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Omron NJ Series Startup Manual

Machine automation controller
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Machine Automation Controller NJ-series
Startup Guide
for Motion Control
W514-E1-01

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Summary of Contents for Omron NJ Series

  • Page 1 Machine Automation Controller NJ-series Startup Guide for Motion Control W514-E1-01...
  • Page 2 OMRON. 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.

  • Page 3: Introduction

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

  • Page 4: Read And Understand This Manual

    WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
  • Page 5 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
  • Page 6 Performance data given in this manual 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 users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
  • Page 7 OMRON may also elect to provide a method to download a copy of the software without the defect from an OMRON website. If a problem is discovered with the storage media containing the software and the media is returned to OMRON, OMRON shall provide a replacement storage media containing the software free of charge.

  • Page 8: 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 9: Related Manuals

    Related Manuals Related Manuals The following manuals are related to the NJ-series Controllers. Use these manuals for reference. Manual name Cat. No. Model Application Meaning NJ-series CPU Unit Hardware W500 NJ501-@@@@ Learning the basic An introduction to the entire NJ-series system User’s Manual specifications of the is provided along with the following informa-...
  • Page 10 Related Manuals Manual name Cat. No. Model Application Meaning NJ-series Troubleshooting W503 NJ501-@@@@ Learning about the Concepts on managing errors that may be Manual errors that may be detected in an NJ-series Controller and infor- detected in an NJ- mation on individual errors are described. series Controller.

  • Page 11: 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-E1-01 Cat. No. Revision code Revision Date Revised content code November 2011 Original production NJ-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 Read and Understand this Manual ................2 Precautions........................ 6 Trademarks ..............................6 Software Licenses and Copyrights ......................6 Related Manuals ......................7 Revision History ......................9 Section 1 Servo System Configuration and Peripheral Products The Servo System Constructed in this Guide...............
  • Page 13 CONTENTS Section 4 Adding an Axis to the Servo System Two-axis Servo System Operation..................4-2 System Setup Procedures ...................... 4-3 Changing the Program ......................4-4 4-3-1 Adding a Servo Drive to the EtherCAT Network Configuration........... 4-4 4-3-2 Adding Axis 1 and Setting an Axes Group.................. 4-6 4-3-3 Adding Instructions and Checking the Program ...............
  • Page 14 CONTENTS NJ-series Startup Guide for Motion Control (W514)

  • Page 15: Servo System Configuration And Peripheral Products

    Servo System Configuration and Peripheral Products 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 The Servo System Constructed in this Guide ..... . . 1-2 1-2 System Configuration and Configuration Devices .

  • Page 16: The Servo System Constructed In This Guide

    1 Servo System Configuration and Peripheral Products The Servo System Constructed in this Guide This NJ-series Startup Guide for Motion Control (hereafter referred to as “this Guide”) contains instruc- tions from assembling the hardware that makes up the Servo system to performing debugging on the system.

  • Page 17: System Configuration And Configuration Devices

    1 Servo System Configuration and Peripheral Products System Configuration and Configuration Devices The following figure shows the system configuration and devices that are used in this Guide. The system configuration is shown in the following figure. Two-axis Servo System Section 4 Adding an Axis to the Servo System Single-axis Servo System Section 3 Setting Up a Single-axis Servo System Sysmac Studio...
  • Page 18 1 Servo System Configuration and Peripheral Products Configuration Devices The models of the devices that are described in this Guide are given in the following table. When selecting devices for an actual application, refer to the device manuals. Device name Model Manual name NJ-series CPU Unit...

  • Page 19: 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 Assembling the Hardware .

  • Page 20: 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-series Controller. On it, you can set up the Controller configurations, parameters, and programs, and you can debug and simulate opera- tion.

  • Page 21: Assembling The Hardware

    2 Before You Begin Assembling the Hardware This section describes how to assemble the hardware used in the system. This section gives an overview of the assembly procedures. Refer to the manuals for the devices that are used in the system for detailed assembly procedures and safety precautions. Precautions for Safe Use Always turn OFF the power supply to the Controller and to the Servo Drives before you attempt any of the following.

  • Page 22: Setting The Node Addresses Of The Servo Drives

    2 Before You Begin 2-2-2 Setting the Node Addresses of the Servo Drives Set the node addresses of the Servo Drives as shown below. Only the first Servo Drive is used in Section 3 Setting Up a Single-axis Servo System. The second Servo Drive is added in Section 4 Adding an Axis to the Servo System.

  • 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. 2-3-1 Wiring the Rack Power Supply Unit Wire the Power Supply Unit to the power supply.

  • Page 24: Wiring The Servo Drive Power Supply

    2 Before You Begin 2-3-2 Wiring the Servo Drive Power Supply Wire the main circuit power supply and the control power supply to the Servo Drives. Main power supply AC power supply Control power supply Servo Drive 2-3-3 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.

