Omron NJ Series Startup Manual
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Omron NJ Series Startup Manual

Machine automation controller
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See also: Troubleshooting Manual , User Manual
Machine Automation Controller NJ/NX-series
Startup Guide
for Motion Control
NX1P2-
NX701-
NJ501-
NJ301-
NJ101-
SYSMAC-SE20
R88M-1
R88D-1SN-ECT
W514-E1-02

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Summary of Contents for Omron NJ Series

  • Page 1 Machine Automation Controller NJ/NX-series Startup Guide for Motion Control NX1P2- NX701- NJ501- NJ301- NJ101- SYSMAC-SE20 R88M-1 R88D-1SN-ECT W514-E1-02...
  • Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.

  • Page 3: Introduction

    Introduction Introduction Thank you for purchasing an NJ/NX-series CPU Unit and the Sysmac Studio. This NJ/NX-series Startup Guide for Motion Control (hereafter referred to as “this Guide”) describes the startup procedures that are required to use the NJ/NX-series Motion Control Function Module for the first time and provides operating instructions for the Sysmac Studio.

  • Page 4: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

  • Page 5: Application Considerations

    Disclaimers Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor- mance is subject to the Omron’s Warranty and Limitations of Liability.

  • Page 6: Sysmac Studio Automation Software

    OMRON will replace defective media without charge. If OMRON is unable to replace defective media or correct the Software, the liability of OMRON and the User’s remedy shall be limited to the refund of the license fee paid to OMRON for the Software.

  • Page 7: Precautions

    • When building a system, check the specifications for all devices and equipment that will make up the system and make sure that the OMRON products are used well within their rated specifications and performances. Safety measures, such as safety circuits, must be implemented in order to minimize the risks in the event of a malfunction.

  • Page 8: Related Manuals

    Related Manuals Related Manuals The following manuals are related to the NJ/NX-series Controllers. Use these manuals for reference. Manual name Cat. No. Model Application Meaning NX-series NX1P2 W578 NX1P2- Learning the basic An introduction to the entire NX1P2 CPU Unit CPU Unit Hardware User’s specifications of the system is provided along with the following...
  • Page 9 Related Manuals Manual name Cat. No. Model Application Meaning NJ/NX-series CPU Unit Motion W507 NX701- Learning about The settings and operation of the CPU Unit and Control User’s Manual NJ501- motion control set- programming concepts for motion control are NJ301- tings and program- described.

  • Page 10: Revision History

    Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. W514-E1-02 Cat. No. Revision code Revision Date Revised content code November 2011 Original production February 2017 Made changes accompanying the addition of NX1P2 CPU Units and 1S-series AC Servomotors / Servo Drivers NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 11 Revision History NJ/NX-series Startup Guide for Motion Control (W514)

  • Page 12: Table Of Contents

    CONTENTS CONTENTS Introduction ....................... 1 Intended Audience ............................1 Applicable Products ............................ 1 Special Information ............................. 1 Terms and Conditions Agreement................2 CPU Units of NJ/NX-series Machine Automation Controllers ..............2 Warranty, Limitations of Liability ......................... 2 Application Considerations ......................... 3 Disclaimers ..............................
  • Page 13 CONTENTS Confirming System Operation....................3-32 3-7-1 Checking for Controller Errors ....................3-32 3-7-2 Resetting the Absolute Encoder from the Sysmac Studio ............3-35 3-7-3 Checking the Servo Drive Wiring....................3-38 3-7-4 Checking Program Operation ....................3-44 3-7-5 Using Data Tracing to Check Operation ................... 3-50 Section 4 Two-axis Linear Interpolation Program Two-axis Servo System Operation..................
  • Page 14 CONTENTS NJ/NX-series Startup Guide for Motion Control (W514)

  • Page 15: Features And System Configuration Of Nj/Nx-Series

    Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo Systems This section describes the configuration of the Servo system that is constructed in this Guide and the products that make up that system. 1-1 Features of NJ/NX Series and 1S Series ......1-2 1-2 System Configuration and Configuration Devices .

  • Page 16: Features Of Nj/Nx Series And 1S Series

    1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo Features of NJ/NX Series and 1S Series The NX/NJ-series Machine Automation Controllers provide advanced motion control previously exe- cuted by dedicated controllers or Special Units. The CPU Units have a built-in EtherCAT port for real-time machine control. Easy Wiring Traditional System Using Position Control Units NX1P and 1S Series...
  • Page 17 1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo 3D Simulation Makes Debugging Easy Traditional System Using Position Control Units NX1P and 1S Series The actual equipment was required to check operation You can check 3D operation at your desk, shortening during debugging.

