NJ/NX-series Motion Control Instructions Reference Manual

1 Machine Automation ControllerNJ/NX-seriesMotion ControlInstructions Reference ManualW508-E1-15NX701-17 NX701-16 NX1P2-11 NX1P2-10 NX1P2-90 NJ501- 5 NJ501- 4 NJ501- 3 NJ301-12 NJ301-11 NJ101-10 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 . Neverthe-less, 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.

2 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 product screen shots reprinted with permission from Microsoft Motion Control Instructions Reference Manual (W508)IntroductionThank you for purchasing an NJ/NX-series CPU Manual describes the Motion Control Instructions .

3 Please be sure you sufficiently understand theoperations and handling procedures, and use the Motion Control Function Module (abbreviated as MCFunction Module ) correctly. Use this Manual together with the user s manuals for the NJ/NX-series CPU you have finished reading this Manual , keep it in a safe location where it will be readily availablefor future Manual is intended for the following personnel, who must also have knowledge of electrical sys-tems (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 programming, this Manual is intended for personnel who understand the programming languagespecifications in international standard IEC 61131-3 or Japanese standard JIS B Manual covers the following CPU Units NX701-17 NX701-16 NX1P2-11 NX1P2-11 1 NX1P2-10 NX1P2-10 1 NX1P2-90 NX1P2-90 1NJ-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.

4 Refer to Rele-vant Manuals on page 2 and Related Manuals on page AudienceApplicable ProductsRelevant Manuals2NJ/NX-series Motion Control Instructions Reference Manual (W508)Relevant ManualsThe following table provides the relevant manuals for the NJ/NX-series CPU all of the manuals that are relevant to your system configuration and application before you usethe NJ/NX-series CPU 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 of useManualBasic informationNX-series CPU Unit Hardware user s ManualNX-series NX1P2 CPU UnitHardware user 's ManualNJ-series CPU Unit Hardware user s ManualNJ/NX-series CPU UnitSoftware user s ManualNX-series NX1P2 CPU UnitBuilt-in I/O and Option Board user 's ManualNJ/NX-seriesInstructions Reference ManualNJ/NX-series CPU Unit Motion Control user s ManualNJ/NX-seriesMotion Control Instructions Reference ManualNJ/NX-series CPU UnitBuilt-in EtherCAT Port user s ManualNJ/NX-series CPU UnitBuilt-in EtherNet/IP Port user s ManualNJ-series Database Connection CPU Units user s ManualNJ-series SECS/GEM CPU UnitsUser s ManualNJ-series NJ RoboticsCPU Unit user s ManualNJ/NX-seriesTroubleshooting ManualIntroduction to NX701 CPU Units Introduction to NX1P2 CPU Units Introduction to NJ-series Controllers Setting devices and hardware Using Motion Control

5 Using EtherCAT Using EtherNet/IP Software settings Using Motion Control Using EtherCAT Using EtherNet/IP Using the database connection service Using the GEM Services Using robot Control Using the NX1P2 CPU Unit functions Writing the user program Using Motion Control Using EtherCAT Using EtherNet/IP Using the database connection service Using the GEM Services Using robot Control Programming error processing Using the NX1P2 CPU Unit functions 3 Relevant ManualsNJ/NX-series Motion Control Instructions Reference Manual (W508)*1 Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and an overviewof the error items. Refer to the manuals that are indicated with triangles for details on errors for the corresponding operation and debugging Using Motion Control Using EtherCAT Using EtherNet/IP Using the database connection service Using the GEM Services Using robot Control Using the NX1P2 CPU Unit functions Learning about error management and corrections *1 Maintenance Using Motion Control Using EtherCAT Using EtherNet/IP Purpose of useManualBasic informationNX-series CPU Unit Hardware user s ManualNX-series NX1P2 CPU UnitHardware user 's ManualNJ-series CPU Unit Hardware user s ManualNJ/NX-series CPU UnitSoftware user s ManualNX-series NX1P2 CPU UnitBuilt-in I/O and Option Board user 's ManualNJ/NX-seriesInstructions Reference ManualNJ/NX-series CPU Unit Motion Control user s ManualNJ/NX-seriesMotion Control Instructions Reference ManualNJ/NX-series CPU UnitBuilt-in EtherCAT Port

