Multi-Axes Coordinated Control; Outline Of Operation - Omron NY532-1500 User Manual

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Multi-axes Coordinated Control

This section describes the operation of multi-axes coordinated control. With the MC Function Module,
you can set an axes group in advance from the Sysmac Studio to perform interpolation control for mul-
tiple axes.
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Outline of Operation

Multi-axes coordinated control performs a motion with multiple related axes together as a single group
to control the path of the target control object. The MC Function Module treats all axes that perform
coordinated operation as an axes group. Axes groups are set from the Sysmac Studio. In the user pro-
gram, turn ON the Servo for each axis and then enable the axes group that is going to perform the
multi-axes coordinated control. The purpose of multi-axes coordinated control is the coordinated opera-
tion of all axes belonging to the target axes group. Therefore, you cannot execute any single-axis oper-
ation motion control instructions on the axes in an enabled axes group. Furthermore, if any error occurs
for any axis in an axes group, all axes in the axes group will stop according to the setting of the Axis
Group Stop Method group axes parameter.
The MC Function Module can perform linear interpolation with two to four axes or circular interpolation
with two axes.
Feedback
EtherCAT
slave
Input 1
position 1
Input 2
position 2
Input 3
position 3
Additional Information
For devices that require you to modify the grouping of axes in motion to perform interpolation
control, you must create multiple axes groups that include the axes to modify from the Sysmac
Studio beforehand. After completing this step, you can execute by specifying the enabled axes
groups from the user program during operation.
You can use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to change the
composition axes for an axes group that is disabled.
For details on axes groups, refer to 3-3 Axes Groups.
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Coordinate conversion
Multi-axes position
Actual
processing
Actual
Actual
9 Motion Control Functions
Commands EtherCAT
slave
Command
Output 1
position 1
Command
Output 2
position 2
Command
Output 3
position 3
9
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