Omron NX-series User Manual page 6

CONTENTS
5-1-2 Part Names and Functions.......................................................................................................... 5-2
5-1-3 Terminal Arrangement ................................................................................................................. 5-3
5-1-4 Input Range and Output Range .................................................................................................. 5-3
5-2 Procedure............................................................................................................................... 5-5
5-3 Settings .................................................................................................................................. 5-6
5-3-1 Option Board Settings ................................................................................................................. 5-6
5-3-2 Device Variables ......................................................................................................................... 5-7
5-4 Programming ......................................................................................................................... 5-8
5-4-1 I/O Data....................................................................................................................................... 5-8
5-4-2 Option Board Status.................................................................................................................... 5-9
5-4-3 Special Instructions for Analog I/O Option Boards ...................................................................... 5-9
5-4-4 Precautions on Supported Functions ........................................................................................ 5-10
5-5 Wiring ................................................................................................................................... 5-11
5-6 I/O Refreshing ...................................................................................................................... 5-12
5-6-1 I/O Refresh Operation ............................................................................................................... 5-12
5-6-2 Response Time ......................................................................................................................... 5-13
Section 6 Introduction of Motion Control Functions
6-1 Single-axis Position Control................................................................................................. 6-3
6-1-1 Outline of Operation .................................................................................................................... 6-3
6-1-2 Absolute Positioning.................................................................................................................... 6-4
6-1-3 Relative Positioning..................................................................................................................... 6-4
6-1-4 Interrupt Feeding......................................................................................................................... 6-5
6-1-5 Cyclic Synchronous Positioning .................................................................................................. 6-6
6-1-6 Stopping ...................................................................................................................................... 6-7
6-1-7 Override Factors ....................................................................................................................... 6-13
6-2 Single-axis Synchronized Control ..................................................................................... 6-14
6-2-1 Overview of Synchronized Control............................................................................................ 6-14
6-2-2 Gear Operation ......................................................................................................................... 6-14
6-2-3 Positioning Gear Operation....................................................................................................... 6-15
6-2-4 Cam Operation.......................................................................................................................... 6-16
6-2-5 Cam Tables ............................................................................................................................... 6-17
6-2-6 Synchronous Positioning........................................................................................................... 6-25
6-2-7 Combining Axes ........................................................................................................................ 6-26
6-2-8 Master Axis Phase Shift ............................................................................................................ 6-27
6-2-9 Slave Axis Position Compensation............................................................................................ 6-27
6-2-10 Achieving Synchronized Control in Multi-motion....................................................................... 6-28
6-3 Single-axis Velocity Control ............................................................................................... 6-30
6-3-1 Velocity Control ......................................................................................................................... 6-30
6-3-2 Cyclic Synchronous Velocity Control......................................................................................... 6-31
6-4 Single-axis Torque Control ................................................................................................. 6-32
6-5 Common Functions for Single-axis Control ..................................................................... 6-33
6-5-1 Positions.................................................................................................................................... 6-33
6-5-2 Velocity...................................................................................................................................... 6-35
6-5-3 Acceleration and Deceleration .................................................................................................. 6-36
6-5-4 Jerk ........................................................................................................................................... 6-38
6-5-5 Specifying the Operation Direction............................................................................................ 6-39
6-5-6 Re-executing Motion Control Instructions ................................................................................. 6-43
6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ................................................... 6-48
6-6 Multi-axes Coordinated Control ......................................................................................... 6-54
6-6-1 Outline of Operation .................................................................................................................. 6-54
6-6-2 Linear Interpolation ................................................................................................................... 6-57
6-6-3 Circular Interpolation ................................................................................................................. 6-58
6-6-4 Axes Group Cyclic Synchronous Positioning ............................................................................ 6-58
6-6-5 Stopping Under Multi-axes Coordinated Control....................................................................... 6-59
6-6-6 Overrides for Multi-axes Coordinated Control........................................................................... 6-61
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NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (W579)