Units 

Introduction to NX1P2 CPU Units 

Introduction to NJ-series Controllers 

Setting devices and hardware 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Software settings 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA

Using FINS

Using the database connection service

Using the GEM Services 

Using robot control 

Using numerical control 

Using the NX1P2 CPU Unit functions



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

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Relevant Manuals

Manual

Basic information

NX-series CPU Unit

Hardware User’s Manual

NX-series NX102 CPU Unit

Hardware User’s Manual

NX-series NX1P2 CPU Unit

Hardware User's Manual

NJ-series CPU Unit

Hardware User’s Manual

NJ/NX-series CPU Unit

Software User’s Manual

NX-series NX1P2 CPU Unit

Built-in I/O and Option Board User's Manual

NJ/NX-series

Instructions Reference Manual

NJ/NX-series CPU Unit

Motion Control User’s Manual

NJ/NX-series

Motion Control Instructions Reference Manual

NJ/NX-series CPU Unit

Built-in EtherCAT Port User’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User’s Manual

NJ/NX-series CPU Unit

OPC UA User’s Manual

NX-series CPU Unit

FINS Function User’s Manual

NJ/NX-series Database Connection CPU Units

User’s Manual

NJ-series SECS/GEM CPU Units

User’s Manual

NJ-series NJ Robotics

CPU Unit User’s Manual

User’s Manual

Purpose of use

Writing the user program 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA

Using FINS

Using the database connection service

Using the GEM Services 

Using robot control 

Using numerical control 

Programming error processing 

Using the NX1P2 CPU Unit functions

Testing operation and debugging 

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA

Using FINS

Using the database connection service

Using the GEM Services 

Using robot control 

Using numerical control 

Using the NX1P2 CPU Unit functions

Learning about error management

and corrections

Maintenance

Using motion control 

Using EtherCAT 

Using EtherNet/IP 











NJ/NY-series NC Integrated Controller

NJ/NX-series

Troubleshooting Manual

*1 Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error

items. However, refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indicated with triangles.

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

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Manual Structure

4-9

4 Installation and Wiring

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

s t i n U g n i t n u o M 3 - 4

s t n e n o p m o C r e l l o r t n o C g n i t c e n n o C 1 - 3 - 4

4-3 Mounting Units

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 U nit lock the Units together. Move the sliders

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

Precautions for Correct Use Precautions for Correct Use

4-3-1 Connecting Controller Components

Connector

Hook

Hook holes

Slider

Lock

Release

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

Level 1 heading Level 2 heading Level 3 heading

Level 2 heading

A step in a procedure

Manual name

Special information

Level 3 heading

Page tab

Gives the current headings.

Indicates a procedure.

Icons indicate precautions, additional information, or reference information.

Gives the number of the main section.

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

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.

Manual Structure

Page Structure

The following page structure is used in this manual.

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

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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.

Manual Structure

Version Information

Information on differences in specifications and functionality for CPU Units with different unit versions and for different versions of the Sysmac Studio are given.

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.

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

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Manual Structure

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

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Sections in this Manual

Sample Programming

Troubleshooting

Configuring Axes and Axes Groups

Appendices

Checking Wiring from the Sysmac Studio

Index

Motion Control Parameters

Motion Control Programming

Manual Operation

Homing

Motion Control Functions

Introduction to the Motion Control Function Module

Motion Control Configuration and Principles

Sections in this Manual

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

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CONTENTS

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

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

Manual Structure.......................................................................................................4

Sections in this Manual ............................................................................................7

Terms and Conditions Agreement.........................................................................14

Safety Precautions.................................................................................................. 16

Precautions for Safe Use........................................................................................17

Precautions for Correct Use...................................................................................18

Regulations and Standards....................................................................................19

Versions ...................................................................................................................21

Related Manuals......................................................................................................25

Revision History......................................................................................................28

Section 1 Introduction to the Motion Control Function Module

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

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

1-3 Basic Flow of Operation ......................................................................................................... 1-5

1-4 Specifications .......................................................................................................................... 1-7

1-4-1 General Specifications ................................................................................................................1-7

1-4-2 Performance Specifications ........................................................................................................1-7

1-4-3 Function Specifications ............................................................................................................. 1-11

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 ....................................................................................................... 2-5

2-3-1 CPU Unit Tasks ........................................................................................................................... 2-5

2-3-2 Example of Task Operations for Motion Control........................................................................ 2-13

2-4 EtherCAT Communications and Motion Control ................................................................ 2-20

2-4-1 CAN Application Protocol over EtherCAT (CoE) .......................................................................2-20

2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module ..............2-21

2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period......... 2-24

Section 3 Configuring Axes and Axes Groups

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

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

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CONTENTS

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

3-1-3 Introduction to Axis Variables...................................................................................................... 3-7

3-1-4 Synchronizing Axis Variables...................................................................................................... 3-9

3-1-5 Specifying an Axis in the User Program .....................................................................................3-9

3-2 Axis Setting Procedure ......................................................................................................... 3-10

3-2-1 Axis Configuration Procedure................................................................................................... 3-10

3-2-2 Setting Procedure..................................................................................................................... 3-10

3-3 Axes Groups .......................................................................................................................... 3-20

3-3-1 Introduction to Axes Groups ..................................................................................................... 3-20

3-3-2 Introduction to Axes Group Parameters.................................................................................... 3-21

3-3-3 Introduction to Axes Group Variables .......................................................................................3-22

3-3-4 Specifying an Axes Group in the User Program ....................................................................... 3-24

3-4 Setting Procedures for Axes Groups................................................................................... 3-25

3-4-1 Setting Procedure for an Axes Group....................................................................................... 3-25

3-4-2 Setting Procedure..................................................................................................................... 3-25

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 ...................................................................................................................... 5-5

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

5-2-2 Axis Basic Settings ..................................................................................................................... 5-7

5-2-3 Unit Conversion Settings .......................................................................................................... 5-13

5-2-4 Operation Settings.................................................................................................................... 5-20

5-2-5 Other Operation Settings.......................................................................................................... 5-24

5-2-6 Limit Settings ............................................................................................................................ 5-25

5-2-7 Position Count Settings ............................................................................................................ 5-25

5-2-8 Servo Drive Settings................................................................................................................. 5-27

5-2-9 Homing Settings ....................................................................................................................... 5-28

5-2-10 Axis Parameter Setting Example.............................................................................................. 5-29

5-3 Axes Group Parameters........................................................................................................5-32

5-3-1 Axes Group Parameters ........................................................................................................... 5-32

5-3-2 Axes Group Basic Settings....................................................................................................... 5-33

5-3-3 Axes Group Operation Settings................................................................................................ 5-35

5-3-4 Enabling an Axes Group........................................................................................................... 5-37

Section 6 Motion Control Programming

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

6-2 Motion Control Instructions ................................................................................................... 6-5

6-2-1 Function Blocks for PLCopen® Motion Control .......................................................................... 6-5

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CONTENTS

6-2-2 Motion Control Instructions of the MC Function Module .............................................................6-5

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

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

6-3-2 Axis States ..................................................................................................................................6-7

6-3-3 Axes Group States......................................................................................................................6-9

6-4 Execution and Status of Motion Control Instructions........................................................ 6-11

6-4-1 Basic Rules for Execution of Instructions..................................................................................6-11

6-4-2 Execution Timing Charts ...........................................................................................................6-13

6-4-3 Timing Chart for Re-execution of Motion Control Instructions ..................................................6-16

6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ...............................................6-17

6-5 Positions ................................................................................................................................ 6-18

6-5-1 Types of Positions..................................................................................................................... 6-18

6-5-2 Valid Positions for Each Axis Type............................................................................................6-19

6-6 System-defined Variables for Motion Control..................................................................... 6-20

6-6-1 Overview of System-defined Variables for Motion Control........................................................6-20

6-6-2 System for System-defined Variables for Motion Control.......................................................... 6-23

6-6-3 Tables of System-defined Variables for Motion Control ............................................................6-25

6-7 Cam Tables and Cam Data Variables................................................................................... 6-36

6-8 Programming Motion Controls............................................................................................. 6-40

6-9 Creating Cam Tables ............................................................................................................. 6-42

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 .............................................................................................8-12

8-3 Homing Operation ................................................................................................................. 8-13

8-4 Homing with an Absolute Encoder ...................................................................................... 8-14

8-4-1 Outline of Function....................................................................................................................8-15

8-4-2 Setting Procedure ..................................................................................................................... 8-16

8-5 High-speed Homing............................................................................................................... 8-18

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

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CONTENTS

9-1-5 Cyclic Synchronous Positioning.................................................................................................. 9-6

9-1-6 Stopping ..................................................................................................................................... 9-7

9-1-7 Override Factors....................................................................................................................... 9-12

9-2 Single-axis Synchronized Control ....................................................................................... 9-13

9-2-1 Overview of Synchronized Control ...........................................................................................9-13

9-2-2 Gear Operation......................................................................................................................... 9-13

9-2-3 Positioning Gear Operation ...................................................................................................... 9-14

9-2-4 Cam Operation ......................................................................................................................... 9-15

9-2-5 Cam Tables............................................................................................................................... 9-16

9-2-6 Synchronous Positioning .......................................................................................................... 9-24

9-2-7 Combining Axes........................................................................................................................ 9-25

9-2-8 Master Axis Phase Shift............................................................................................................ 9-26

9-2-9 Slave Axis Position Compensation...........................................................................................9-26

9-2-10 Achieving Synchronized Control in Multi-motion ...................................................................... 9-27

9-3 Single-axis Velocity Control .................................................................................................9-29

9-3-1 Velocity Control......................................................................................................................... 9-29

9-3-2 Cyclic Synchronous Velocity Control........................................................................................9-30

9-4 Single-axis Torque Control...................................................................................................9-31

9-5 Common Functions for Single-axis Control ....................................................................... 9-32

9-5-1 Positions ................................................................................................................................... 9-32

9-5-2 Velocity ..................................................................................................................................... 9-34

9-5-3 Acceleration and Deceleration.................................................................................................. 9-35

9-5-4 Jerk........................................................................................................................................... 9-37

9-5-5 Specifying the Operation Direction ........................................................................................... 9-38

9-5-6 Re-executing Motion Control Instructions................................................................................. 9-42

9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)................................................... 9-47

9-6 Multi-axes Coordinated Control ........................................................................................... 9-53

9-6-1 Outline of Operation.................................................................................................................. 9-53

9-6-2 Linear Interpolation ................................................................................................................... 9-56

9-6-3 Circular Interpolation................................................................................................................. 9-57

9-6-4 Axes Group Cyclic Synchronous Positioning............................................................................ 9-57

9-6-5 Stopping Under Multi-axes Coordinated Control ...................................................................... 9-58

9-6-6 Overrides for Multi-axes Coordinated Control .......................................................................... 9-59

9-7 Common Functions for Multi-axes Coordinated Control .................................................. 9-61

9-7-1 Velocity Under Multi-axes Coordinated Control........................................................................ 9-61

9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control .................................... 9-62

9-7-3 Jerk for Multi-axes Coordinated Control ................................................................................... 9-63