  • Page 18: System Configuration And Configuration Devices

    1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo System Configuration and Configuration Devices 1-2-1 Devices Used in This Guide NX1P 1S-series AC Servo Drive 1S-series AC Servomotor Machine Automation Controller NX1P2-1140DT R88D-1SN01L-ECT R88M-1M10030S EtherCAT Communications Cable Motor Power Cable Encoder Cable XS5W-T421-MD-K...

  • Page 19: Configuration Of The System Constructed In This Guide

    1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo 1-2-2 Configuration of the System Constructed in This Guide This NJ/NX-series Startup Guide for Motion Control (hereafter referred to as "this Guide") builds the Servo system in the following two steps. Two-axis Servo System Section 4 Two-axis Linear Interpolation Program Single-axis Servo System...
  • Page 20 1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo Two-axis Servo System This system performs linear interpolation using Servo Drives and Servomotors for two axes. The steps from device wiring to software design and debugging are described. Device connections are described in Section 2 Before You Begin, and software design and debugging are described in Section 4 Two-axis Linear Interpolation Program.

  • Page 21: Before You Begin

    Before You Begin This section describes the installation of the Sysmac Studio and the process of assem- bling and wiring the hardware. 2-1 Installing the Sysmac Studio ........2-2 2-2 Wiring the Devices .

  • Page 22: Installing The Sysmac Studio

    2 Before You Begin Installing the Sysmac Studio The Sysmac Studio is the Support Software that you use for an NJ/NX-series Controller. On it, you can create the Controller configuration and settings, you can write the programs, and you can debug and simulate operation.

  • Page 23: Wiring The Devices

    2 Before You Begin Wiring the Devices This section describes how to wire the assembled the hardware devices. This section gives an overview of the wiring procedures. Refer to the manuals for the devices that are used in the system for detailed wiring procedures and safety precautions. 2-2-1 Wiring the NX1P CPU Unit Power Supply Wire the CPU Unit to the DC power supply.

  • Page 24: Laying Ethercat Communications Cables

    2 Before You Begin 2-2-3 Laying EtherCAT Communications Cables Connect the EtherCAT slave communications cables between the built-in EtherCAT port on the CPU Unit and the EtherCAT slaves as shown in the following figure. Connect the communications cable from the built-in EtherCAT port to the input port on the first slave, and then connect the communications cable to the next slave to the output port on the first slave.

  • Page 25: Wiring The Servo Drives And The Servomotors

    2 Before You Begin 2-2-4 Wiring the Servo Drives and the Servomotors Wire the Servo Drives and the Servomotors as shown in the following figure. Servo Drive Encoder Cable Motor Power Cable R88A-CR1A003C R88A-CA1A003S Servomotor NJ/NX-series Startup Guide for Motion Control (W514)

  • Page 26: Wiring The Control Input Signals For The Servo Drives

    2 Before You Begin 2-2-5 Wiring the Control Input Signals for the Servo Drives Wire the control input signals for the Servo Drive using the R88A-CN101C Control I/O connector (CN1). For details on wiring, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Com- munications User's Manual (Cat.

  • Page 27: Setting Up A Single-Axis Servo System

    Setting Up a Single-axis Servo System This section describes the procedures and operations required to set up a Servo sys- tem for one axis. 3-1 Single-axis Servo System Operation ......3-2 3-2 System Setup Procedures .

  • Page 28: Single-Axis Servo System Operation

    3 Setting Up a Single-axis Servo System Single-axis Servo System Operation This section describes the operation of the single-axis Servo system that is set up in this Guide. Axis 0 performs alternating single-axis positioning in the positive and negative directions. Positive direction Travel distance: 20.000 mm Velocity...

  • Page 29: System Setup Procedures

    3 Setting Up a Single-axis Servo System System Setup Procedures The basic design flow to follow to design a Servo system is shown below. The startup operations in this Guide are described in the following steps. STEP . Create a Project (page 3-4) Create a project file.

  • Page 30: Creating A Project

    • Double-click the Sysmac Studio shortcut icon on your desktop.    • Select All Programs OMRON Sysmac Studio Sysmac Studio from the Windows Start Menu. The Sysmac Studio starts and the following window is displayed. NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 31 3 Setting Up a Single-axis Servo System Creating a Project Create a project in the Sysmac Studio. Click the New Project Button in the Project Window. Click the Button. In the Project Properties Dialog Box, select NXP12-1140DT in the Device Box and the version to use in the Version Box, and then click the Create Button.
  • Page 32 3 Setting Up a Single-axis Servo System Parts of the Window This section gives the names and functions of the parts of the Sysmac Studio Window. Toolbar Menu bar Configurations and Setup Header Programming Header (10) (11) (12) (13) Status Bar Name Multiview Explorer This pane is your access point for all Sysmac Studio data.

