Following Error Monitoring - Omron NX701-1 User Manual

• When the Actual Position Is outside the Software Limits
Motion is allowed only toward the software limit range. As long as the motion is toward the range,
the target position does not need to be within the software limit range.
Precautions for Correct Use Precautions for Correct Use
Do not execute an instruction for an axis command for a target position that is outside of the soft-
ware limit range.
 During Axis Motion
When the axis is in discrete motion, synchronized motion, continuous motion, or coordinated motion:
• An axis error will occur if the software limits are enabled for the command position and the com-
mand position leaves the range.
• An axis error will occur if the software limits are enabled for the actual position and the actual posi-
tion leaves the range.
Additional Information
Software limits can be enabled when the Count Mode is set to Linear Mode and home is defined.
Software limits are disabled in the following situations no matter what axis parameters have
been set.
• When Count Mode is set to Rotary Mode.
• When home is not defined.
• During homing.
For details on the instruction to write the MC settings and the instruction to write the axis parameters,
refer to the MC_Write instruction and MC_WriteAxisParameter instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).
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Following Error Monitoring

Following error is the difference between the command position and the actual position of an axis. The
MC Function Module monitors the following error every motion control period.
If the value of the following error exceeds the Following Error Over Value that is set in the axes param-
eters, Following Error Limit Exceeded minor fault level error occurs. If it exceeds the Following Error
Warning Value, a Following Error Warning observation occurs. Monitoring the following error is disabled
during execution of the holding operation for homing.
 Axis Parameters That Are Related to Monitoring the Following Error
You can set the check values for monitoring the following error by setting the appropriate axis
parameters. Set the Following Error Warning Value so that it is less than the Following Error Over
Value.
Set the axis parameters from the Sysmac Studio.
Parameter name
Following Error
Over Value
Following Error
Warning Value
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
Function
Set the excessive following error check
value. Set 0 to disable the excessive follow-
ing error check. (Unit: command units)
Set the following error warning check value.
Set 0 to disable the following error warning
check. (Unit: command units)
9 Motion Control Functions
Setting range
Non-negative long 0
reals
Non-negative long 0
reals that are less
than or equal to the
Following Error
Over Value
9
Default
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