9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control ......................... 9-64

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

Control ...................................................................................................................................... 9-65

9-8 Other Functions..................................................................................................................... 9-73

9-8-1 Changing the Current Position.................................................................................................. 9-73

9-8-2 Torque Limit .............................................................................................................................. 9-74

9-8-3 Latching .................................................................................................................................... 9-74

9-8-4 Zone Monitoring........................................................................................................................ 9-75

9-8-5 Software Limits ......................................................................................................................... 9-76

9-8-6 Following Error Monitoring........................................................................................................ 9-77

9-8-7 Following Error Counter Reset ................................................................................................. 9-78

9-8-8 Axis Following Error Monitoring ................................................................................................ 9-78

9-8-9 In-position Check...................................................................................................................... 9-79

9-8-10 Changing Axis Use ................................................................................................................... 9-81

9-8-11 Enabling Digital Cam Switch..................................................................................................... 9-81

9-8-12 Displaying 3D Motion Monitor for User Coordinate System ..................................................... 9-82

Section 10 Sample Programming

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

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

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

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CONTENTS

10-1-3 Setup......................................................................................................................................... 10-2

10-2 Basic Programming Samples ............................................................................................... 10-3

10-2-1 Monitoring EtherCAT Communications and Turning ON Servos ..............................................10-3

10-2-2 Interlocking Axis Operation with Master Control Instructions....................................................10-5

10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation . 10-7

10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation ............................10-9

10-2-5 Monitoring for Instruction Errors..............................................................................................10-15

10-2-6 Checking to See If Errors Are Reset.......................................................................................10-17

10-2-7 Stopping Axes during Single-axis Operation...........................................................................10-19

10-2-8 Stopping an Axes Group in Coordinated Motion.....................................................................10-23

10-2-9 Homing and Absolute Positioning ...........................................................................................10-29

10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................10-34

10-2-11 Interrupt Feeding..................................................................................................................... 10-40

10-2-12 Changing the Cam Table by Re-execution of an Instruction ...................................................10-44

10-2-13 Using a Cam Profile Curve to Correct the Sync Position ........................................................10-53

10-2-14 Shifting the Phase of a Master Axis in Cam Motion ................................................................10-63

10-2-15 Changing the Actual Position during Velocity Control .............................................................10-71

10-2-16 Changing a Cam Data Variable and Saving the Cam Table ...................................................10-77

10-2-17 Temporarily Changing Axis Parameters ..................................................................................10-86

10-2-18 Updating the Cam Table End Point Index ...............................................................................10-89

Section 11 Troubleshooting

11-1 Overview of Troubleshooting ............................................................................................... 11-2

Appendices

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

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

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

A-2 Connecting the G5-series Servo Drive ................................................................................ A-11

A-2-1 Wiring the Servo Drive ..............................................................................................................A-11

A-2-2 Servo Drive Settings ................................................................................................................. A-11

A-3 Connecting to Encoder Input Terminals..............................................................................A-22

A-3-1 Wiring to Encoder Input Terminals ............................................................................................A-22

A-3-2 Settings for Encoder Input Terminals ........................................................................................A-22

A-4 Connecting to NX Units.........................................................................................................A-28

A-5 PDS State Transition .............................................................................................................A-29

A-5-1 PDS State Control Method........................................................................................................A-30

A-5-2 Main Circuit Power Supply OFF Detection................................................................................A-31

A-6 Terminology ...........................................................................................................................A-32

A-6-1 NJ/NX-series Controller ............................................................................................................A-32

A-6-2 Motion Control...........................................................................................................................A-33

A-6-3 EtherCAT Communications.......................................................................................................A-35

A-7 Version Information...............................................................................................................A-36

Index

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

CONTENTS

Page 16

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

 Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

 Limitations

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.

 Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses 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. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

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

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.

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

Page 17

Application Considerations

Suitability of Use

Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Terms and Conditions Agreement

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and other materials 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 user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.

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 part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

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

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Safety Precautions

Definition of Precautionary Information

Refer to the following manuals for safety precautions.

• NX-series CPU Unit Hardware User’s Manual (Cat. No. W535)

• NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593)

• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)

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

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

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Precautions for Safe Use

Refer to the following manuals for precautions for safe use.

• NX-series CPU Unit Hardware User’s Manual (Cat. No. W535)

• NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593)

• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)

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

Precautions for Safe Use

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

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Precautions for Correct Use

Refer to the following manuals for precautions for correct use.

• NX-series CPU Unit Hardware User’s Manual (Cat. No. W535)

• NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593)

• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)

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

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

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Regulations and Standards

Conformance to EU Directives

Applicable Directives

• EMC Directives

• Low Voltage Directive

Concepts

 EMC Directive

OMRON devices that comply with EU 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 EU 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 EMI (Electromagnetic Interference): EN 61131-2 (Radiated emission: 10-m regulations)

Regulations and Standards

 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 EN61010-2-201.

 Conformance to EU Directives

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

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

• You must use the power supply in SELV specifications for the DC power supplies connected to DC Power Supply Units and I/O Units.

• NJ/NX-series Controllers that comply with EU 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 EU Directives.

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

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Regulations and Standards

Conformance to KC Certification

Observe the following precaution if you use NJ/NX-series Units in Korea.

Class A Device (Broadcasting Communications Device for Office Use)

This device obtained EMC registration for office use (Class A), and it is intended to be used in places other than homes.

Sellers and/or users need to take note of this.

Conformance to Shipbuilding Standards

The NJ/NX-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/NX-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

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

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Versions

ID information indication

Lot number Serial number Unit version

MAC address Hardware revision

LOT No. DDMYY xxxx Ver.1. PORT1 :  HW Rev.  PORT2 : 

LOT No. DDMYY xxxx PORT1



PORT2



Ver.. HW Rev.

ID information indication

Lot number Serial numberUnit version

MAC address

Hardware revision

Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a change in hardware or software specifications. Even when two Units or EtherCAT slaves have the same model number, they will have functional or performance differences if they have different hardware revisions or unit versions.

Checking Versions

You can check versions on the ID information indications or with the Sysmac Studio.

Checking Unit Versions on ID Information Indications

The unit version is given on the ID information indication on the side of the product.

The ID information on an NX-series NX701- CPU Unit is shown below.

Versions

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

The ID information on an NX-series NX102- CPU Unit is shown below.

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

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

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Versions

ID information indication

Lot number Serial number

Unit version

PORT1 :  PORT2 :  Ver.1. HW Rev.  LOT No. DDMYY xxxx

MAC address

Hardware revision

The ID information on an NX-series NX1P2- CPU Unit is shown below.

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

The ID information on an NJ-series NJ501- CPU Unit is shown below.

ID information indication

Unit model

NJ501



PORT1 MAC ADDRESS: PORT2 MAC ADDRESS:

Lot No. DDMYY

Lot number Serial number MAC address

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

Unit version Hardware revision

Ver.1.



HW Rev.

 



xxxx



Checking Unit Versions with the Sysmac Studio

You can use the Sysmac Studio to check unit versions. The procedure is different for Units and for EtherCAT slaves.

 Checking the Unit Version of an NX-series CPU Unit

You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can do this for the following Units.

Model Unit for which unit version can be checked

NX701- CPU Unit

NX102- CPU Unit and NX Unit on CPU Rack

NX1P2- CPU Unit, NX Unit on CPU Rack, and Option Boards

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

Page 25

Versions

1 Right-click CPU Rack under Configurations and Setup − CPU/Expansion Racks in the Multi-

view Explorer and select Production Information.

The Production Information Dialog Box is displayed.

 Checking the Unit Version of an NJ-series CPU Unit

You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus Units. You cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.

Use the following procedure to check the unit version.

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.

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

The Production Information Dialog Box is displayed.

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information

Dialog Box.

The view will change between the production information details and outline.

Outline View Detail View

The information that is displayed is different for the Outline View and Detail View. The Detail View displays the unit version, hardware version, and software versions. The Outline View displays only the unit version.

Note The hardware revision is separated by "/" and displayed on the right of the hardware version. The hardware

revision is not displayed for the Unit that the hardware revision is in blank.

 Checking the Unit Version of an EtherCAT Slave

You can use the Production Information while the Sysmac Studio is online to check the unit version of an EtherCAT slave. Use the following procedure to check the unit version.

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.

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

Page 26

Versions

The EtherCAT Tab Page is displayed.

2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.

The Production Information Dialog Box is displayed. The unit version is displayed after “Rev.”

 Changing Information Displayed in Production Information Dialog Box

Click the Show Detail or Show Outline Button at the lower right of the Production Information Dialog Box.

The view will change between the production information details and outline.

Outline View Detail View

Unit Versions of CPU Units and Sysmac Studio Versions

The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit. The version of Sysmac Studio that supports the functions that were added for an upgrade is also required to use those functions.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the relationship between the unit versions of CPU Units and the Sysmac Studio versions.

Refer to A-7 Version Information for the functions that are supported by each unit version.

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

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Related Manuals

The following are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NX-series CPU Unit Hardware User’s Manual

NX-series NX102 CPU Unit Hardware User’s Manual

NX-series NX1P2 CPU Unit Hardware User's Manual

NJ-series CPU Unit Hardware User’s Manual

NJ/NX-series CPU Unit Software User’s Manual

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual

W535 NX701- Learning the basic specifi-

cations of the NX701 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.

W593 NX102- Learning the basic specifi-

cations of the NX102 CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

W578 NX1P2- Learning the basic specifi-

cations of the NX1P2 CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

W500 NJ501-

NJ301- NJ101-

W501 NX701-

NX102- NX1P2- NJ501- NJ301- NJ101-

W579 NX1P2- Learning about the details

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

Learning how to program and set up an NJ/NX-series CPU Unit. Mainly software information is provided.

of functions only for an NXseries NX1P2 CPU Unit and an introduction of functions for an NJ/NX-series CPU Unit.

An introduction to the entire NX701 system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

An introduction to the entire NX102 system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

An introduction to the entire NX1P2 system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

The following information is provided on a Controller built with an NJ/NX-series CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Programming based on IEC 61131-3 language specifications

Of the functions for an NX1P2 CPU Unit, the following information is provided.

• Built-in I/O

• Serial Communications Option Boards

• Analog I/O Option Boards

An introduction of following functions for an NJ/NXseries CPU Unit is also provided.