  • Page 33: Creating The Ethercat Network Configuration

    3 Setting Up a Single-axis Servo System Creating the EtherCAT Network Configuration A R88D-1SN01L-ECT Servo Drive is registered in the EtherCAT network configuration to operate as axis 0. Double-click EtherCAT under Configurations and Setups in the Multiview Explorer. The EtherCAT Tab Page is displayed in the Edit Pane. NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 34 3 Setting Up a Single-axis Servo System Drag the R88D-1SN01L-ECT from the Toolbox to the master on the EtherCAT Tab Page. The Servo Drive is added under the master with a node address of 1. This concludes the creation of the EtherCAT network configuration. Additional Information If the physical EtherCAT network configuration is already connected, you can automatically cre- ate the virtual network configuration in the Sysmac Studio based on the physical network config-...

  • Page 35: Programming

    3 Setting Up a Single-axis Servo System Programming In this section we will create the user program. A Servo axis for axis 0 will be added and set up, and a program will be created to control the Servo Drive. 3-5-1 Setting the Axis This section describes how to add the axis that is used to control the Servo Drive, assign it to the Servo...
  • Page 36 3 Setting Up a Single-axis Servo System Axis 0 is added to the Multiview Explorer. The axis is added as MC_Axis000. This axis is called axis 0. Assigning a Servo Drive to the Axis Next, assign the Servo Drive in the EtherCAT network configuration to the new axis 0 (MC_Axis000). Right-click MC_Axis000 (axis 0) in the Multiview Explorer and select Edit from the menu.
  • Page 37 3 Setting Up a Single-axis Servo System The Axis Basic Settings are displayed on the Axis Parameter Settings Tab Page in the Edit Pane. Select Servo axis in the Axis type Box. NJ/NX-series Startup Guide for Motion Control (W514) 3-11...
  • Page 38 3 Setting Up a Single-axis Servo System Select thne Servo Drive to use in the Output device Box (Node: 1, Device: R88D-1SN01L-ECT). This will assign node 1 and device R88D-1SN01L-ECT as the output device for axis 0. Now, node 1 with device R88D-1SN01L-ECT can be used as an axis in the EtherCAT network configuration.
  • Page 39 3 Setting Up a Single-axis Servo System Setting the Axis Parameters Set the axis parameters for axis 0 based on the mechanical configuration of the system. The input axis parameters are shown in the following table according to the mechanical configuration of axis 0.
  • Page 40 3 Setting Up a Single-axis Servo System • Operation Settings • Position Count Settings 3-14 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 41 3 Setting Up a Single-axis Servo System Additional Information You can also set the parameters for all axes on the same tab page. Right-click Axis Settings in the Multiview Explorer and select Axis Setting Table from the menu to display the Axis Setting Table. The Axis Setting Table allows you to set the axis settings and axis parameters for all axes that have been added.
  • Page 42 3 Setting Up a Single-axis Servo System Confirming That the Axis Variable Is Registered A structure variable that is defined to hold information on an axis, such as physical quantities, status, and error information, is called an axis variable. The axis variables are used in the user program to specify axes. When an axis is added, an axis variable for that axis is automatically added to the global variable table.