  • Page 25: Wiring The Servo Drives And The Servomotors

    2 Before You Begin 2-3-4 Wiring the Servo Drives and the Servomotors Wire the Servo Drives and the Servomotors as shown in the following figure. Servo Drive Encoder Cable Power cable R88A-CRKA003C R88A-CAKA003S Servomotor NJ-series Startup Guide for Motion Control (W514)

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

    2 Before You Begin 2-3-5 Wiring the Control Input Signals for the Servo Drives Wire the control input signals for the Servo Drives as shown in the following figure. Terminal Block XW2B-20G5 Servo Drive External latch 3 External latch 2 External latch 1 External Signal Cable Negative drive prohibit...

  • 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-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. Click the Create Button in the Project Properties Dialog Box. Click the 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. Menu bar Toolbar Layered headers Configurations and Setup Header Programming Header Show/hide bar Show/hide bar (10) (11) (12)

  • Page 33: Creating The Ethercat Network Configuration

    3 Setting Up a Single-axis Servo System Creating the EtherCAT Network Configuration A R88D-KN01L-ECT Servo Drive is registered in the EtherCAT network configuration to operate as axis Double-click EtherCAT under Configurations and Setups in the Multiview Explorer. The EtherCAT Tab Page is displayed in the Edit Pane. NJ-series Startup Guide for Motion Control (W514)
  • Page 34 3 Setting Up a Single-axis Servo System Drag the R88D-KN01L-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 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. The Axis Basic Settings are displayed on the Axis Parameter Settings Tab Page in the Edit Pane.
  • Page 37 3 Setting Up a Single-axis Servo System Select Servo axis in the Axis type Box. Select the Servo Drive to use in the Input device Box (Node: 1, Device: R88D-KN01L-ECT). This will assign node 1 and device R88D-KN01L-ECT as the input device for axis 0. Now, node 1 with device R88D-KN01L-ECT can be used as an axis in the EtherCAT network configuration.
  • Page 38 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 39 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 40 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 41: 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 42 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 43 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 44 3 Setting Up a Single-axis Servo System 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. Enter Power1 as the instance name. Enter the in-out variable for the Power1 instance.
  • Page 45 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 posi- tioning.
  • Page 46 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 47 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. Enter MC_Axis000 (the axis variable of axis 0).
  • Page 48 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 49: Checking The Program

    3 Setting Up a Single-axis Servo System 3-5-3 Checking the Program Check the program that you created. If there are any errors, correct them. 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.

  • Page 50: 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. Online Connection Use one of the following methods to go online.
  • Page 51 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 52 3 Setting Up a Single-axis Servo System Click the Transfer to Controller Button. Click the Button. 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 53 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-series Startup Guide for Motion Control (W514) 3-27...

  • Page 54: 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 pres- ence of any errors.
  • Page 55 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 56: 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 57 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-series Startup Guide for Motion Control (W514) 3-31...
  • Page 58 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 59 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 60 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 61 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 62: Checking Program Operation

    3 Setting Up a Single-axis Servo System 3-7-3 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 63 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 64 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. 3-38 NJ-series Startup Guide for Motion Control (W514)
  • Page 65 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 66 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. 3-40 NJ-series Startup Guide for Motion Control (W514)
  • Page 67 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 68: Using Data Tracing To Check Operation

    3 Setting Up a Single-axis Servo System 3-7-4 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 69 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-series Startup Guide for Motion Control (W514) 3-43...
  • Page 70 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 71 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-series Startup Guide for Motion Control (W514) 3-45...
  • Page 72 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. 3-46 NJ-series Startup Guide for Motion Control (W514)
  • Page 73 Adding an Axis to the Servo System This section describes how to add an axis to the single-axis Servo system constructed in Section 3 to create a two-axis Servo system. 4-1 Two-axis Servo System Operation ....... . 4-2 4-2 System Setup Procedures .

  • Page 74: Two-Axis Servo System Operation

    4 Adding an Axis to the Servo System 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 with linear interpolation.

  • Page 75: System Setup Procedures

    4 Adding an Axis to the Servo System 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.

  • Page 76: Changing The Program

    4 Adding an Axis to the Servo System 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: • Add the second Servo Drive to the EtherCAT network configuration. •...
  • Page 77 4 Adding an Axis to the Servo System Right-click R88D-KN01L-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-series Startup Guide for Motion Control (W514)

  • Page 78: Adding Axis 1 And Setting An Axes Group

    4 Adding an Axis to the Servo System 4-3-2 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 - Axis Settings from the menu.
  • Page 79 4 Adding an Axis to the Servo System 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 3-12 in 3-5-1 Setting the Axis.
  • Page 80 4 Adding an Axis to the Servo System Right-click 1 MC_Axis000(0) and select Copy Selected Columns 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.
  • Page 81 4 Adding an Axis to the Servo System Click the Input device Cell in the 2 MC_Axis001(1) column, and select Node: 2, Device: R88D- KN01L-ECT. This will assign node 2 and device R88D-KN01L-ECT as the input device for axis 1. Now, node 2 with device R88D-KN01L-ECT can be used as an axis in the EtherCAT network configuration.
  • Page 82 4 Adding an Axis to the Servo System 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 83 4 Adding an Axis to the Servo System The axes group settings are displayed on the Axes Group Basic Settings Display in the Edit Pane. Set the Axes Group Basic Settings for axes group 0 as shown in the following figure. This concludes the axes group settings.
  • Page 84 4 Adding an Axis to the Servo System 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 85: Adding Instructions And Checking The Program

