Introduction - Omron NJ501-1400 User Manual

6 Motion Control Programming
6-1

Introduction

The NJ-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 and
other devices.
Programs that contain motion control instructions are called motion control programs.
User program in PLC
Function Module
Instructions other
than motion
instructions
User-created
Sequence
function block
control
Motion control
instructions
Motion control
Motion control
instructions
Normally, you must assign Axis Variables to EtherCAT slave Servo Drives. 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 and in a periodic task with an execution priority of
16 (i.e., a priority-16 periodic task).
6-2
CPU Unit
Executed.
Executed.
Executed.
Ex-
ecuted.
MC Function Module
•
Profile processing
•
Synchronization
Ex-
Other processing
ecuted.
Every cycle
EtherCAT
Master
Function
Module
Every cycle
NJ-series CPU Unit Motion Control User's Manual (W507)
CJ-series Units
Basic I/O Units
Special Units
EtherCAT
EtherCAT
slaves
EtherCAT
Servo Drive or
encoder input terminal
EtherCAT slaves