  • Page 43: Creating The Program

    3 Setting Up a Single-axis Servo System 3-5-2 Creating the Program Create the instructions that control the Servo Drive in section 0 of program 0. Program 0 is automati- cally created when you create a project. The following instructions are created. To do so, we will use an axis variable and motion control instruc- tions.
  • Page 44 3 Setting Up a Single-axis Servo System Opening the Ladder Editor To enter the program, you must start the Ladder Editor and open section 0 of program 0. Right-click Section0 under Programming  POUs  Programs  Program0 in the Multiview Explorer, and select Edit from the menu.
  • Page 45 3 Setting Up a Single-axis Servo System Creating the Instructions That Turn the Servo ON and OFF You must turn ON the Servo in order to execute single-axis positioning from the Servo Drive. The MC_Power (Power Servo) instruction is used to control turning the Servo ON and OFF. Enter an input for the ServoLock variable to control turning the Servo ON and OFF.
  • Page 46 3 Setting Up a Single-axis Servo System An MC_Power instruction is inserted to the right of the ServoLock input. Enter Power1 as the instance name for the MC_Power instruction. Definitions of any variables for instance names that you enter in the Ladder Editor are automatically registered in the local variable table.
  • Page 47 3 Setting Up a Single-axis Servo System Enter the in-out variable for the Power1 instance. Specify the axis variable of the axis to control for the Axis in-out variable of the Power1 instance. The axis variable for axis 0 is MC_Axis000. Enter MC_Axis000 (the axis variable of axis 0).
  • Page 48 3 Setting Up a Single-axis Servo System Creating the Instructions That Perform Single-axis Positioning Here, the MC_MoveRelative (Relative Positioning) instruction is used to perform single-axis control. We will use two instances of this instruction to repeatedly perform round-trip operation with single-axis positioning.
  • Page 49 3 Setting Up a Single-axis Servo System Insert an MC_MoveRelative (Relative Positioning) instruction. Insert an MC_MoveRelative (Relative Positioning) instruction. Enter Move1 as the instance name for the MC_MoveRelative instruction. Definitions of variables for any instance names that you enter in the Ladder Editor are automatically registered in the local variable table.
  • Page 50 3 Setting Up a Single-axis Servo System Enter the in-out variable for the Move1 instance. Specify the axis variable of the axis to control for the Axis in-out variable of the Move1 instance. The axis variable for axis 0 is MC_Axis000. The variable automatically appears on the output side when it is entered on the input side.
  • Page 51 3 Setting Up a Single-axis Servo System Enter the values given in the following table for the input variables of the MC_MoveRelative instruction. Input variable Meaning Set value Distance Travel Distance (mm) Velocity Target Velocity (mm/s) Acceleration Acceleration Rate (mm/s Deceleration Deceleration Rate (mm/s Set the values of the input variables.
  • Page 52 3 Setting Up a Single-axis Servo System Insert the second MC_MoveRelative (Relative Positioning) instruction. Enter Move2 as the instance name, enter the axis variable of axis 0 (MC_Axis000) for the in-out variable, and enter the values in the following table for the input variables. Input variable Meaning Set value...

  • Page 53: Checking The Program

    3 Setting Up a Single-axis Servo System 3-5-3 Checking the Program Check the program that you created. Select Check All Programs from the Project Menu. The results of the program check are displayed on the Build Tab Page. If there are any errors, correct them. Warnings such as "A parameter is not entered for the output."...

  • Page 54: Transferring The Project To The Cpu Unit

    3 Setting Up a Single-axis Servo System Transferring the Project to the CPU Unit The project, which contains the user program, is transferred to the CPU Unit. Turn ON the power supply to the Controller and to the Servo Drive. ...
  • Page 55 3 Setting Up a Single-axis Servo System  Transferring the Project You must transfer the project to the CPU Unit. The synchronize operation is used to transfer the project. Here, “synchronize” means to automatically compare the data for the Sysmac Studio on the computer with the data in the physical Controller and transfer the data in the direction that is speci- fied by the user.
  • Page 56 3 Setting Up a Single-axis Servo System Click the Transfer to Controller Button. Click the But- ton. Click the Yes Button. Click the Button. The operating mode changes to PROGRAM mode, and the Sysmac Studio starts transferring the project to the CPU Unit. During the transfer, a progress bar appears in the Synchronize Pane.
  • Page 57 3 Setting Up a Single-axis Servo System Click the Close Button at the lower right of the Synchronize Pane. Click the Button. The Synchronize Pane closes. NJ/NX-series Startup Guide for Motion Control (W514) 3-31...

  • Page 58: Confirming System Operation

    3 Setting Up a Single-axis Servo System Confirming System Operation Confirm that the system is operating correctly. Place the CPU Unit online with the Sysmac Studio before you perform the procedures that are given in this section. 3-7-1 Checking for Controller Errors The color of the ERR/ALM indicator in the Controller Status Pane of the Sysmac Studio shows the presence of any errors.
  • Page 59 3 Setting Up a Single-axis Servo System The Troubleshooting Window is displayed for the Edit Pane. From there, you can check detailed information on any errors that have occurred and find out how to troubleshoot them. A list of Controller errors is displayed.
  • Page 60 3 Setting Up a Single-axis Servo System Additional Information • If an EtherCAT communications cable is not properly connected or if power is not supplied to a Remote I/O Unit, a minor fault level Controller error (a Link OFF Error or Network Configura- tion Verification Error) will occur.