    4 Adding an Axis to the Servo System 4-3-3 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 86 4 Adding an Axis to the Servo System 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 87 4 Adding an Axis to the Servo System 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 88 • The MC_Power (Power Servo) and MC_Home (Home) instructions are used to define home for the OMRON G5-series Servomotor with Incremental Encoder that is used in this Guide. For information on an OMRON G5-series Servomotor with Absolute Encoder, refer to the NJ- series CPU Unit Motion Control User’s Manual (Cat.
  • Page 89 4 Adding an Axis to the Servo System 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 90 4 Adding an Axis to the Servo System 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 91: Transferring The Project To The Cpu Unit

    4 Adding an Axis to the Servo System 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.

  • Page 92: Confirming System Operation

    4 Adding an Axis to the 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. 4-4-1 Checking the New Axis 1 Before you check the operation of the program, you will check the new axis 1.
  • Page 93 4 Adding an Axis to the 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.
  • Page 94 4 Adding an Axis to the 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 and Power2 are executed. 4-22 NJ-series Startup Guide for Motion Control (W514)
  • Page 95 4 Adding an Axis to the Servo System Right-click GroupEnable in the program in the Edit Pane, and then select Set/Reset - Set from the menu. GroupEnable changes to TRUE, and Home1, Home2, and Group1 are executed. NJ-series Startup Guide for Motion Control (W514) 4-23...
  • Page 96 4 Adding an Axis to the Servo System 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 97 4 Adding an Axis to the 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 is displayed in the Edit Pane. NJ-series Startup Guide for Motion Control (W514) 4-25...
  • Page 98 4 Adding an Axis to the Servo System 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 99: Using Data Tracing To Check Operation

    4 Adding an Axis to the Servo System 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-series Startup Guide for Motion Control (W514) 4-27...
  • Page 100 4 Adding an Axis to the 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.Linear1.Execute. Click the Add Target Button. A trace variable line is added to the list.
  • Page 101 4 Adding an Axis to the Servo System 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-series Startup Guide for Motion Control (W514) 4-29...
  • Page 102 4 Adding an Axis to the 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 4-1 Two-axis Servo Sys- tem Operation. Additional Information You can use the 3D Motion Trace Display Mode to check program operation.

  • Page 103: 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-6 NJ-series Startup Guide for Motion Control (W514)

  • Page 104: Settings When Control Input Signals Are Not Wired

    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 105 Appendices Right-click Node1: R88D-KN01L-ECT (E001): RUN Mode under Configurations and Setup - EtherCAT in the Multiview Explorer, and select Parameters from the menu. The Parameters Tab Page is displayed in the Edit Pane. Click the From Drive Icon on the Parameters Tab Page in the Edit Pane. NJ-series Startup Guide for Motion Control (W514)
  • Page 106 Appendices Change the parameters that are shown in the box in the following figure to the values that are given in the following table. Description Value after change Pn400.0 Input Signal Selection 1 - Position control/full closing control 14: E-STOP (Compulsion alarm input) - Contact NO Pn400.1 Input Signal Selection 1 - Speed control 14: E-STOP (Compulsion alarm input) - Contact NO...
  • Page 107 Appendices Click the To Drive Icon on the Parameters Tab Page in the Edit Pane. Click the OK Button. Select Offline from the Controller Menu. Cycle the power supply to the Controller and to the Servo Drive. This applies the modified Servo parameter settings to the Servo Drive. NJ-series Startup Guide for Motion Control (W514)

  • Page 108: Using The 3D Motion Trace Display Mode To Check Operation

    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 109 Appendices The DataTrace0 Tab Page is displayed in the Edit Pane. Click the 3D Button in the Edit Pane. Click the Settings Button for 3D equipment model and select Add from the menu. NJ-series Startup Guide for Motion Control (W514)
  • Page 110 Appendices When the 3D Equipment Model Display appears, click the OK Button. 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.
  • Page 111 Appendices Click the Start Trace Button. Make sure that the status bar at the lower left changes as shown in the following figure. The results of the data trace are displayed on the 3D Motion Trace Display. NJ-series Startup Guide for Motion Control (W514)
  • Page 112 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.
  • Page 114 The Netherlands IL 60173-5302 U.S.A. Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 Tel: (31)2356-81-300/Fax: (31)2356-81-388 © OMRON Corporation 2011 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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