Sequence Control And Motion Control; Overview Of Control - Omron NJ-series User Manual

2 CPU Unit Operation
2-4 Sequence Control and Motion
Control
This section describes the sequence control and motion control systems that are used by the CPU Unit.
2-4-1

Overview of Control

The NJ-series CPU Unit can perform both sequence control and motion control.
You execute sequence control with instructions other than motion control instructions in the user pro-
gram. Sequence control is for EtherCAT slaves and CJ-series Units that are not assigned to axes. Con-
trol is performed by the PLC Function Module and the EtherCAT Master Function Module.
You perform motion control with motion control instructions in the user program for EtherCAT Servo
Drive and encoder input slaves that are assigned to axes. Control is performed by the PLC Function
Module, Motion Control Function Module, and the EtherCAT Master Function Module.
PLC Function Module
User program execution
Instruction
other than
a motion
control
instruction
Motion
control
instruction
2-18
NJ-series CPU Unit
Sequence control
Executed.
Motion control
Executed.
Motion Control
Function
Module
Command
Motion
control
processing
CJ-series Units
Basic I/O Unit
Special Unit
PDO
communi-
EtherCAT slaves
cations
Servo Drive, encoder
input, and general-
purpose slaves that are
not assigned to axes
EtherCAT
Master EtherCAT
Function
communications
Servo Drive and encoder
Module
input slaves that are
assigned to axes
NJ-series CPU Unit Software User's Manual (W501)