  • Page 61: Resetting The Absolute Encoder From The Sysmac Studio

    3 Setting Up a Single-axis Servo System 3-7-2 Resetting the Absolute Encoder from the Sysmac Studio The absolute encoder must be set up the first time it is used, and when the rotation data is initialized to 0. Right-click the Servo Drive and select Setup and Tuning from the menu. The Setup and Tuning Portal appears.
  • Page 62 3 Setting Up a Single-axis Servo System Click the Launch Motor and Encoder view Button. The Encoder Properties Tab Page appears. Click the Clear system Button. An Absolute Value Clear Error (error display number: 2701) will occur, and a dialog box indicat- ing "Restart the drive to complete the operation."...
  • Page 63 3 Setting Up a Single-axis Servo System Click the Yes Button. The multiple rotation data of the absolute encoder is cleared. NJ/NX-series Startup Guide for Motion Control (W514) 3-37...

  • Page 64: Checking The Servo Drive Wiring

    In this Guide, the project is transferred in PRO- GRAM mode. An MC Test Run allows you to perform tasks such as monitoring the control inputs of an OMRON Servo Drive that has been assigned to an axis or operating the Servomotor without any user programming.
  • Page 65 3 Setting Up a Single-axis Servo System When the following caution dialog box appears, read the message carefully. After you confirm safety, click the OK Button. The MC Test Run Tab Page is displayed in the Edit Pane. NJ/NX-series Startup Guide for Motion Control (W514) 3-39...
  • Page 66 3 Setting Up a Single-axis Servo System Checking the Control Input Signal Wiring Use the control input signal status indicators on the MC Test Run Tab Page in the Sysmac Studio to check the wiring of the control input signals. Select the axis to check on the MC Test Run Tab Page.
  • Page 67 3 Setting Up a Single-axis Servo System Checking the Servomotor Wiring Use the MC Test Run Tab Page in the Sysmac Studio to check the Servomotor wiring. Precautions for Correct Use Precautions for Correct Use • When one of the following operations is performed for a command from the Sysmac Studio, the Servomotor will operate at the set velocity: Servo ON, jogging, relative positioning, abso- lute positioning, or homing.
  • Page 68 3 Setting Up a Single-axis Servo System  Jogging Jog the axis in the Servo ON state. Click the Jogging Tab on the MC Test Run Tab Page. Enter the target velocity, acceleration rate, and deceleration rate, and then click the Apply But- ton.
  • Page 69 3 Setting Up a Single-axis Servo System Ending the MC Test Run After you have checked the wiring of the control input signals and the Servomotor, end the MC Test Run operation. Right-click MC_Axis000(0) under Configurations and Setup - Motion Control Setup - Axis Settings in the Multiview Explorer, and select Stop MC Test Run from the menu.

  • Page 70: Checking Program Operation

    3 Setting Up a Single-axis Servo System 3-7-4 Checking Program Operation You will change the operating mode of the CPU Unit to RUN mode and then use monitoring, control BOOL variables (set/reset), and use the MC Monitor Table in the Ladder Editor to check the operation of the program that you created.
  • Page 71 3 Setting Up a Single-axis Servo System Use one of the following methods to change the operating mode to RUN mode.  Method 1: Select Mode RUN Mode from the Controller Menu. Method 2: Click the Button on the Toolbar. Ctrl Method 3: Press the Ctrl +...
  • Page 72 3 Setting Up a Single-axis Servo System Right-click ServoLock in the program in the Edit Pane, and then select Set/Reset - Set from the menu. ServoLock changes to TRUE, and Power1 is executed. 3-46 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 73 3 Setting Up a Single-axis Servo System Right-click Start in the program in the Edit Pane, and then select Set/Reset - Set from the menu. Start1 changes to TRUE. Move1 is executed and positioning is started. When the positioning for Move1 is completed, Move1 execution stops and Move2 is executed.
  • Page 74 3 Setting Up a Single-axis Servo System Right-click Axis Settings under Configurations and Setup - Motion Control Setup in the Multiview Explorer, and select MC Monitor Table from the menu. The MC Monitor Table Tab Page is displayed in the Edit Pane. 3-48 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 75 3 Setting Up a Single-axis Servo System Use the MC Monitor Table to confirm that the axis is moving. a and b in the following figure show the information that you need to check. • a: Check that the value of Pos under Cmd is either increasing or decreasing. •...