6 user s ManualNJ/NX-series CPU UnitBuilt-in EtherNet/IP Port user s ManualNJ-series Database Connection CPU Units user s ManualNJ-series SECS/GEM CPU UnitsUser s ManualNJ-series NJ RoboticsCPU Unit user s ManualNJ/NX-seriesTroubleshooting ManualManual Structure4NJ/NX-series Motion Control Instructions Reference Manual (W508) Manual StructureThe following page structure is used in this StructureManual nameSpecial informationIcons indicate precautions, additional information, or Reference : This page is for illustration only. It does not represent a specific page in this Manual . Level-1 section headingLevel-2 section headingLevel-1 section numberLevel-3 section headingThe level-1 section number is level-2 section heading is level-3 section heading is Axis Command Instructions3-2NJ-series Motion Control Instructions Reference Manual (W508)MC_PowerThe MC_Power instruction makes a Servo Drive ready to operate.

7 *Refer to A-1 Error Variable Update TimingInstructionNameFB/FUNG raphic expressionST expressionMC_PowerPower ServoFBMC_Power_instance (Axis :=parameter,Enable :=parameter,Status =>parameter,Busy =>parameter,Error =>parameter,ErrorID =>parameter);VariablesInput VariablesNameMeaningData typeValid rangeDefaultDescriptionEnableEnableBOOL TRUE or FALSEFALSEThe device is ready for operation when Enable is TRUE, and not ready when it is VariablesNameMeaningData typeValid rangeDescriptionStatusServo ONBOOL TRUE or FALSETRUE when the device is ready for or FALSETRUE when the instruction is or FALSETRUE while there is an CodeWORD*Contains the error code when an error occurs. A value of 16#0000 indicates normal for changing to TRUET iming for changing to FALSES tatusWhen the specified axis becomes ready for operation. When operation ready status for the specified axis is cleared.

8 When Error changes to Enable changes to TRUE. When Enable changes to FALSE. When Error changes to there is an error in the execution conditions or input parameters for the the error is Axis Command InstructionsNJ-series Motion Control Instructions Reference Manual (W508)rewoP_CM 3noitcnuF* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis variable namesare MC_Axis**.) When Enable changes to TRUE, the axis specified by Axis is made ready to can Control the axis when it is ready to operate. When Enable changes to FALSE, the ready status is cleared for the axis specified by cannot Control the axis after the ready status is cleared because it will not acknowledge opera-tion commands. Also, an error occurs if a Motion command is executed for an axis for which theready status is cleared. You can execute the MC_Power (Power Servo) and MC_Reset (Reset AxisError) Instructions even for axes that are not ready.

9 You can use this instruction to disable the operation of axes while they are in Motion . In this case,CommandAborted will change to TRUE. Output of the operation command will stop and the axis willnot longer be ready for operation. If home is not defined for a Servomotor with an absolute encoder, compensation is performed usingthe absolute encoder home offset to define home when the axis is ready to details on the absolute encoder home offset, refer to the NJ-series CPU Unit Motion ControlUser s Manual (Cat. No. W507).Precautions for Correct UsePrecautions for Correct Use You can use this instruction for servo axes and virtual servo axes. If the instruction is used forencoder axes or virtual encoder axes, an error will occur. Executing this Instruction for the Master Axis of Synchronized ControlWhen master axis operation is disabled for a vertical axis, the position of the master axis maychange rapidly.

10 This may cause the Motion of t he slave axis to change rapidly. Take suitablemeasures to prevent the slave axis from moving rapidly, such as applying a brake to the mas-ter axis or leaving master axis operation enabled until after synchronized Control is completed. When Enable changes to TRUE, Busy (Executing) changes to TRUE to indicate that the instructionwas acknowledged. After the axis becomes ready for operation, Status (Servo ON) changes to TRUE. When Enable changes to FALSE, Busy (Executing) changes to FALSE. Status (Servo ON) changesto FALSE when ready status is cleared. Status (Servo ON) outputs the axis ready status regardlessof whether Enable is TRUE or VariablesNameMeaningData typeValid rangeDescriptionAxisAxis_sAXIS_REF ---Specify the axis.*FunctionTiming ChartsEnableStatusBusyThe specified axis becomes ready for status is cleared for the specified section headingLevel-3 section heading5 Manual StructureNJ/NX-series Motion Control Instructions Reference Manual (W508)Special information in this Manual is classified as follows.