Motion Control Configuration And Principles - Omron NJ501-1400 User Manual

Motion Control Configuration and
Principles
NJ-series CPU Unit Motion Control User's Manual (W507)
This section outlines the internal structure of the CPU Unit and describes the configura-
tion and principles of the MC Function Module.
2-1 Internal Configuration of the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-2 Motion Control Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-3 Motion Control Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-3-1 CPU Unit Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-3-2 Example of Task Operations for Motion Control . . . . . . . . . . . . . . . . . . . . . . . 2-7
2-4 EtherCAT Communications and Motion Control . . . . . . . . . . . . . . . . . . . . 2-11
2-4-1 CAN Application Protocol over EtherCAT (CoE) . . . . . . . . . . . . . . . . . . . . . . 2-11
2-4-2 Relationship between EtherCAT Master Function Module and MC Function
Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-4-3 Relationship between Process Data Communications Cycle and Motion Control
Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2
2-1