  • Page 76: Using Data Tracing To Check Operation

    3 Setting Up a Single-axis Servo System 3-7-5 Using Data Tracing to Check Operation Use data tracing to check the current operation. Right-click Data Trace Settings under Configurations and Setup in the Multiview Explorer and select Add  Data Trace from the menu. DataTrace0 is added to the Multiview Explorer.
  • Page 77 3 Setting Up a Single-axis Servo System Double-click the new DataTrace0 item in the Multiview Explorer. The DataTrace0 Tab Page is displayed in the Edit Pane. NJ/NX-series Startup Guide for Motion Control (W514) 3-51...
  • Page 78 3 Setting Up a Single-axis Servo System Select the Enable trigger condition Check Box on the DataTrace0 Tab Page and enter the vari- able to use as the trigger condition. For this example, use Program0.Move1.Execute. Click the Add Target Button. A trace variable line is added to the list.
  • Page 79 3 Setting Up a Single-axis Servo System Enter MC_Axis000.Cmd.Vel for the name of the variable to trace on the new line. Click the Start Trace Button. Make sure that the status bar at the lower left changes as shown in the following figure. NJ/NX-series Startup Guide for Motion Control (W514) 3-53...
  • Page 80 3 Setting Up a Single-axis Servo System Make sure that the results of the data trace are displayed. Make sure that the trace results show the same waveform as shown in 3-1 Single-axis Servo System Operation. 3-54 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 81 Two-axis Linear Interpolation Program This section describes how to add an axis to the single-axis Servo system constructed in Section 3 to create a two-axis linear interpolation program. 4-1 Two-axis Servo System Operation ....... . 4-2 4-2 System Setup Procedures .

  • Page 82: Two-Axis Servo System Operation

    4 Two-axis Linear Interpolation Program Two-axis Servo System Operation This section describes the operation of the two-axis Servo system that is set up in this Guide. In this system, axis 0 and axis 1, which are set up for an XY stage, will repeatedly travel between two points using linear interpolation.

  • Page 83: System Setup Procedures

    4 Two-axis Linear Interpolation Program System Setup Procedures The basic design flow to follow to design a Servo system is shown below. This section describes how to add a new axis, continuing from the procedures performed in Section 3 Setting Up a Single-axis Servo System. Therefore, any procedures that were completed in 3-2 System Setup Procedures are not included in this section.

  • Page 84: Changing The Program

    4 Two-axis Linear Interpolation Program Changing the Program Change the program to perform linear interpolation control between two axes. Correct the program that was created in Section 3 Setting Up a Single-axis Servo System as follows: • Set axis 0 to a motion control axis. •...

  • Page 85: Adding A Servo Drive To The Ethercat Network Configuration

    4 Two-axis Linear Interpolation Program Select All in the Control function Box. Selecting All enables the axis to be used for both single-axis position control and two-axis linear interpolation control. 4-3-2 Adding a Servo Drive to the EtherCAT Network Configuration A R88D-1SN01L-ECT Servo Drive is added as part of the EtherCAT network configuration that was created in Section 3 Setting Up a Single-axis Servo System.
  • Page 86 4 Two-axis Linear Interpolation Program The EtherCAT Tab Page is displayed in the Edit Pane. Right-click R88D-1SN01L-ECT in the Toolbox, and select Insert from the menu. The Servo Drive is added under E001 with a node address of 2. This concludes the creation of the EtherCAT network configuration. NJ/NX-series Startup Guide for Motion Control (W514)

  • Page 87: Adding Axis 1 And Setting An Axes Group

    4 Two-axis Linear Interpolation Program 4-3-3 Adding Axis 1 and Setting an Axes Group Add the axis settings for axis 1, and then set up the axes group to perform interpolation.  Adding the Axis Settings for Axis 1 Right-click Axis Settings in the Multiview Explorer and select Add - Motion Control Axis from the menu.
  • Page 88 4 Two-axis Linear Interpolation Program  Assigning the Axis and Setting the Axis Parameters Assign a Servo Drive to MC_Axis001 (the new axis 1), and set its axis parameters. You could use the same procedures as described in the Assigning a Servo Drive to the Axis on page 3-10 and Setting the Axis Parameters on page 3-13 in 3-5-1 Setting the Axis.
  • Page 89 4 Two-axis Linear Interpolation Program Right-click 1 MC_Axis000(0) and select Copy from the menu. Right-click 2 MC_Axis001(1) and select Paste from the menu. The settings of the axis parameters for axis 0 are copied to axis 1. In this state, the input device for axis 1 still needs to be assigned to a Servo Drive. NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 90 4 Two-axis Linear Interpolation Program Click the Input device Cell in the 2 MC_Axis001(1) column, and select Node: 2, Device: R88D- 1SN01L-ECT. This will assign node 2 and device R88D-1SN01L-ECT as the input device for axis 1. Now, node 2 with device R88D-1SN01L-ECT can be used as an axis in the EtherCAT network configuration.
  • Page 91 4 Two-axis Linear Interpolation Program  Adding Axes Group Settings Right-click Axes Group Settings under Configurations and Setup - Motion Control Setup in the Multiview Explorer and select Add - Axes Group Settings from the menu. An axes group is added to the Multiview Explorer. The new axes group is displayed as MC_Group000.
  • Page 92 4 Two-axis Linear Interpolation Program Right-click the group that you added in the Multiview Explorer and select Edit from the menu. The axes group settings are displayed on the Axes Group Basic Settings Display in the Edit Pane. 4-12 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 93 4 Two-axis Linear Interpolation Program Set the Axes Group Basic Settings for axes group 0 as shown in the following figure. This concludes the axes group settings. NJ/NX-series Startup Guide for Motion Control (W514) 4-13...
  • Page 94 4 Two-axis Linear Interpolation Program  Confirming That the Axes Group Variable Is Registered System-defined variables for axes groups are called Axes Group Variables. You can use axes group variables in the user program to enable the execution of axes group motion control instructions or to access the status of the axes groups.