• Motion control functions

• EtherNet/IP communications functions

• EtherCAT communications functions

Related Manuals

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

Page 28

Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ/NX-series Instructions Reference Manual

NJ/NX-series CPU Unit Motion Control User’s Manual

NJ/NX-series Motion Control Instructions Reference Manual

NJ/NX-series CPU Unit Built-in EtherCAT® Port User’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User’s Manual

NJ/NX-series CPU Unit OPC UA User’s Manual

NX-series CPU Unit FINS Function User’s Manual

NJ/NX-series Database Connection CPU Units User’s Manual

NJ-series SECS/GEM CPU Unit User’s Manual

NJ-series NJ Robotics CPU Unit User’s Manual

NJ/NY-series NC Integrated Controller User’s Manual

NJ/NY-series G code Instructions Reference Manual

NJ/NX-series Troubleshooting Manual

Sysmac Studio Version 1 Operation Manual

CNC Operator Operation Manual

W502 NX701-

NX102- NX1P2- NJ501- NJ301- NJ101-

W507 NX701-

W508 NX701-

W505 NX701-

W506 NX701-

W588 NX102-

W596 NX701-20

W527 NX701-20

W528 NJ501-1340 Using the GEM service with

W539 NJ501-4 Controlling robots with NJ-

O030 NJ501-5300

O031 NJ501-5300

W503 NX701-

W504 SYSMAC-

O032 SYSMAC

NX102- NX1P2- NJ501- NJ301- NJ101-

NJ501-100

NX102-

NX102-20 NJ501-20 NJ101-20

NY532-5400

NX102- NX1P2- NJ501- NJ301-



101-

SE2

-RTNC0D

Learning detailed specifications on the basic instructions of an NJ/NX-series CPU Unit.

Learning about motion control settings and programming concepts.

Learning about the specifications of the motion control instructions that are provided by OMRON.

Using the built-in EtherCAT port on an NJ/NX-series CPU Unit.

Using the built-in EtherNet/IP port on an NJ/NXseries CPU Unit.

Using OPC UA. An introduction to the OPC UA is provided.

Using the FINS function on the NX-series CPU Unit.

Using the database connection service with NJ/NXseries Controllers

NJ-series Controllers.

series CPU Units.

Performing numerical control with NJ/NY-series Controllers.

Learning about the specifications of the G code/M code instructions.

Learning about the errors that may be detected in an NJ/NX-series Controller.

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

Learning an introduction of the CNC Operator and how to use it.

The instructions in the instruction set (IEC 61131-3 specifications) are described.

The settings and operation of the CPU Unit and programming concepts for motion control are described.

The motion control instructions are described.

Information on the built-in EtherCAT port is provided. This manual provides an introduction and provides information on the configuration, features, and setup.

Information on the built-in EtherNet/IP port is provided. Information is provided on the basic setup, tag data links, and other features.

An introduction to the FINS function on the NXseries CPU Unit is provided.

Describes the database connection service.

Describes the GEM service.

Describes the functionality to control robots.

Describes the functionality to perform the numerical control.

The G code/M code instructions are described.

Concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors are described.

Describes the operating procedures of the Sysmac Studio.

An introduction of the CNC Operator, installation procedures, basic operations, connection operations, and operating procedures for main functions are described.

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

Page 29

Manual name Cat. No. Model numbers Application Description

NX-series EtherCAT® Coupler Unit User’s Manual

NX-series Data Reference Manual

NX-series NX Units User’s Manuals

GX-series EtherCAT Slave Units User’s Manual

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual

AC Servomotors/Servo Drives G5-series with Built-in EtherCAT® Communications User’s Manual

W519 NX-ECC Learning how to use an NX-

series EtherCAT Coupler Unit and EtherCAT Slave Terminals

NX-

W525

W521

W522

W566 NX-TS

W523

W524

W540 NX-CIF

W565 NX-RS

W567 NX-ILM

W488 GX-ID

I586 R88M-1

I573 R88M-K

I576 R88M-K

I577 R88L-EC-

 Referencing lists of the data

NX-ID



NX-IA



NX-OC



NX-OD



NX-MD



NX-AD



NX-DA



NX-HB

NX-PD1



NX-PF0



NX-PC0



NX-TBX01

NX-EC0



NX-ECS



NX-PG0



GX-OD GX-OC GX-MD GX-AD GX-DA GX-EC XWT-ID XWT-OD

R88D-1SN- ECT

R88D-KN-ECTR

R88D-KN-ECT

R88D-KN-ECT-L

that is required to configure systems with NX-series Units.

Learning how to use NX Units

Learning how to use the EtherCAT remote I/O terminals.

Learning how to use the Servomotors/Servo Drives with built-in EtherCAT Communications.

Learning how to use the AC Servomotors/Servo Drives with built-in EtherCAT Communications.

The system and configuration of EtherCAT Slave Terminals, which consist of an NX-series EtherCAT Coupler Unit and NX Units, are described along with the hardware, setup, and functions of the EtherCAT Coupler Unit that are required to configure, control, and monitor NX Units through EtherCAT.

Lists of the power consumptions, weights, and other NX Unit data that is required to configure systems with NX-series Units are provided.

Describes the hardware, setup methods, and functions of the NX Units. Manuals are available for the following Units. Digital I/O Units, Analog I/O Units, System Units, Position Interface Units, Communications Interface Units, Load Cell Input Units, and IO-Link Master Units.

Describes the hardware, setup methods and functions of the EtherCAT remote I/O terminals.

Describes the hardware, setup methods and functions of the Servomotors/Servo Drives with built-in EtherCAT Communications.

Describes the hardware, setup methods and functions of the AC Servomotors/Servo Drives with built-in EtherCAT Communications. The linear motor type model and the model dedicated for position controls are available in G5-series.

Related Manuals

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

Page 30

Revision History

W507-E1-18

Revision code

Cat. No.

Revision History

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

Revision code Date Revised content

01 July 2011 Original production 02 March 2012 Added information on the NJ301-.

03 May 2012 Made changes accompanying the upgrade to unit version 1.02

04 August 2012 Made changes accompanying release of unit version 1.03 of

05 February 2013 Made changes accompanying release of unit version 1.04 of

06 April 2013 Made changes accompanying release of unit version 1.05 of

07 June 2013 Made changes accompanying release of unit version 1.06 of

08 December 2013 Made changes accompanying release of unit version 1.08 of

09 July 2014 Made changes accompanying release of unit version 1.09 of

10 January 2015 Made changes accompanying release of unit version 1.10 of

11 April 2015 Made changes accompanying release of the NX-series

12 April 2016 Made changes accompanying release of unit version 1.11 of

13 July 2016 Made changes accompanying release of unit version 1.12 of

14 October 2016 Made changes accompanying addition of NX-series NX1P2

15 January 2017 Corrected mistakes. 16 October 2017 Corrected mistakes. 17 April 2018 Made changes accompanying addition of NX-series NX102

18 July 2018 Corrected mistakes.

Made changes accompanying the upgrade to unit version

1.01.

and corrected mistakes.

the CPU Unit.

the CPU Unit and corrected mistakes.

NX701- CPU Unit and the NJ-series NJ101-10 CPU Unit, and corrected mistakes.

the CPU Unit and corrected mistakes.

CPU Unit and release of unit version 1.13 of the CPU Unit, and corrected mistakes.

CPU Unit and corrected mistakes.

Made changes accompanying the transfer of explanation for event codes and errors to the NJ/NX-series Troubleshooting Manual.

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

Page 31

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 Basic Flow of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1-4-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1-4-3 Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-11

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1 Introduction to the Motion Control Function Module

Additional Information

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 256 axes through the EtherCAT port that is built into the CPU Unit. Cyclic communications are performed with Servo Drives and other devices that are connected to the EtherCAT port to enable highspeed, 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 ing, 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.

• PLCopen

PLCopen® is an association that promotes IEC 61131-3. It has its headquarters in Europe and a world-wide membership. PLCopen 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.

. These instructions allow you to program single-axis PTP position-

standardizes function blocks for motion control to define a

Data Transmission Using EtherCAT Communications

The MC Function Module can be combined with OMRON 1S-series Servo Drives with built-in EtherCAT communications or 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.

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.

1-2

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1 Introduction to the Motion Control Function Module

Precautions for Correct UsePrecautions for Correct Use

Slave Terminal

Sysmac Studio

EtherCAT

EtherNet/IP

USB

LAN

Encoder Input

Terminal

1S-series Servo Drives with Built-in

EtherCAT Communications

G5-series Servo Drives with Built-in

EtherCAT Communications

NX701/NJ-series Controller

EtherCAT Network

Configuration

Power Supply Unit CPU Unit

Built-in EtherNet/IP port

Built-in EtherCAT port

Peripheral USB port

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

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, Encoder Input Terminals, and NX-series Position Interface Units.

1-2 System Configuration

Motion Control Configuration on EtherCAT Network

The EtherCAT network configuration, the Slave Terminal configurations for EtherCAT Coupler Units, and the 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.

 Slave Terminal Configurations of EtherCAT Coupler Units

The MC Function Module uses the Position Interface Units that are mounted under an EtherCAT Coupler Unit to output motor control pulses and read encoder inputs. You can also use this configuration 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.

Some of the functions of the MC Function Module are different when NX-series Position Interface Units are used. Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for details.

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1 Introduction to the Motion Control Function Module

Version Information

Precautions for Correct UsePrecautions for Correct Use

Sysmac Studio

EtherNet/IP

LAN

Encoder

G5-series Servo Drives

NX1P2

Built-in EtherNet/IP port

Position Interface Units

A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required to use the NX-series Position Interface Units.

Motion Control Configuration on CPU Unit

The Position Interface Unit and Sysmac Studio are used for the MC Function Module.

 Position Interface Unit

The MC Function Module uses the Position Interface Units to output motor control pulses and read encoder inputs.

 Sysmac Studio

The Sysmac Studio is connected to the built-in EtherNet/IP port on the CPU Unit with an Ethernet cable.

1-4

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1 Introduction to the Motion Control Function Module

Additional Information

START

Create a project.Setup

Create the EtherCAT Network Configuration.

Add axes.

Assign the axes.

Set the axis parameters.

Set the Controller Setup.

Transferring

Transfer the project to the Controller.

Checking Wiring

Open the MC Test Run Tab Page.

Monitor input signals to check the wiring.

Continues to on next page.

Perform jogging.

Checking Operation

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

Section 3 Configuring Axes and Axes Groups

Section 4 Checking Wiring from the Sysmac Studio

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

Sysmac Studio Version 1 Operation Manual

(Cat. No. W504)

1-3 Basic Flow of Operation

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

1-3 Basic Flow of Operation

* 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.

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the procedures for the NX-series Position Interface Units.

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1 Introduction to the Motion Control Function Module

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

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?

Operate the Controller and the machine.

Yes

Read the error code.

Remove the cause of the error and clear the error.

Maintenance

Perform periodic maintenance.

END

1-6

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1 Introduction to the Motion Control Function Module

Precautions for Correct UsePrecautions for Correct Use

1-4 Specifications

This section gives the specifications of the MC Function Module.

The NX102-90 Units and NJ101-90 Units do not provide the Motion Control Function Module.

1-4-1 General Specifications

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

Refer to the NX-series CPU Unit Hardware User’s Manual (Cat. No. W535) or NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500) for details.

1-4-2 Performance Specifications

The following table describes the performance specifications for each type of CPU Units.

Item

Number of controlled axes

Maximum number of axes groups 64 axes groups Override factors 0.00% or 0.01% to 500.00% Motion control period The same control period as that is used for the process data

Multi-motion Supported. Cams Number of

Maximum number of controlled axes

Motion control axes Single-axis position control axes

Maximum number of used real axes

Used motion control servo axes

Used single-axis position

control servo axes Maximum number of axes for linear interpolation axis control Number of axes for circular interpolation axis control

Maximum points per cam cam data points

Maximum number of cam tables 640 tables

table

Maximum points for all

cam tables

4 axes per axes group

2 axes per axes group

communications cycle for EtherCAT.

