Precautions For Master And Auxiliary Axes In Synchronized Control - Omron Sysmac NY-series Instruction & Reference Manual

1 Introduction to Motion Control Instructions
Structures Used for Motion Control
Information required for motion control are defined as structures in PLCopen
ta type names and basic aspects are defined, but the contents of the structures are not defined.
The main data types defined in PLCopen
shown in the following table.
PLCopen
AXIS_REF
AXES_GROUP_REF
TRIGGER_REF
INPUT_REF
OUTPUT_REF
As shown in the above table, the MC Function Module uses some data types that are defined by
®
PLCopen and some that are defined specifically for the MC Function Module.
Refer to the NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No.
W559) for definitions of the data types and structures that are handled by the MC Motion Module.
1-1-3
Precautions for Master and Auxiliary Axes in Synchronized Con-
trol
Precautions that are related to sudden changes in velocity and conditions that lead to errors are given
below for master and auxiliary axes in synchronized control.
Sudden Changes in Velocity
When the velocity of the master or auxiliary axis changes suddenly when synchronized motion is start-
ed or during synchronized motion, the motion of the slave axis can change suddenly and sometimes
place an excessive load on the machine.
Take suitable precautions in the following cases because the velocity of the master or auxiliary axis
may change suddenly.
• When one of the following three instructions is executed for the master or auxiliary axis:
MC_ImmediateStop instruction
MC_ResetFollowingError instruction
MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction
To ensure that the slave axis does not move suddenly, set suitable input parameters and execution
timing for the above instructions or execute them after synchronized control has been released.
1-6
®
Data type
® MC Function Module
_sAXIS_REF
_sGROUP_REF
_sTRIGGER_REF
---
_sOUTPUT_REF
and the data types used in the MC Function Module are
This is a structure that contains information on the corre-
sponding axis.
This is a structure that contains information on the corre-
sponding axes group.
This is a structure that contains information on trigger in-
puts.
•
Trigger specifications
•
Detection pattern information (positive, negative, both,
edge, level, pattern recognition, etc.)
This is a structure that contains information relating to the
input specifications. It may include virtual data.
This data type is not used by the MC Function Module.
This is a structure relating to physical outputs.
NY-series Motion Control Instructions Reference Manual (W561)
®
technical materials. Da-
Definition