Single-Axis Position Control; Outline Of Operation - Omron NX-series User Manual

6-1

Single-axis Position Control

The MC Function Module can be connected to OMRON 1S-series Servo Drives with built-in EtherCAT
communications or G5-series Servo Drives with built-in EtherCAT communications to implement posi-
tion control, velocity control, and torque control. This section describes positioning operation for single
axes.
Some of the functions of the MC Function Module are different when NX-series Pulse Output Units are
used. Refer to the NX-series Position Interface Units User's Manual (Cat. No. W524) for details.
6-1-1

Outline of Operation

The single-axis control function of the MC Function Module consists of control for motion profile com-
mands and synchronized control. There are three Control Modes for motion profile commands: position
control, velocity control, and torque control. In synchronized control, the slave axis (i.e., the axis being
controlled) operates in a synchronized relationship to the master axis, as expressed by a cam profile
curve or a gear ratio. Manual operations such as jogging and homing are also supported.
EtherCAT
Feedback
slave
Actual
Input
position
External
input
Note You can use the command position or actual position as the input to the synchronization processing.
Resetting Axis Errors
If an error occurs in an axis, you can use the MC_Reset instruction to remove the error once you have
eliminated the cause.
For details on resetting axis errors, refer to the MC_Reset (Reset Axis Error) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User's Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (W579)
Synchronization
processing
+
Phasing
Position processing
Velocity processing
Torque processing
I/O processing for EtherCAT slave
6 Introduction of Motion Control Functions
Commands
Command
Command
velocity
Command
EtherCAT
slave
Output
position
torque
External
output
6-3
6