65,535 points

1,048,560 points

17 16

256 axes 128 axes

NX701-

---

1-4 Specifications

1-4-1 General Specifications

*1 This is the total for all axis types. Refer to Axis Types on page 5-9 for details on axis types.

*2 This means the axes for which all motion control functions can be used.

*3 This means the axes for which only single-axis position control can be used among motion control functions. Refer to

Control Function on page 5-10 for details on a single-axis position control axis.

*4 This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used Axis.

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1 Introduction to the Motion Control Function Module

NX102-

4 axes

Number of controlled axes

Item

Maximum number of controlled axes

Motion control axes

Single-axis position control

axes

Maximum number of used real axes

Used motion control servo

12 11 10 90

15 axes 4 axes

11 axes ---

12 axes 8 axes 6 axes 4 axes

8 axes 4 axes 2 axes ---

axes

Used single-axis position con-

4 axes

trol servo axes

Maximum number of axes for linear interpolation axis control

Number of axes for circular interpolation axis control

4 axes per axes group

2 axes per axes group

---

Maximum number of axes groups 8 axes groups ---

Override factors 0.00% or 0.01% to 500.00%

Motion control period Same as the period for primary periodic task

Multi-motion Not supported.

Cams Number of

cam data points

Maximum points per cam table

Maximum points for all cam

65,535 points

262,140 points

tables

Maximum number of cam tables 160 tables

*1 This is the total for all axis types. Refer to Axis Types on page 5-9 for details on axis types.

*2 This means the axes for which all motion control functions can be used.

*3 This means the axes for which only single-axis position control can be used among motion control functions. Refer to

Control Function on page 5-10 for details on a single-axis position control axis.

*4 This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used Axis.

NX1P2-

4 axes

Number of controlled axes

Item

Maximum number of controlled axes

Motion control axes

Single-axis position control

axes

Maximum number of used real axes

Used motion control servo

11 10 90

12 axes 10 axes 4 axes

8 axes 6 axes ---

8 axes 6 axes 4 axes

4 axes 2 axes ---

axes

Used single-axis position con-

4 axes

trol servo axes

Maximum number of axes for linear interpolation axis control

Number of axes for circular interpolation axis control

4 axes per axes group

2 axes per axes group

---

Maximum number of axes groups 8 axes groups ---

Override factors 0.00% or 0.01% to 500.00%

Motion control period Same as the period for primary periodic task

Multi-motion Not supported.

1-8

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1 Introduction to the Motion Control Function Module

Item

Cams Number of

cam data points

Maximum number of cam tables 80 tables ---

*1 This is the total for all axis types. Refer to Axis Types on page 5-9 for details on axis types.

*2 This means the axes for which all motion control functions can be used.

*3 This means the axes for which only single-axis position control can be used among motion control functions. Refer to

Control Function on page 5-10 for details on a single-axis position control axis.

*4 This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used Axis.

Number of controlled axes

Maximum number of axes groups 32 axes groups

Override factors 0.00% or 0.01% to 500.00%

Motion control period The same control period as that is used for the process data

Multi-motion Not supported.

Cams Number of

Maximum number of controlled axes

Maximum number of used real axes

Maximum number of axes for linear interpolation axis control

Number of axes for circular interpolation axis control

cam data points

Maximum number of cam tables 640 tables

Maximum points per cam table

Maximum points for all cam tables

Item

Motion control axes

Single-axis position con-

trol axes

Used motion control servo

axes

Used single-axis position

control servo axes

Maximum points per cam

table

Maximum points for all

cam tables

11 10 90

65,535 points

262,140 points

5 4 3

64 axes 32 axes 16 axes

4 axes per axes group

2 axes per axes group

communications cycle for EtherCAT.

65,535 points

1,048,560 points

NX1P2-

---

NJ501-

---

1-4 Specifications

1-4-2 Performance Specifications

*1 This is the total for all axis types. Refer to Axis Types on page 5-9 for details on axis types.

*2 This means the axes for which all motion control functions can be used.

*3 This means the axes for which only single-axis position control can be used among motion control functions. Refer to

Control Function on page 5-10 for details on a single-axis position control axis.

*4 This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used Axis.

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1 Introduction to the Motion Control Function Module

NJ301- NJ101-

*2 *3

15 axes

15 axes*2

*2 *4

---

6 axes

Number of controlled axes

Item

Maximum number of controlled axes

Motion control axes

Single-axis position control axes

Maximum number of used real axes

Used motion control servo

12 11 10

15 axes

15 axes*2

8 axes 4 axes 2 axes

axes

Used single-axis position

---

control servo axes

Maximum number of axes for linear inter-

4 axes per axes group

polation axis control

Number of axes for circular interpolation

2 axes per axes group

axis control

Maximum number of axes groups 32 axes groups

Override factors 0.00% or 0.01% to 500.00%

Motion control period The same control period as that is used for the process data

communications cycle for EtherCAT.

Multi-motion Not supported.

Cams Number of

cam data points

Maximum points per cam table

Maximum points for all

65,535 points

262,140 points

cam tables

Maximum number of cam tables 160 tables

*1 This is the total for all axis types. Refer to Axis Types on page 5-9 for details on axis types.

*2 Functions with asterisks were added for an upgraded version of the CPU Unit. Refer to A-7 Version Information for infor-

mation on version upgrades.

*3 This number of axes is achieved in a combination of a CPU Unit with unit version 1.06 or later and Sysmac Studio version

1.07 or higher. In other combinations, this is 8 axes.

*4 This number of axes is achieved in a combination of a CPU Unit with unit version 1.06 or later and Sysmac Studio version

1.07 or higher. In other combinations, this is 4 axes.

*5 This means the axes for which all motion control functions can be used.

*6 This means the axes for which only single-axis position control can be used among motion control functions. Refer to

Control Function on page 5-10 for details on a single-axis position control axis.

*7 This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used Axis.

1-10

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1 Introduction to the Motion Control Function Module

1-4-3 Function Specifications

The following table describes the functions that are supported for connections to OMRON control devices.

Item Description

Controllable Servo Drives OMRON 1S-series Servo Drives with built-in EtherCAT

communications or G5-series Servo Drives with built-in

EtherCAT communications

Controllable encoder input terminals OMRON GX-series GX-EC0211/EC0241 EtherCAT

Remote I/O Terminals

Controllable Position Interface Units *3 (*)

Control method Control commands using EtherCAT communications

Control modes Position control, Velocity control, and Torque control Unit conversions Position units Pulse, mm, μm, nm, degree, and inch

Electronic gear ratio Pulse per motor rotation/travel distance per motor rotation,

Positions that can be managed Command positions and actual positions

Axis types Servo axes, Virtual servo axes, Encoder axes, and Virtual

Position command values Negative or positive long reals (LREAL) or 0 (command

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

Acceleration command values and deceleration command values

Jerk command values

OMRON NX-EC0 Incremental Encoder Input Units

OMRON NX-ECS SSI Input Units

OMRON NX-PG0 Pulse Output Units

or (Pulse per motor rotation × Motor gear ratio)/(Work travel distance per rotation × Work gear ratio)

encoder axes

)

units

units/s)

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

(*)

)

1-4 Specifications

1-4-3 Function Specifications

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1 Introduction to the Motion Control Function Module

Item Description

Single axes Single-axis posi-

tion control

Single-axis velocity control

Single-axis torque control

Single-axis synchronized control

Single-axis manual operation

Absolute positioning Positioning is performed for a target position that is speci-

fied with an absolute value.

Relative positioning Positioning is performed for a specified travel distance

from the command current position.

Interrupt feeding Positioning is performed for a specified travel distance

from the position where an interrupt input was received from an external input.

Cyclic synchronous absolute positioning (*)

Velocity control Velocity control is performed in Position Control Mode.

Cyclic synchronous velocity control

Torque control The torque of the motor is controlled.

Starting cam operation A cam motion is performed using the specified cam table.

Ending cam operation The cam motion for the axis that is specified with the input

Starting gear operation A gear motion with the specified gear ratio is performed

Positioning gear operation

Ending gear operation The specified gear motion or positioning gear motion is

Synchronous positioning Positioning is performed in sync with a specified master

Master axis phase shift The phase of a master axis in synchronized control is

Combining axes The command positions of two axes are added or sub-

Powering the Servo The Servo in the Servo Drive is turned ON to enable axis

Jogging An axis is jogged at a specified target velocity.

A command position is output each control period in Position Control Mode.

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

parameter is ended.

between a master axis and slave axis.

A gear motion with the specified gear ratio and sync position is performed between a master axis and slave axis.

ended.

axis.

shifted.

tracted and the result is output as the command position.

motion.

1-12

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1 Introduction to the Motion Control Function Module

Item Description

Single axes Auxiliary functions

for single-axis control

Axes groups Multi-axes coordi-

nated control

Auxiliary functions for multi-axes coordinated control

Resetting axis errors Axes errors are cleared.

Homing A motor is operated and the limit signals, home proximity

signal, and home signal are used to define home.

Homing with parameters (*)

High-speed homing Positioning is performed for an absolute target position of

Stopping An axis is decelerated to a stop.

Immediately stopping An axis is stopped immediately.

Setting override factors The target velocity of an axis can be changed.

Changing the current position

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

Disabling external latches The current latch is disabled.

Zone monitoring You can monitor the command position or actual position

Enable Digital Cam Switch (*)

Monitoring axis following error

Resetting the following error

Torque limit The torque control function of the Servo Drive can be

Changing axis use (*) The Axis Use axis parameter can be temporarily changed.

Start velocity (*) You can set the initial velocity when axis motion starts.

Absolute linear interpolation

Relative linear interpolation

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

Axes group cyclic synchronous absolute positioning (*)

Resetting axes group errors

Enabling axes groups Motion of an axes group is enabled.

Disabling axes groups Motion of an axes group is disabled.

Changing the axes in an axes group (*)

Stopping axes groups All axes in interpolated motion are decelerated to a stop.

Immediately stopping axes groups

Setting axes group override factors

Reading axes group positions (*)

The parameters are specified, the motor is operated, and the limit signals, home proximity signal, and home signal are used to define home.

0 to return to home.

The command current position or actual current position of an axis can be changed to any position.

of an axis to see when it is within a specified range (zone).

The digital outputs are turned ON or turned OFF depending on the axis position.

You can monitor whether the difference between the command positions or actual positions of two specified axes exceeds a threshold value.

The error between the command current position and actual current position is set to 0.

enabled or disabled and the torque limits can be set to control the output torque.

Linear interpolation is performed to a specified absolute position.

Linear interpolation is performed to a specified relative position.

A positioning command is output each control period in Position Control Mode.

Axes group errors and axis errors are cleared.

The Composition Axes parameter in the axes group parameters can be overwritten temporarily.

All axes in interpolated motion are stopped immediately.

The blended target velocity is changed during interpolated motion.

The command current positions and actual current positions of an axes group can be read.

