Omron NX701-1 User Manual

9 Motion Control Functions
9-16
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
This section describes the cam tables that are used for cam operation.
9-2-5 Cam Tables
Cam Table Terminology
Term Description
cam operation An operation that takes one master axis and one slave axis and follows the cam pro-
file curve to derive the displacement of the slave axis from the phase of the master
axis.
cam profile curve A curve that shows the relationship between phases and displacements in a cam
operation.
The cam profile curve is created on the Sysmac Studio. You can use the cam profile
curve with a cam data variable after the cam profile curve is downloaded to the CPU
Unit. Use the Synchronization menu command of the Sysmac Studio to download the
project to the CPU Unit.
cam block You can select a cam curve in this block. It represents the area between the end point
of the previous cam block and the end point of the current cam block.
cam curve A curve that represents the cam characteristics. You can select a cam curve for each
cam block. The Sysmac Studio calculates the phase widths and displacement widths
from the specified points and creates the actual cam profile curve. You can choose
from different curves, such as straight line, parabolic, and trapecloid.
cam data Data made up of phases (master axis) and displacements (slave axis) for cam opera-
tion.
cam data variable A variable that represents the cam data as a structure array.
cam table A data table that contains cam data. If phase data is not in ascending order the cam
table is treated as an illegal cam table.
cam start point The first point in the cam data.
cam end point The last point of valid cam data in the cam data. If the cam end point is less than the
number of cam data, all phases and displacements after the cam end point will be 0.
cam block start point The start point for a cam block. It is the same as the cam start point at the start of the
cam operation. If the cam profile curve continues, this will be the same as the cam
block end point.
cam block end point The end point for a cam block. It is the same as the cam end point at the end of the
cam operation. If the cam profile curve continues, this will be the same as the cam
block start point. The cam block end point is defined as (horizontal axis, vertical axis)
= (phase end point, displacement end point).
original cam data Cam data that is created by dividing up the cam profile curve in the Cam Editor.
program-modified cam
data
The cam data changed by the user program while the CPU Unit is in operation.
master axis The axis that serves as the input to the cam operation. You can specify either Linear
Mode or Rotary Mode.
slave axis The axis that serves as the output from the cam operation. You can specify either Lin-
ear Mode or Rotary Mode.
phase The relative distance on the master axis from the start point of the cam table.
displacement The relative distance on the slave axis from the master following distance.
valid cam data The cam data other than the cam start point and other than data where the phase is 0.
invalid cam data The cam data other than the cam start point where the phase is 0.
number of valid cam data The number of sets of cam data.
maximum number of
cam data
The maximum number of sets of cam data that the cam table can contain.
cam data index The number of the cam data that is executed.

Omron NX701-1 Specifications

General

Ethernet Ports	1
USB Ports	1
Power Supply	24 VDC
I/O Points	Up to 256
Ethernet Port	1
USB Port	1
SD Memory Card Slot	Yes
Programming Language	Ladder Diagram, Structured Text, Function Block Diagram
Operating Temperature	0 to 55°C

Summary

Introduction

Intended Audience

Information about the target readers of this manual.

Applicable Products

Lists the specific CPU Units covered by this manual.

Relevant Manuals

Manual Structure

Special Information

Precaution on Terminology

Sections in this Manual

Terms and Conditions Agreement

Safety Precautions

Definition of Precautionary Information

Explains the classification of precautionary information within the manual.

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Versions

Checking Versions

Explains how to check unit versions using ID information or Sysmac Studio.

Related Manuals

Revision History

1 Introduction to the Motion Control Function Module

1-1 Features

Describes the capabilities of the Motion Control Function Module.

1-2 System Configuration

Outlines the system components and network configuration for motion control.

1-3 Basic Flow of Operation

Provides a step-by{0}step procedure for performing motion control.

1-4 Specifications

Details the performance and general specifications of the MC Function Module.

2 Motion Control Configuration and Principles

2-1 Internal Configuration of the CPU Unit

Overview of the CPU Unit's software configuration and function modules.

2-2 Motion Control Configuration

Details the configuration of motion control on EtherCAT networks and CPU Units.

2-3 Motion Control Principles

Explains CPU Unit tasks and their relation to motion control execution.

2-4 EtherCAT Communications and Motion Control

Describes EtherCAT communications and their relation to motion control.

3 Configuring Axes and Axes Groups

3-1 Axes

Describes the different types of axes used in motion control systems.

