Introduction - Omron NX701-1 User Manual

6 Motion Control Programming
6-1

Introduction

The NJ/NX-series CPU Unit can perform both sequence control and motion control.
Write motion control instructions into the user program to perform motion control with EtherCAT slave
Servo Drives, NX-series Position Interface Units, and other devices.
Programs that contain motion control instructions are called motion control programs.
You must assign Axis Variables to EtherCAT slave Servo Drives and NX-series Position Interface Units.
If you do not assign Axis Variables, assign device variables in the same way as for a general-purpose
slave. Motion control instructions can be used in the primary periodic task, in a priority-5 periodic task,
and in a priority-16 periodic task.
Version Information
With the Sysmac Studio version 1.09 or higher, you can assign device variables to the I/O ports
of slaves and Units that are assigned to the Axis Variables.
Refer to 2-4-2 Relationship between EtherCAT Master Function Module and MC Function Mod-
ule for details.
 NX701 CPU Unit
User program in PLC
Function Module
Instructions
other than
Sequence
motion control
control
instructions
Motion control
instructions
Motion control
6-2
CPU Unit
Executed.
MC Function Module
Profile processing
•
Synchronization
•
processing
Executed.
Other processing
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
EtherCAT
Master
Function
Task period
Module
EtherCAT
EtherCAT
slaves
EtherCAT
EtherCAT
slaves,
Servo Drives,
encoder input
terminals,
Position
Interface Units