1-4 Specifications

1-4-3 Function Specifications

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1 Introduction to the Motion Control Function Module

Item Description

Common items

Auxiliary functions

External interface signals The Servo Drive input signals listed on the right are used.

Cams

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

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

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

Acceleration/deceleration control

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

Stop method You can set the stop method to the immediate stop input

Re-execution of motion control instructions You can change the input variables for a motion control

Multi-execution of motion control instructions (Buffer Mode)

Continuous axes group motions (Transition Mode)

Monitoring functions

Absolute encoder support You can use an OMRON 1S-series Servomotor or G5-

Input signal logic inversion (*) You can inverse the logic of immediate stop input signal,

Setting cam table properties

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

Generating cam tables (*) The cam table that is specified with the input parameter is

Changing axis parameters (*)

Automatic acceleration/deceleration control

Changing the acceleration and deceleration rates

Software limits The movement range of an axis is monitored.

Following error The error between the command current value and the

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

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

saved in non-volatile memory in the CPU Unit.

generated from the cam property and cam node.

are overwritten temporarily.

You can access and change the axis parameters from the user program.

Mode (infinite length).

machine.

Jerk is set for the acceleration/deceleration curve for an axis motion or axes group motion.

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

time to confirm when positioning is completed.

signal or limit input signal.

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.

actual current value is monitored for an axis.

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

series Servomotor with an Absolute Encoder to eliminate the need to perform homing at startup.

positive limit input signal, negative limit input signal, or home proximity input signal.

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

1-14

*1 Unit version 2.1 or later is recommended for G5-series Cylinder-type Servo Drives. Unit version 1.1 or later is

recommended for G5-series Linear Motor Types.

*2 The recommended unit version is 1.1 or later.

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*3 Some of the functions of the MC Function Module are different when NX-series Position Interface Units are

used. Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for details.

*4 Positions can be set within a 40-bit signed integer range when converted to pulses.

*5 You can create the cam table with the Cam Editor in the Sysmac Studio or with the Generate Cam Table

instruction in the user program. Specify the master axis phase and the slave axis displacement. You can change the phase pitch for each range. Cam data can be overwritten from the user program.

*6 Application is possible when you use an absolute external scale for an OMRON G5-series Linear Motor Type

Servo Drive with built-in EtherCAT communications.

Note Functions with asterisks were added for an upgraded version of the CPU Unit. Refer to A-7 Version Informa-

tion for information on version upgrades.

1-4 Specifications

1-4-3 Function Specifications

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1 Introduction to the Motion Control Function Module

1-16

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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-3-1 CPU Unit Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-3-2 Example of Task Operations for Motion Control . . . . . . . . . . . . . . . . . . . . . . 2-13

2-4 EtherCAT Communications and Motion Control . . . . . . . . . . . . . . . . . . . . 2-20

2-4-1 CAN Application Protocol over EtherCAT (CoE) . . . . . . . . . . . . . . . . . . . . . . 2-20

2-4-2 Relationship between EtherCAT Master Function Module

and MC Function Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

2-4-3 Relationship between Process Data Communications Cycle

and Motion Control Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24

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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/NX-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/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on other Function Mod-

ules.

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

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/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on other Function

Modules.

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/NX-series user’s manuals as required when using the MC Function Module in an application.

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2 Motion Control Configuration and Principles

Additional Information

NX701/NJ-series CPU Unit

A feedback system is not configured.

A feedback system is configured.

Servo Drive

User program MC Function

Module

EtherCAT Master

Function Module

EtherCAT

communications

Communications

processing

Command

interpretation

Data processing

Motion control

instruction

Communica-

tions

processing

Status

Position

control

Velocity

control

Torque control

Command

interpretation

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.

2-2 Motion Control Configuration

 Configuration on EtherCAT Network

• When motion control instructions are executed in the user program, the MC Function Module inter-

prets the resulting commands.

• The MC Function Module then performs motion control processing at a fixed period based on the

results of the command interpretation. It generates command values to send to the 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 communica-

tions 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 to use EtherCAT communications.

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

• 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.

• Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information

on the configuration to use the NX-series Position Interface Units.

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2 Motion Control Configuration and Principles

Additional Information

NX102 CPU Unit or NX1P2 CPU Unit

Motion control

instructions

User

program

MC Function

Module

Command

interpretation

Data processing

NX bus function

module

Servo Drive

Pulse trains

Position

control

Velocity

control

Torque

control

A feedback system is configured.A feedback system is not configured.

Position Interface Unit

 Configuration on CPU Unit

• When motion control instructions are executed in the user program, the MC Function Module inter-

prets the resulting commands.

• The MC Function Module then performs motion control processing at a fixed period based on the

results of the command interpretation. It generates command values to send to the Position Interface Unit (Pulse Output Unit). The following command values are generated: target position and target velocity.

• Generated command values are output to the Servo Drive as pulse trains.

• The Servo Drive performs position loop control and velocity loop control based on the command val-

ues which are output as pulse trains.

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on the configuration to use the NX-series Position Interface Units.

2-4

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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/NX-series CPU Units support the following tasks.

Type of task Task name

Tasks that execute programs at a fixed period Primary periodic task

Priority-5*1, -16*2, -17, and -18 periodic tasks

Tasks that execute programs only once when the execution conditions for the tasks are met

*1 You can use the priority-5 periodic task only with NX701 CPU Units.

*2 You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.

*3 A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use event

tasks.

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

Event task (execution priority: 8 and 48)

2-3 Motion Control Principles

2-3-1 CPU Unit Tasks

Types of Tasks and Task Priority

The NX701 CPU Unit can execute the primary periodic task and the priority-5 periodic task in parallel with a multi-core processor.

The NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit cannot execute more than one task in parallel.

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/NX-series CPU Unit. You cannot use motion control instructions in event tasks.

Type of t a s k

Primary periodic task

Number of

tasks

1 4 This task executes I/O refreshing, programs, and motion

Priority Operation

control 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.

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2 Motion Control Configuration and Principles

Precautions for Correct UsePrecautions for Correct Use

Additional Information

Typ e o f task

Periodic tasks 0 or 1

Number of

tasks

Priority Operation

These tasks execute I/O refreshing, programs, and motion control in the specified task period. The priority-5 periodic task has the second highest execution priority after the primary periodic task and can be executed quickly and precisely. The priority-5 periodic task is used when you want to divide functions configuring the deivce for separate control, those functions that need high-speed control with the primary periodic task and others with the priority-5 periodic task. The primary periodic task and priority-5 periodic task are used

for the multi-task motion control.

These tasks execute programs and I/O refreshing in the specified task period. The execution period for this priority-16 periodic task is longer than the execution period of the primary periodic task and priority-5 periodic task. Therefore, periodic tasks are used to execute programs. In the priority-16 periodic task, you can write the user program for some slaves and Units that refresh I/O in the primary periodic task. For example, synchronized control and control requiring a fast response time are placed in the primary periodic task or priority-5 periodic task. Overall device control is separately placed in a priority-16 periodic task.

*1 You can use the priority-5 periodic task only with NX701 CPU Units.

*2 The multi-motion performs the motion controls in parallel using both the primary periodic task and the priority-5

periodic task.

*3 You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.

Note The CPU Unit has priority-17 and -18 periodic tasks. However, you cannot use motion control instructions in

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

• Motion control instructions can be used in the primary periodic task and in a priority-5 or a pri-

ority-16 periodic task.

• If motion control instructions are used in any other tasks, an error will occur when the user pro-

gram is built on the Sysmac Studio.

The NX701 CPU Unit allows you to execute the motion control in the primary periodic task and in the priority-5 periodic task. If these two motion controls need to be identified, the motion control in the primary periodic task is called motion control 1, while the motion control in the priority-5 periodic task is called motion control 2.

2-6

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2 Motion Control Configuration and Principles

Precautions for Correct UsePrecautions for Correct Use

Additional Information

Assignment possible Assignment NOT possible

I/O device

(Primary

periodic task)

Axis 1: Primray periodic task

Axis 2: Primray periodic task

CH1

CH2

Axis 2: Priority-5 periodic task

CH1

CH2

I/O device

(Primary

periodic task)

Axis 1: Primray periodic task

Task Assignment

• Axes and axes groups can be assigned to either of the primary periodic task and the priority-5

periodic task. The I/O device task that is assigned to an axis must be the same type of task that is assigned to the axis.

• You can execute motion control instructions from the user program that is operated in the priority-16

periodic task for the axes and axes groups that are assigned to the primary periodic task.

Yon cannot execute motion control instructions from the user program that is operated in the priority-5 periodic task for the axes and axes groups that are assigned to the primary periodic task. If you perform the execution, depending on whether the axes that are assigned to the priority-5 periodic task exist or not, the operation differs as follows.

• If the axes that are assigned to the priority-5 periodic task exist, an Illegal Axis Specification

(event code: 54600000 hex) occurs.

• If the axes that are assigned to the priority-5 periodic task do not exist, motion control instruc-

tions are executed, however, do not use the instructions due to the variations of execution timing.

Similarly, you cannot execute motion control instructions from the user program that is operated in the primary periodic task for the axes and axes groups that are assigned to the priority-5 periodic task.

• You cannot execute motion control instructions from the user program that is operated in

the priority-16 periodic task for the axes and axes groups that are assigned to the priority-5 periodic task. If you perform the execution, an Illegal Axis Specification (event code: 54600000 hex) occurs.

2-3 Motion Control Principles

2-3-1 CPU Unit Tasks

Refer to Section 3 Configuring Axes and Axes Groups for details on axes and axes groups.

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2 Motion Control Configuration and Principles

IO UPG

Task period (t×2)

IO UPG IO UPGUPG UPG

Task period (t×4)

(A)

(B)

(C)

IO UPG MC IO UPG MC IO UPG

Primary

periodic task

Priority-5

periodic task

Priority-16

periodic task

Primray period (t)

Basic Operation of Tasks

 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 and priority-5 periodic task include 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.

Symbol Description

IO I/O refreshing UPG User program execution MC Motion control (A) A dotted line represents a transition to another task. (B) A dashed-dotted line means that processing for that

task has been interrupted.

has been completed.

2-8

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2 Motion Control Configuration and Principles

Task execution time

Task period (= primary period)

I/O refresh

Refresh

executed.

Control processing

Output data processing

Input data processing

System common processing 1

Motion control

System common processing 2

User program

execution

 Operation of the Primary Periodic Task

Processing Processing Contents

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

• If forced refreshing is set, the forced refreshing values are reflected in the

output refresh data.

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

Input data processing • Whether the condition expression for event task execution is met or not is

determined.

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

• If forced refreshing is set, the forced refreshing values are reflected in the

input refresh data that was read.

System common processing 1 • Processing for exclusive control of variables in tasks is performed when

accessing tasks are set.

• Motion input processing is performed.

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

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

assigned.

Motion control 1

System common processing 2 • Processing for exclusive control of variables in tasks is performed when

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

programs in the primary periodic task and priority-16 periodic task are executed.

• Motion output processing is performed.

refreshing tasks are set.

• Processing for variables accessed from outside of the Controller is per-

formed to maintain concurrency with task execution (executed for the variable access time that is set in the Task Settings).

