Omron NJ-series User Manual page 534

Data types
Program-
ming
Data type
attributes
Libraries (*)
Control modes
Axis types
Positions that can be managed
Motion
control
Single axes
NJ-series CPU Unit Software User's Manual (W501)
Item
Function
Union Maximum number of
members
Member data types
Enumeration Function
Function
Maximum number of
Array specifi-
dimensions
cations
Maximum number of ele-
ments
Array specifications for
FB instances
Range specifications
Absolute positioning
Relative positioning
Single-axis
position con-
trol
Interrupt feeding
Cyclic synchronous
absolute positioning (*)
Velocity control
Single-axis
velocity con-
Cyclic synchronous
trol
velocity control
Single-axis
torque con- Torque control
trol
Starting cam operation
Ending cam operation
Starting gear operation
Positioning gear opera-
tion
Single-axis
synchro-
Ending gear operation
nized control
Synchronous position-
ing
Master axis phase shift
Combining axes
Single-axis
Powering the Servo
manual oper-
ation
Jogging
NJ501-
A derivative data type that enables access to the same data
with different data types.
4
BOOL, BYTE, WORD, DWORD, and LWORD
A derivative data type that uses text strings called enumera-
tors to express variable values.
An array is a group of elements with the same data type. You
specify the number (subscript) of the element from the first
element to specify the element.
3
65,535
Supported
You can specify a range for a data type in advance. The data
type can take only values that are in the specified range.
You can use user libraries.
Position control, Velocity control, and Torque control
Servo axes, Virtual servo axes, Encoder axes, and Virtual
encoder axes
Command positions and actual positions
Positioning is performed for a target position that is specified
with an absolute value.
Positioning is performed for a specified travel distance from
the command current position.
Positioning is performed for a specified travel distance from
the position where an interrupt input was received from an
external input.
A positioning command is output each control period in Posi-
tion Control Mode.
Velocity control is performed in Position Control Mode.
A velocity command is output each control period in Velocity
Control Mode.
The torque of the motor is controlled.
A cam motion is performed using the specified cam table.
The cam motion for the axis that is specified with the input
parameter is ended.
A gear motion with the specified gear ratio is performed
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.
The specified gear motion or positioning gear motion is
ended.
Positioning is performed in sync with a specified master axis.
The phase of a master axis in synchronized control is
shifted.
The command positions of two axes are added or subtracted
and the result is output as the command position.
The Servo in the Servo Drive is turned ON to enable axis
motion.
An axis is jogged at a specified target velocity.
Appendices
NJ301-
A-7