  • Page 95: Adding Instructions And Checking The Program

    4 Two-axis Linear Interpolation Program 4-3-4 Adding Instructions and Checking the Program Instructions to perform linear interpolation of the Servo Drives for two axes is added to the program that was created in Section 3 Setting Up a Single-axis Servo System, and then the program is checked. The following instructions are added.
  • Page 96 4 Two-axis Linear Interpolation Program Adding Instructions Add the instructions that control linear interpolation of the Servo Drives for two axes.  Opening the Ladder Editor To enter the program, you must start the Ladder Editor and open section 0 of program 0. Right-click Section0 under Programming ...
  • Page 97 4 Two-axis Linear Interpolation Program  Creating the Instructions That Turn the Servo ON and OFF You must create the instructions that turn ON the Servo for the Servo Drive for axis 1 in the same way as you did for axis 0. Create the following instructions to control turning the Servo ON and OFF for axis 1 (the axis that you added in this section).
  • Page 98 4 Two-axis Linear Interpolation Program  Creating the Instructions That Enable the Axes Group To perform linear interpolation for an axes group, the axis group must be enabled. Use the MC_GroupEnable (Enable Axes Group) instruction to enable the axes group. Create the following instructions to enable the axes group.
  • Page 99 4 Two-axis Linear Interpolation Program  Creating the Instructions That Perform Linear Interpolation Here, the MC_MoveLinearRelative (Relative Linear Interpolation) instruction is used to perform lin- ear interpolation. We will use two instances of this instruction to repeatedly perform linear interpola- tion.
  • Page 100 4 Two-axis Linear Interpolation Program  Creating the Instructions to Set the Travel Distances Values must be set for the Distance input variables to specify the travel distances for the MC_MoveLinearRelative (Relative Linear Interpolation) instructions. A user-defined array variable is used to set the values for the Distance variables.

  • Page 101: Transferring The Project To The Cpu Unit

    4 Two-axis Linear Interpolation Program Checking the Program Check the program that you created. If there are any errors, correct them. Execute Check All Programs. The results of the program check are displayed on the Build Tab Page. If there are any errors, correct them. Useful Function Double-click any error line to jump to the rung where the...

  • Page 102: Confirming System Operation

    4 Two-axis Linear Interpolation Program Confirming System Operation Confirm that the system is operating correctly. Place the CPU Unit online with the Sysmac Studio before you perform the procedures that are given in this section. 4-4-1 Checking the New Axis 1 Before you check the operation of the program, you will check the new axis 1.
  • Page 103 4 Two-axis Linear Interpolation Program The ladder program is displayed in the monitored state in the Edit Pane. Use one of the following methods to change the operating mode to RUN mode.  Method 1: Select Mode RUN Mode from the Controller Menu.
  • Page 104 4 Two-axis Linear Interpolation Program Right-click ServoLock in the program in the Edit Pane, and then select Set/Reset - Set from the menu. ServoLock changes to TRUE, and Power1 and Power2 are executed. 4-24 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 105 4 Two-axis Linear Interpolation Program Right-click GroupEnable in the program in the Edit Pane, and then select Set/Reset - Set from the menu. GroupEnable changes to TRUE, and Group1 is executed. NJ/NX-series Startup Guide for Motion Control (W514) 4-25...
  • Page 106 4 Two-axis Linear Interpolation Program Right-click Start2 in the program in the Edit Pane, and then select Set/Reset - Set from the menu. Start2 changes to TRUE. Linear1 is executed and positioning is started. When the positioning for Linear1 is completed, Linear1 execution stops and Linear2 is executed.
  • Page 107 4 Two-axis Linear Interpolation Program Right-click Axis Settings under Configurations and Setup - Motion Control Setup in the Multiview Explorer, and select MC Monitor Table from the menu. The MC Monitor Table is displayed in the Edit Pane. NJ/NX-series Startup Guide for Motion Control (W514) 4-27...
  • Page 108 4 Two-axis Linear Interpolation Program Use the MC Monitor Table to confirm that the axis 0 and axis 1 are moving. a and b in the following figure show the information you need to check. a: Check that the value of Pos under Cmd is either increasing or decreasing. b: Check that the value of Pos under Act is either increasing or decreasing.