• If there is processing for EtherNet/IP tag data links and refreshing tasks are

set for the tags (i.e., variables with a Network Publish attribute), variable access processing is performed.

2-3 Motion Control Principles

2-3-1 CPU Unit Tasks

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

*1 The Servo Drive status, axis current values, and other motion control system-defined variables are updated

according to data received from the Servo Drives.

*2 For the system-defined variables of the axes that are assigned to Motion control 1, _MC_AX[0-255] or

_MC1_AX[0-255] are used. Similarly, for the system-defined variables of the axes groups, _MC_GRP[0-63] or _MC1_GRP[0-63] are used. Refer to 3-1-3 Introduction to Axis Variables for the system-defined variables of axes and 3-3-3 Introduction to Axes Group Variables for the system-defined variables of axes groups.

*3 Data is sent to the Servo Drives during I/O refreshing in the next primary periodic task.

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2 Motion Control Configuration and Principles

Task execution time

Task period

I/O refresh

Refresh

executed.

Control processing

Output data processing

Input data processing

System common processing 1

Motion control

System common processing 2

User program

execution

 Operation of a Priority-5 Periodic Task

Processing Processing contents

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

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

refresh data.

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.

• If forced refreshing is set, the forced refreshing values are reflected in the input

refresh data that was read.

System common processing 1

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

Motion control 2

System common processing 2

• Processing for exclusive control of variables in tasks is performed when accessing

tasks are set.

• Motion input processing is performed.

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

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

in the primary periodic task and priority-5 periodic task are executed.

• Motion output processing is performed.

• Processing for exclusive control of variables in tasks is performed when refreshing

tasks are set.

• Processing for variables accessed from outside of the Controller is performed to

maintain concurrency with task execution (executed for the variable access time that is set in the Task Settings).

*1 The Servo Drive status, axis current values, and other motion control system-defined variables are updated

*2 For the system-defined variables of the axes that are assigned to Motion control 2, _MC2_AX[0-255] are used.

*3 Data is sent to the Servo Drives during I/O refreshing in the next priority-5 periodic task.

2-10

according to data received from the Servo Drives.

Similarly, for the system-defined variables of the axes groups, _MC2_GRP[0-63] are used. Refer to 3-1-3 Introduction to Axis Variables for the system-defined variables of axes and 3-3-3 Introduction to Axes Group Variables for the system-defined variables of axes groups.

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2 Motion Control Configuration and Principles

Additional Information

 Operation of a Priority-16 Periodic Task

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

For a single task, the primary period, which is the task period for the primary periodic task, is the standard period for execution. In this case, 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.) The NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit support only the single task control.

2-3 Motion Control Principles

2-3-1 CPU Unit Tasks

For multi-motion, two kinds of period, the primary period and the task period of priority-5 periodic task are the standard periods for execution. In this case, the motion control takes two kinds of period, while the process data communications cycle for EtherCAT communications automatically takes each of the task periods.

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-5 periodic task to 2 ms and 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 priority-5 periodic task will match once every two primary periods. Similarly, the start of the period for the primary periodic task and the priority-16 periodic task will match once every four primary periods.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the task period.

If two process data communications cycles need to be identified, the communications cycle for the primary periodic task is called process data communications cycle 1, while the communications cycle for the priority-5 periodic task is called process data communications cycle 2.

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2 Motion Control Configuration and Principles

 Valid Task Periods for NX701 CPU Unit

For the NX701 CPU Unit, valid task periods depend on the type of task as shown below.

Task Valid task periods

Primary periodic task 125 μs, 250 μs to 8 ms (specify in increments of 250 μs) Priority-5 periodic task 125 μs, 250 μs to 100 ms (specify in increments of 250 μs) Priority-16 periodic task 1 ms to 100 ms (specify in increments of 250 μs)

Note The setting conditions of task periods of the primary periodic task and the periodic tasks.

• The task periods for periodic tasks must be set to integer multiples of the task period of the primary

periodic task.

• Set the task period so that the least common multiple of task periods of each task must be less than or

equal to 600 ms.

 Valid Task Periods for NX102 CPU Unit

Only the primary periodic task is valid for an NX102 CPU Unit. Valid task periods are as follows.

Task Valid task periods

Primary periodic task 1 ms to 32 ms (specify in increments of 250 μs)

 Valid Task Periods for NX1P2 CPU Unit

Only the primary periodic task is valid for an NX1P2 CPU Unit. Valid task periods are as follows.

Task Valid task periods

Primary periodic task 2 ms to 8 ms (specify in increments of 250 μs)

 Valid Task Periods for NJ-series CPU Unit

The following table lists the possible combinations of primary periodic task and priority-16 periodic task periods for the NJ-series CPU Unit.

Primary period Valid task periods for periodic tasks

500 μs

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

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

* Unit version 1.03 or later is required to use this setting on the NJ301 CPU Unit. You cannot use this setting on the

NJ101-10.

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

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

2-12

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2 Motion Control Configuration and Principles

Additional Information

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

Motion control instructions can be used in the primary periodic task, in a priority-5 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

Primary period Primary period

Primary

periodic task

Loading Data

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

UPG

IO MC UPG

Execution of motion control instructions

Servo

Execution command

IO MC

2-3 Motion Control Principles

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

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.

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 and other devices are generated.

Sending Commands

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

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

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2 Motion Control Configuration and Principles

Additional Information

UPG

IO MC UPG

IO MC

Execution of motion control instructions

Servo

Execution command

Slave A

Task period Task period

Priority-5

periodic task

Using Motion Control Instructions in a Priority-5 Periodic Task

If second high-speed motion control after the primary periodic task is required, place the motion control instructions (FB) in a priority-5 periodic task. The basic operation is the same as that of the primary periodic task.

 Timing of Processing

Loading Data

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

Instruction Execution

Command Generation

Sending Commands

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

• You can use the priority-5 periodic task only with NX701 CPU Units.

• The priority-5 periodic task is used when you want to divide functions configuring the deivce

for separate control, those functions that need high-speed control with the primary periodic task and others with the priority-5 periodic task.

2-14

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Additional Information

 Axis Variable Update Timing in Multi-motion

The multi-motion refers to execution of parallel control using the primary periodic task and the priority-5 periodic task. In the multi-motion, the user program for the priority-5 periodic task can access the values of an Axis Variable of an axis that is controlled in the primary periodic task. The reverse is possible: the user program for the primary periodic task can access the values of an Axis Variable of an axis that is controlled in the priority-5 periodic task.

• Refer to 3-1-4 Synchronizing Axis Variables for details on synchronization of axis variables.

• The user program for the priority-16 periodic task can access the values of an Axis Variable

of an axis that is controlled in the primary periodic task. Refer to Using Motion Control Instructions in a Priority-16 Periodic Task on page 2-17 and 3-1-4 Synchronizing Axis Variables for details.

The values of an Axis Variable are updated synchronizing to the task period of accessing task. The values of an Axis Variable that is accessed are not written during the user program execution for the task that accesses the values of an Axis Variable.

2-3 Motion Control Principles

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

Primray

periodic task

Priority-5

periodic task

Symbol Description

(A) Axis Variable updated.

(B) The values of an Axis Variable are not written during the user program execution.

The timing that the values of an Axis Variable in the primary periodic task update to the priority-5 periodic task is shown below.

Primray period (t)

IO UPG

Task period (t×2)

IO UPG MC IO UPG MC IO UPG

Regardless of where the user program execution for the priority-5 periodic task starts, the execution results from the primary periodic task immediately before the start of the task periods matched are updated.

(A)

IO UPG

(B)

Servo

Execution command

IO UPG

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2 Motion Control Configuration and Principles

Additional Information

IO UPG

Task period (t)

IO UPG

Servo

Execution command

IO UPG

Primary

periodic task

Priority-5

periodic task

Primary period (t)

IO UPG

IO IO UPG

IO UPG MC IO UPG MC

(A)

(B)

Task Period Exceeded occurred.

Task period (t×2)

Primary

periodic task

Priority-5

periodic task

Primray period(t)

IO UPG

Task period (t×2)

IO UPG MC IO UPG MC IO UPG

IO UPG

Servo

Execution command

(A)

(B)

Primary

periodic task

Priority-5

periodic task

Primrary period (t)

The update timing is similar if two task periods are the same.

If a Task Period Exceeded error occurs, the execution results from the task period immediately before the start of the task periods matched are not updated. The execution results from one more period before that period are updated.

2-16

Symbol Description

(A) Axis Variable updated.

If a Task Period Exceeded error occurs, the values of the previous task period is updated.

(B) The values of an Axis Variable are not written during the user program execution.

The timing that the values of an Axis Variable in the priority-5 periodic task update to the primary periodic task is shown below.

Symbol Description

(A) Axis Variable updated.

The execution results from the priority-5 periodic task immediately before the start of the task periods matched are updated.

(B) The values of an Axis Variable are not written during the user program execution.

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2 Motion Control Configuration and Principles

Primary period

Execution of motion control instructions

Servo

Execution command

Priority-16

periodic task

Task period (primary period × 3)

Primary

periodic task

Slave A

UPG

UPGIO MC UPGIO MC UPGIO MC UPGIO MC UPGIO MC

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.

 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.

2-3 Motion Control Principles

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

Primary

periodic task

Priority-16

periodic task

Slave A

Primary period

IO MC UPGIO MC UPGIO MC UPGIO MC UPGIO MC

UPG

Execution of motion control instructions

Task period (primary period × 3)

Loading Data

Servo

Execution command

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

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.

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 or other devices are generated.

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

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Precautions for Correct UsePrecautions for Correct Use

Additional Information

UPG

IO MC

UPG

IO MC

UPG

IO MC

UPG

IO MC

UPG

IO MC

UPG

I/O

OUT

Primary period

Execution of motion control instructions

Servo

Execution command

Priority-16

periodic task

Task period (primary period × 3)

Primary

periodic task

Values of Axis Variable are read

 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 of the primary periodic task during the priority-16 periodic task, the values of the variable that were read at the start of the priority-16 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 priority-16 periodic task.

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

the priority-16 periodic task.

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

16 periodic task.

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

• When motion control instructions are placed in a priority-16 periodic task, the response time of

the Servo Drive or other device will increase if the task period of the priority-16 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.

• You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.

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

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Precautions for Correct UsePrecautions for Correct Use

Additional Information

UPG

FB1

UPG

IO MC

UPG

IO MC

UPG

IO MC

UPG

IO MC

UPG

IO MC

FB2 FB2 FB2 FB2

FB1: MC_MoveAbsolute

FB2: MC_MoveRelative

Execution command for MC_MoveRelative

Primary period

Servo

Priority-16

periodic task

Task period (primary period × 3)

Primary

periodic task

The instruction is buffered for multi-execution of instructions.

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.

2-3 Motion Control Principles

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

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.

• 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.

• You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.

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

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2 Motion Control Configuration and Principles

2-4 EtherCAT Communications and

Motion Control

The MC Function Module controls Servo Drives, counters, and NX-series Position Interface Units 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.

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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Additional Information

Version Information

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

Function Module

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

Sequence Control

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

uration in EtherCAT Tab Page in the Sysmac Studio.

