Robot Control Configuration - Omron NJ501-4500 Manual

1 Overview of NJ Robotics CPU Unit
1-4

Robot 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.
The NJ Robotics CPU Units are the NJ501-1 Units to which the instructions and data processing
for robot operation were added, as shown in the following figure.
With these instructions and data processing, the NJ Robotics CPU Unit can perform robot control in the
same way as other NJ501-1 Units' motion control, using function blocks based on IEC 61131-3.
NJ501-4300/-4310/-4320/-4400/-4500
User program
Motion Control
Instructions
Motion Control
Instructions
(Robot
Instructions)
A feedback system is not configured.
For details on the configuration and principles of the motion control system, refer to the NJ/NX-series
CPU Unit Motion Control User's Manual (Cat. No. W507).
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MC Function EtherCAT Master
Module Function Module
Command Communications
interpretation processing
Data processing
Data processing
for robot
Servo Drive
Communications
processing
Command
interpretation
Status control
EtherCAT
communications
A feedback system is configured.
NJ-series NJ Robotics CPU Unit User's Manual (W539)
Position control
Velocity control
Torque control
M
E