  • Page 109: Using Data Tracing To Check Operation

    4 Two-axis Linear Interpolation Program 4-4-3 Using Data Tracing to Check Operation Use data tracing to check the current operation. Double-click DataTrace0 under Configurations and Setup  Data Trace Settings in the Multi- view Explorer. The DataTrace0 Tab Page is displayed in the Edit Pane. NJ/NX-series Startup Guide for Motion Control (W514) 4-29...
  • Page 110 4 Two-axis Linear Interpolation Program Select the Enable trigger condition Check Box on the DataTrace0 Tab Page and enter the vari- able to use as the trigger condition. For this example, use Program0.Linear1.Execute. Click the Add Target Button. A trace variable line is added to the list. 4-30 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 111 4 Two-axis Linear Interpolation Program Enter MC_Axis001.Cmd.Vel for the name of the variable to trace on the new line. Click the Start Trace Button. Make sure that the status bar at the lower left changes as shown in the following figure. NJ/NX-series Startup Guide for Motion Control (W514) 4-31...

  • Page 112: A-2 Using The 3D Motion Trace Display Mode To Check Operation

    4 Two-axis Linear Interpolation Program Make sure that the results of the data trace are displayed. Make sure that the trace results show the same waveform as shown in 4-1 Two-axis Servo Sys- tem Operation. Additional Information You can use the 3D Motion Trace Display Mode to check program operation. The 3D Motion Trace Display Mode displays the operation of an axes group based on a machine model that assumes an XY stage.

  • Page 113: Appendices

    Appendices A-1 Settings When Control Input Signals Are Not Wired ....A-2 A-2 Using the 3D Motion Trace Display Mode to Check Operation ..A-7 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 114 Appendices Settings When Control Input Signals Are Not Wired An error will occur in the CPU Unit if the Servo parameters for the Servo Drive are left at their default values when the Servo Drive control input signals are not wired. This is because the CPU Unit stops operation when a drive prohibit or immediate stop signal is detected.
  • Page 115 Appendices Right-click Node1: R88D-1SN01L-ECT (E001): RUN Mode under Configurations and Setup - EtherCAT in the Multiview Explorer, and select Setup and Tuning from the menu. The Setup and Tuning Portal appears in the Edit Pane. Click the Quick Parameter Setup and I/O Monitor Button. The following dialog box appears.
  • Page 116 Appendices Click the Next Button. The Input Signals setting Page appears. Change the signal active conditions of the below listed input signals from High to Low, and then click the Transfer to Drive Button. • Error Stop Input • Positive Drive Prohibit Input •...
  • Page 117 Appendices The following dialog box appears. Click the Yes Button. The drive restarts and you return to the Input Signals setting Page. Click the Next Button. The Output Signals setting Page appears. NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 118 Appendices Click the Finish Button. You return to Setup and Tuning Portal. Servo parameter errors will no longer occur in the CPU Unit. Set Node2: R88D-1SN01L-ECT(E002) in the same way as Node1. NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 119 Appendices Using the 3D Motion Trace Display Mode to Check Operation In 4-4-3 Using Data Tracing to Check Operation, we checked the traced data on a timeline to confirm that the system operation was correct. In this appendix, we will explain how to use the 3D Motion Trace Display Mode to check the current operation.
  • Page 120 Appendices Click the 3D Button in the Edit Pane. Click the Settings Button for 3D equipment model and select Add from the menu. When the 3D Equipment Model Display appears, click the OK Button. NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 121 Appendices The axis variables that are required for the 3D Motion Trace Display are added to the list of vari- ables to trace. Select the Enable trigger condition Check Box on the DataTrace0 Tab Page and enter the Program0.Linear1.Execute variable to use as the trigger condition. Click the Start Trace Button.
  • Page 122 Appendices Make sure that the status bar at the lower left changes as shown in the following figure. The following dialog box appears. Click the Yes Button. The results of the data trace are displayed on the 3D Motion Trace Display. A-10 NJ/NX-series Startup Guide for Motion Control (W514)
  • Page 123 Appendices Click the View Mode Box in the 3D Motion Trace Display and select X-Y from the list. The results of the data trace are displayed in Cartesian coordinates with axis 0 as the X axis and axis 1 as the Y axis. Make sure that the trace results show the same operation as shown in 4-1 Two-axis Servo Sys- tem Operation.
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