• You use the I/O Map Tab Page in the Sysmac Studio to assign device variables.

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

Motion Control

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

uration in EtherCAT Tab Page in the Sysmac Studio.

• 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.

The following devices can be assigned to Axis Variables: EtherCAT slave Servo Drives, Encoder Input Terminals, and NX-series Position Interface Units.

2-4 EtherCAT Communications and Motion

Control

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

• Commands are not sent directly through PDO communications to an EtherCAT slave or NX-

series Position Interface Unit 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 and NX-

series Position Interface Units 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 EtherCAT slave Servo Drives, Encoder Input Terminals, and NX-series Position Interface

Units are not assigned to axes variables, you must execute sequence control for them in the same way as for general-purpose EtherCAT slaves.

With the Sysmac Studio version 1.09 or higher, you can assign device variables to the I/O ports of slaves and Units that are assigned to the Axis Variables. The following are the conditions of I/O ports to which you can assign device variables.

• I/O ports with Read/Write attribute set to Read (R: Read only).

• I/O ports with Read/Write attribute set to Write (W: Write only). Also, for these I/O ports,

<Not assigned> must be set for the process data field under Detailed Settings on the Axis Basic Settings Display in the Sysmac Studio.

If you used the Sysmac Studio version 1.09 or higher to create a project and assign device variables to the Axis Variables, and open the project with the Sysmac Studio version 1.08 or lower, the assignment of the device variables will be cleared.

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EtherCAT

EtherCAT slaves, Servo Drives, encoder input terminals, Position Interface Units

EtherCAT slaves

EtherCAT Master Function Module

Task period

CPU Unit

Device variables

Axis

variables

Executed.

User program in PLC Function Module

Instructions other than motion control instructions

Motion control instructions

Sequence control

Motion control

MC Function Module

•

Profile processing

•

Synchronization

processing

Other processing

EtherCAT

Instructions other than motion control instructions

NX Units, Position Interface Units

EtherCAT slaves, Servo Drives, encoder input terminals, Position Interface Units

EtherCAT slaves

NX Units

I/O ports

NX Bus Function Module

EtherCAT Master Function Module

Task period

MC Function Module

• Profile processing

• Synchronization processing

Other processing

CPU Unit

Device variables

Axis

variables

Enabled.

Executed.

User program in PLC Function Module

Motion control instructions

Sequence control

Motion control

 NX701 CPU Unit

 NX102 CPU Unit

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 NX1P2 CPU Unit

EtherCAT

NX Units, Position Interface Units

EtherCAT slaves, Servo Drives, encoder input terminals, Position Interface Units

EtherCAT slaves

NX Units

Built-in I/O Option Boards

I/O ports

NX Bus Function Module

EtherCAT Master Function Module

Task period

CPU Unit

Device variables

Executed.

User program in PLC Function Module

Instructions other than motion control instructions

Motion control instructions

Sequence control

Motion control

Axis

variables

Executed.

MC Function Module

•

Profile processing

•

Synchronization

processing

Other processing

EtherCAT

EtherCAT slaves, Servo Drives, encoder input terminals, Position Interface Units

EtherCAT slaves

Basic I/O Units, Special Units

I/O ports

EtherCAT Master Function Module

Task period

CPU Unit

Device variables

Executed.

User program in PLC Function Module

Instructions other than motion control instructions

Motion control instructions

Sequence control

Motion control

CJ-series Units

MC Function Module

•

Profile processing

•

Synchronization

processing

Axis

variables

Executed.

Other processing

2 Motion Control Configuration and Principles

2-4 EtherCAT Communications and Motion

Control

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

 NJ-series CPU Unit

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2 Motion Control Configuration and Principles

Slaves

CPU Unit

Processing in slaveEtherCAT

Motion control processing by MC Function Module

Execution of user program in PLC Function Module

Sequence control period

Motion control period Communications cycle Data refresh

period in slave

(depends on the slave)

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 or other device.

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

 NX701 CPU Unit

• Primary period = Motion control 1 period = Process data communications cycle for EtherCAT

communications 1

• Task period of the priority-5 periodic task = Motion control 2 period = Process data communica-

tions cycle for EtherCAT communications 2

*1 If the sequence control period is primary period, the motion control period and the communications cycle are

primary period. If the sequence control period is the task period of the priority-5 periodic task, the motion control period and the communications cycle are the task period of the priority-5 periodic task.

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2 Motion Control Configuration and Principles

CPU Unit

Slaves

Processing in slave

Motion control processing by MC Function Module

Sequence control period

(primary periodic task)

Motion control period

= Primary periodic

task period

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

Data refresh

period in slave

(depends on

the slave)

Basic I/O Units and

Special Units

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

Execution of user program in PLC Function Module

EtherCAT

 NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit

• Primary period = Motion control period = Process data communications cycle for EtherCAT com-

munications

2-4 EtherCAT Communications and Motion

Control

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

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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-1-4 Synchronizing Axis Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3-1-5 Specifying an Axis in the User Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3-2 Axis Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3-2-1 Axis Configuration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3-2-2 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3-3 Axes Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3-3-1 Introduction to Axes Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3-3-2 Introduction to Axes Group Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3-3-3 Introduction to Axes Group Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3-3-4 Specifying an Axes Group in the User Program . . . . . . . . . . . . . . . . . . . . . . 3-24

3-4 Setting Procedures for Axes Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3-4-1 Setting Procedure for an Axes Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3-4-2 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

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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, encoder, or other device connected via EtherCAT communications or it can be a virtual Servo Drive or encoder within the MC Function Module.

Although all axes of NX701 and NJ-series CPU Units are motion control axes, NX102 CPU Units and NX1P2 CPU Units allow the use of single-axis position control axes in addition to motion control axes. You can set each axis to Single-axis Position Control Axis in Control Function in the Axis Basic Settings.

Refer to Control Function on page 5-10 for details on the control function.

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

Axis type Description

Servo axis These axes are used by the EtherCAT slave Servo Drives and NX-series

Position Interface Units. other devices.

If you use NX-series Position Interface Units, you can assign more than one device, such as a Pulse Output Unit and Digital Input Unit, to the same axis.

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

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

Encoder axis These axes are used by the EtherCAT slave Encoder Input Terminals and

NX-series Position Interface Units. actual encoder input terminal or other device. 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.

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

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

*1 Refer to 1-4-3 Function Specifications for the controllable devices.

*2 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.

They are assigned to actual Servo Drives or

An encoder axis is assigned to an

3-2

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3 Configuring Axes and Axes Groups

The following elements are related to the axes of the MC Function Module. The number of elements provided is the same as the maximum number of controlled axes for each model. The maximum number of controlled axes varies depending on the model. Refer to 1-4-2 Perfor- mance Specifications for details.

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.

P. 3 - 3

P. 3 - 7

P. 3 - 9

3-1 Axes

3-1-2 Introduction to Axis Parameters

 Axis Parameters

Classification Parameter name

Axis Basic Settings

Unit Conversion Settings

Axis Number

Motion Control

Axis Use

Axis Type

Control Function

Input Device/Output Device

Unit of Display

Command Pulse Count Per Motor Rotation

Work Travel Distance Per Motor Rotation

Reducer Use

Work Travel Distance Per Rotation

Work Gear Ratio

Motor Gear Ratio

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3 Configuring Axes and Axes Groups

Classification Parameter name

Operation Settings

Other Operation Settings

Limit Settings Software Limits

Position Count Settings

Servo Drive Settings

Maximum Velocity

Start Velocity

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

Immediate Stop Input Logic Inversion

Positive Limit Input Logic Inversion

Negative Limit Input Logic Inversion

Home Proximity Input Logic Inversion

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

PDS State Control Method

3-4

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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

3-1 Axes

3-1-2 Introduction to Axis Parameters

*1 Set this parameter when using the NX701 CPU Unit.

*2 Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.

*3 A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use this

parameter.

*4 A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required to use this

parameter.

*5 This parameter is enabled only for torque control.

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

 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.

Motion Control

Axis Use Select Used axis.

Axis Type Select the type of axis to control.

Control Function

Input Device/Output Device

Select Primary periodic task.

Select All.

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.

P. 5 - 7

*1 Set this parameter when using the NX701 CPU Unit.

*2 Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.

*3 To use the axis as a motion control axis, select All. To use the axis as a single-axis position control axis, select

Single-axis position control only.

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3 Configuring Axes and Axes Groups

Precautions for Correct UsePrecautions for Correct Use

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

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

Classification Parameter name Setting Page

Axis Basic Settings

Unit Conversion Settings

Position Count Settings

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

Axis Number The numbers are assigned in the order that the

Motion Control

Axis Use Select Used axis.

Axis Type Select Servo axis.

Control Function

Input Device/Output Device

Unit of Display Select the display unit (mm, degrees, etc.). P. 5-13

Command Pulse Count Per Motor Rotation

Work Travel Distance Per Motor Rotation

Reducer Use

Work Travel Distance Per Rotation

Work Gear Ratio

Motor Gear Ratio

Count Mode Set this parameter according to the machine

axes are added.

Select Primary periodic task.

Select All.

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.

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.

Specify whether to use the reducer setting or not.

Set the work travel distance per rotation.

Set the gear ratio for the workpiece.

Set the gear ratio of the motor.

specifications.

fications.

P. 5 - 7

P. 5 - 2 5

*1 Set this parameter when using the NX701 CPU Unit.

*2 Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.

*3 To use the axis as a motion control axis, select All. To use the axis as a single-axis position control axis, select

Single-axis position control only.

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

*5 A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use this

parameter.

• 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 1S-series Servo Drives and 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.

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Additional Information

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.

3 Configuring Axes and Axes Groups

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[255], _MC1_AX[0] to _MC1_AX[255], _MC2_AX[0] to _MC2_AX[255]. When you add axes on the Sysmac Studio, the MC_Axis000 to MC_Axis255 are set by default for _MC_AX[0] to _MC_AX[255]. 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.

 Example When _MC_AX[0-255] Is Used

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[255] MC_Axis255 Axis 255

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

Studio.

)

Default Axis Variable name when

axis is added on the Sysmac Studio

. . .

Axis number example

. . .

3-1 Axes

3-1-3 Introduction to Axis Variables

• _MC_AX[0-255], _MC1_AX[0-255], and _MC2_AX[0-255] are available for the NX701 CPU

Unit. Only _MC_AX[0-14] is available for the NX102 CPU Unit. Only _MC_AX[0-11] is available for the NX1P2 CPU Unit. Only _MC_AX[0-63] is available for the NJ-series CPU Unit.

• For the NX701 CPU Unit, you can access the same values of _MC_AX[0-255] and

_MC1_AX[0-255] if the axis numbers of them are the same. You can use either of the Axis

Variables, or both of them at the same time.

• The Axis Variable assigned to primary periodic task is _MC_AX[0-255] or _MC1_AX[0-255].

The Axis Variable assigned to priority-5 periodic task is _MC2_AX[0-255].

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3 Configuring Axes and Axes Groups

Examples of Axis Variable Levels and Changing Axis Variable Names

In the descriptions below, _MC_AX[0] is used as an example. The same information applies to the other variables.