3-2 Axis Setting Procedure

Provides step-by-step instructions for setting up axes in Sysmac Studio.

3-3 Axes Groups

Explains how to group axes for complex operations like linear or circular interpolation.

3-4 Setting Procedures for Axes Groups

Details the procedures for setting up axes groups in Sysmac Studio.

4 Checking Wiring from the Sysmac Studio

4-1 Functions of the Sysmac Studio

Explains how to use the MC Test Run function for wiring checks without programming.

4-2 Monitoring Sensor Signals

Describes how to use the input signal display to check sensor wiring.

4-3 Checking Motor Operation

Details how to check motor operation using functions like Servo ON and Jogging.

5 Motion Control Parameters

5-1 Introduction

Explains axis and axes group parameters for motion control operations.

5-2 Axis Parameters

Details various parameters for configuring axis operations.

5-3 Axes Group Parameters

Explains parameters for setting up axes group operations.

6 Motion Control Programming

6-1 Introduction

Explains programming motion control with EtherCAT slave devices.

6-2 Motion Control Instructions

Provides an overview of motion control instructions based on PLCopen® and MC Function Module specific ones.

6-3 State Transitions

Describes the states of axes and axes groups and their transitions.

6-4 Execution and Status of Motion Control Instructions

Details the rules for executing instructions and their status monitoring.

6-5 Positions

Explains the different types of positions used in motion control programming.

6-6 System-defined Variables for Motion Control

Describes system-defined variables for status and parameter information.

6-7 Cam Tables and Cam Data Variables

Explains the creation and handling of cam tables and cam data variables.

6-8 Programming Motion Controls

Provides procedures for creating programs in Sysmac Studio.

6-9 Creating Cam Tables

Explains how to use the Cam Editor in Sysmac Studio to create cam tables.

7 Manual Operation

7-1 Outline

Describes manual operations using the MC Function Module and OMRON Servo Drives.

7-2 Turning ON the Servo

Details how to turn the Servo ON/OFF using the MC_Power instruction.

7-3 Jogging

Explains how to perform axis jogging using the MC_MoveJog instruction.

8 Homing

8-1 Outline

Describes homing operations when combined with OMRON G5-series Servo Drives.

8-2 Homing Procedure

Provides the steps for setting homing parameters and performing the homing operation.

8-3 Homing Operation

Explains how to select the home definition method based on system configuration and purpose.

8-4 Homing with an Absolute Encoder

Describes how to use absolute encoders for homing and retaining position data.

8-5 High-speed Homing

Explains the function for quick positioning to home using MC_MoveZeroPosition.

9 Motion Control Functions

9-1 Single-axis Position Control

Describes positioning operations for single axes connected to OMRON Servo Drives.

9-2 Single-axis Synchronized Control

Explains synchronized control for single axes using gear or cam operations.

9-3 Single-axis Velocity Control

Details the operation of velocity control for single axes.

9-4 Single-axis Torque Control

Explains how torque control continuously applies a specified amount of torque.

9-5 Common Functions for Single-axis Control

Describes common functions like positions, velocity, and acceleration for single-axis control.

9-6 Multi-axes Coordinated Control

Explains how to set up axes groups for interpolation control of multiple axes.

9-7 Common Functions for Multi-axes Coordinated Control

Details common functions for multi-axes coordinated control, like velocity and acceleration.

9-8 Other Functions

Describes additional functions of the MC Function Module.

10 Sample Programming

10-1 Overview of Sample Programming

Provides information applicable to all sample programming sections.

10-2 Basic Programming Samples

Offers programming samples for MC Function Module's basic functions.

11 Troubleshooting

11-1 Overview of Troubleshooting

Describes methods for checking errors and finding corrections.

Appendices

A-1 Connecting the 1S-series Servo Drive

Describes connections and settings for OMRON 1S-series Servo Drives.

A-2 Connecting the G5-series Servo Drive

Describes connections and settings for OMRON G5-series Servo Drives.

A-3 Connecting to Encoder Input Terminals

Details connections and settings for OMRON GX-series Encoder Input Terminals.

A-4 Connecting to NX Units

Provides information on connecting to NX-series Position Interface Units.

A-5 PDS State Transition

Explains PDS state transitions defined in CiA402 drive profile.

A-6 Terminology

Provides definitions of terms related to motion control.

A-7 Version Information

Details functions added or changed for different CPU Unit and Sysmac Studio versions.