Motion Control Configuration And Principles - Omron NY532-1500 User Manual

Motion Control Configuration and
Principles
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
This section outlines the internal structure of the Controller functions and describes the
configuration and principles of the MC Function Module.
2-1 Internal Configuration of the Controller Functions . . . . . . . . . . . . . . . . . . 2-2
2-2 Motion Control Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-3 Motion Control Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-3-1 Controller Function Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-3-2 Example of Task Operations for Motion Control . . . . . . . . . . . . . . . . . . . . . . . 2-8
2-4 EtherCAT Communications and Motion Control . . . . . . . . . . . . . . . . . . . . 2-12
2-4-1 CAN Application Protocol over EtherCAT (CoE) . . . . . . . . . . . . . . . . . . . . . . 2-12
2-4-2 Relationship between EtherCAT Master Function Module
and MC Function Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2-4-3 Relationship between Process Data Communications Cycle
and Motion Control Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2
2-1