_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].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

3-8

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 6-26 for details on Axis Variables.

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3 Configuring Axes and Axes Groups

3-1-4 Synchronizing Axis Variables

The user program for the priority-5 periodic task can access the values of an Axis Variable of an axis that is controlled in the primary periodic task. The reverse is possible: the user program for the primary periodic task can access the values of an Axis Variable of an axis that is controlled in the priority-5 periodic task. Also, the user program for the priority-16 periodic task can access the values of an Axis Variable that is controlled in the primary periodic task. The following table shows the relationship between the types of accessing tasks and the Axis Variables.

OK: Access possible ---: Access not possible

Task type

Primary periodic task OK OK OK*4 --Priority-5 periodic task

Priority-16 periodic task

Priority-17 or priority-18 periodic task Priority-8 or priority-48 event task

*1 The user-defined Axis Variables, such as MC_Axis000, Loader1 and other Axis Variables, that are automatically gener-

ated when you create the axes on the Sysmac Studio. We recommend that you use the user-defined Axis Variables.

*2 _MC_AX[*] or _MC1_AX[*]

*3 _MC2_AX[*]

*4 The Axis Variable for axis 1 is processed every task period of the priority-5 periodic task.

*5 The Axis Variable for axis 1 is processed every primary task period.

*6 The Axis Variables for the maximum number of axes are processed every primary task period. It is not recommended

because the task execution time of the primary periodic task is increased.

*7 The Axis Variables for the maximum number of axes are processed every primary task period.

*8 The Axis Variables for the maximum number of axes are processed every task period of the priority-5 periodic task.

Axis Variable for motion control 1 Axis Variable for motion control 2

User defined

OK*5

System defined

--- OK OK

User defined

System defined

---

3-1 Axes

3-1-4 Synchronizing Axis Variables

3-1-5 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

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/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on motion control instructions.

MC_Power_instance

MC_Power

Axis Axis

Enable Status

Busy

Error

ErrorID

MyAxis1

MyAxis1OnStatus

MyAxis1OnBusy

MyAxis1OnError

MyAxis1OnErrorID

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START

END

Create a project.

Create the EtherCAT Network Configuration.

Add axes.

Set the axis parameters.

Go online and synchronize the data.

Transfer the project to the Controller.

Assign the axes.

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

3-2-2 Setting Procedure

This section describes how to set an axis.

Starting the Sysmac Studio

Start the Sysmac Studio and click the New Project Button.

Set the project properties, select the device, and click the Create Button.

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A new project is displayed.

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.

 Online Method

Double-click EtherCAT in the Multiview Explorer.

The EtherCAT Tab Page is displayed.

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

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

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

 Offline Method

Double-click EtherCAT in the Multiview Explorer.

The EtherCAT Tab Page is displayed.

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

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The slave is inserted on the display.

3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

3-2-2 Setting Procedure

Insert the remaining slaves.

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3 Configuring Axes and Axes Groups

Additional Information

Adding Axes

Right-click Axis Settings in the Multiview Explorer and select Motion Control Axis or Singleaxis Position Control Axis from the Add Menu.

Single-axis Position Control Axis is displayed for the NX102 CPU Unit and NX1P2 CPU Unit.

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

 Copying an Axis

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

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Additional Information

Assigning an Axis

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

3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

3-2-2 Setting Procedure

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

Control Function is displayed for the NX102 CPU Unit and NX1P2 CPU Unit.

Select Primary periodic task or Priority-5 periodic task from Motion control.

The setting is available for the NX701 CPU Unit.

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3 Configuring Axes and Axes Groups

Additional Information

Select Servo axis in the Axis type.

Select All in the Control Function.

• You can select this parameter for the NX102 CPU Unit and NX1P2 CPU Unit.

• To use the axis as a motion control axis, select All. To use the axis as a single-axis position

control axis, select Single-axis position control only.

Select the Servo Drive to use.

This setting allows you to use a Servo Drive as an axis.

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3 Configuring Axes and Axes Groups

Precautions for Correct UsePrecautions for Correct Use

Setting Axis Parameters

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.

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

3-2 Axis Setting Procedure

3-2-2 Setting Procedure

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.

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3 Configuring Axes and Axes Groups

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.

Downloading to the CPU Unit

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

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

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

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3 Configuring Axes and Axes Groups

Additional Information

Introduction to Servo Drive Settings

The MC Function Module connects to OMRON 1S-series Servo Drives with built-in EtherCAT communications, G5-series Servo Drives with built-in EtherCAT communications, or NX-series Pulse Output Units.

Connectable Servo Drive Models

You can connect the R88D-1SN-ECT, R88D-KN-ECT and R88D-KN- ECT-L Servo Drives. The R88D-KN-ECT-R Servo Drives support only Position Control Mode (Cyclic Synchronous 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 1S-series Servo Drive or A-2 Connecting the G5- series Servo Drive for specific settings.

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the settings to use NX-series Pulse Output Units.

3-2 Axis Setting Procedure

3-2-2 Setting Procedure

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Precautions for Correct UsePrecautions for Correct Use

3-3 Axes Groups

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

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 64 groups. The specifications for axes groups are shown in the following table.

Item

Number of axes groups 64 groups max. 8 groups max. 8 groups max. 32 groups max.

Number of composition axes 4 axes max. per axes group

NX701 NX102 NX1P2 NJ-series

Specifications

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 multiaxes 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.

P. 3-21

P. 3-24

Do not configure an axes group with axes on the EtherCAT network and axes on the CPU Unit.

The timing of commands may not be synchronized because the synchronization between the networks is not performed. This may result in unintended operation.

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Precautions for Correct UsePrecautions for Correct Use

3-3-2 Introduction to Axes Group Parameters

 Axes Group Parameters

Classification Parameter name

Axes Group Basic Settings

Axes Group Operation Settings

Axes Group Number

Motion Control

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

3-3 Axes Groups

3-3-2 Introduction to Axes Group Parameters

*1 Set this parameter when using the NX701 CPU Unit.

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

 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

*1 Set this parameter when using the NX701 CPU Unit.

• Set appropriate values for the maximum interpolation velocity, stop method, and other items

based on the operating conditions.

• An axis for which Control Function is set to Single-axis position control only cannot be allo-

cated as an axis in an axes group.

Axes Group Number

Motion Control

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.

Select Primary periodic task.

group.

P. 5 - 3 3

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Additional Information

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.

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[63], _MC1_GRP[0] to _MC1_GRP[63], _MC2_GRP[0] to _MC2_GRP[63]. When you add axes groups on the Sysmac Studio, MC_Group000 to MC_Group063 are set by default for _MC_GRP[0] to _MC_GRP[63]. 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.

 Example When _MC_GRP[0-63] Is Used

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[63] MC_Group063 Axes group 63

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

• _MC_GRP[0-63], _MC1_GRP[0-63], and _MC2_GRP[0-63] are available for the NX701

CPU Unit. Only _MC_GRP[0-7] is available for the NX102 CPU Unit and NX1P2 CPU Unit. Only _MC_GRP[0-63] is available for the NJ-series CPU Unit.

• For the NX701 CPU Unit, you can access the same values of _MC_GRP[0-63] and

_MC1_GRP[0-63] if the axes group numbers of them are the same. You can use either of

the Axes Group Variables, or both of them at the same time.

• The Axes Group Variable assigned to primary periodic task is _MC_GRP[0-63] or

_MC1_GRP[0-63]. The Axes Group Variable assigned to priority-5 periodic task is _MC2_GRP[0-63].

Default Axes Group Variable name when

axes group is added on Sysmac Studio

)

. . .

Axes group number

example

. . .

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3 Configuring Axes and Axes Groups

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

In the descriptions below, _MC_GRP[0] is used as an example. The same information applies to the other axes group variables.

_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-

tion/deceleration rate

. . .

_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

. . .

3-3 Axes Groups

3-3-3 Introduction to Axes Group Variables

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 6-33 for details on Axes Group Variables.

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3 Configuring Axes and Axes Groups

Specify an Axes Group Variable name.

In-out variable AxesGroup

Velocity

Error

ErrorID

CommandAborted

Jerk

Busy

Active

CoordSystem

MC_MoveLinear

Execute

Acceleration

AxesGroup AxesGroup

Done

Position

BufferMode

TransitionMode

MoveMode

MC_MoveLinear_instance

Deceleration

MyGroup1

MovLStart

MyGroup1

MyGroup1OnDone

MyGroup1OnBusy

MyGroup1OnActive

MyGroup1OnCA

MyGroup1OnError

MyGroup1OnErrorID

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.

3-24

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/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on motion control instructions.

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3 Configuring Axes and Axes Groups

START

END

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.

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

3-4 Setting Procedures for Axes Groups

3-4-1 Setting Procedure for an Axes Group

3-4-2 Setting Procedure

Starting the Sysmac Studio

This section gives the procedures to use the Sysmac Studio to set up an axes group in a project that already contains the axes.

Start the Sysmac Studio and open the project.

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3 Configuring Axes and Axes Groups

Adding an Axes Group

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.

 Copying an Axes Group

You can also create an axes group by copying an axes group from a project.

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3 Configuring Axes and Axes Groups

Additional Information

Setting Axes Group Parameters

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.

3-4 Setting Procedures for Axes Groups

3-4-2 Setting Procedure

Select from Primary periodic task or Priority-5 periodic task from Motion Control.

The setting is available for the NX701 CPU Unit.

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3 Configuring Axes and Axes Groups

Select Used axes group in the Axes group use Box.

Select the composition of the axes group in the Composition Box. A 2-axis composition is selected in the following example.

Assign the axis to use in the Logical axes Box.

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Omron NX701-1, NX102-1, NX102-90, NJ501, NJ301-1 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Intended Audience

Applicable Products

Relevant Manuals

Manual Structure

Page Structure

Special Information

Precaution on Terminology

Sections in this Manual

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Definition of Precautionary Information

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Conformance to EU Directives

Conformance to KC Certification

Conformance to Shipbuilding Standards

Software Licenses and Copyrights

Versions

Checking Versions

Unit Versions of CPU Units and Sysmac Studio Versions

Related Manuals

Revision History

1-1 Features

1-2 System Configuration

1-3 Basic Flow of Operation

1-4-2 Performance Specifications

1-4 Specifications

1-4-1 General Specifications

1-4-3 Function Specifications

2-2 Motion Control Configuration

2-3 Motion Control Principles

2-3-1 CPU Unit Tasks

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

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

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

3-1 Axes

3-1-1 Introduction to Axes

3-1-2 Introduction to Axis Parameters

3-1-3 Introduction to Axis Variables

3-1-4 Synchronizing Axis Variables

3-1-5 Specifying an Axis in the User Program

3-2 Axis Setting Procedure

3-2-1 Axis Configuration Procedure

3-2-2 Setting Procedure

3-3 Axes Groups

3-3-1 Introduction to Axes Groups

3-3-2 Introduction to Axes Group Parameters

3-3-3 Introduction to Axes Group Variables

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

3-4 Setting Procedures for Axes Groups

3-4-1 Setting Procedure for an Axes Group

3-4-2 Setting Procedure