Machine Automation Controller

NJ/NX-series
CPU Unit

Motion Control
User’s Manual
NX701-1
NX102-1
NX102-90
NX1P2-1
NX1P2-9
NJ501-
NJ301-1
NJ101-10

CPU Unit

W507-E1-23
 NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of 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. Every precaution has been taken in the preparation of this manual. Neverthe-
less, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.

Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corpora-
tion in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.

Copyrights
• Microsoft product screen shots reprinted with permission from Microsoft Corporation.
• This product incorporates certain third party software. The license and copyright information associated with this
software is available at http://www.fa.omron.co.jp/nj_info_e/.
 Introduction

Introduction
Thank you for purchasing an NJ/NX-series CPU Unit.
This manual contains information that is necessary to use the Motion Control Function Module of an
NJ/NX-series CPU Unit. Please read this manual and make sure you understand the functionality and
performance of the NJ/NX-series CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.

Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical sys-
tems (an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.

Applicable Products
This manual covers the following products.
NX-series CPU Units
• NX701-17££
• NX701-16££
• NX102-12££
• NX102-11££
• NX102-10££
• NX102-90££
• NX1P2-11££££
• NX1P2-11££££1
• NX1P2-10££££
• NX1P2-10££££1
• NX1P2-90££££
• NX1P2-90££££1
• NX1P2-9B££££
• NX1P2-9B££££1

NJ-series CPU Units

• NJ501-£5££
• NJ501-£4££
• NJ501-£3££
• NJ301-12££
• NJ301-11££
• NJ101-10££

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1

Introduction

Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Rele-
vant Manuals on page 3 and Related Manuals on page 28.

2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 3
Relevant Manuals

NJ/NX-series
manuals that are relevant to your system configuration and application before you use the NJ/NX-ser-

Troubleshooting Manual
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac
The following table provides the relevant manuals for the NJ/NX-series CPU Units. Read all of the

NJ/NY-series NC Integrated Controller

User’s Manual
NJ-series NJ Robotics CPU Unit
User's Manual
Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.

NJ-series Robot Integrated CPU Unit

¡
User’s Manual
NJ-series SECS/GEM CPU Units
User's Manual
NJ/NX-series Database Connection CPU Units
User's Manual
NX-series CPU Unit
FINS User’s Manual
NJ/NX-series CPU Unit OPC UA
User’s Manual
NJ/NX-series CPU Unit

¡
Built-in EtherNet/IP Port User’s Manual
Manual

NJ/NX-series CPU Unit

¡
Built-in EtherCAT Port User´s Manual
NJ/NX-series
Motion Control Instructions Reference Manual
NJ/NX-series CPU Unit

¡
Motion Control User’s Manual
NJ/NX-series
Instructions Reference Manual
NX-series NX1P2 CPU Unit

NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

Built-in I/O and Option Board User's Manual
Basic information

NJ/NX-series CPU Unit

Software User’s Manual
Relevant Manuals

NJ-series CPU Unit

¡
Hardware User’s Manual
NX-series NX1P2 CPU Unit

¡
Hardware User’s Manual
NX-series NX102 CPU Unit

¡
¡
Hardware User’s Manual
NX-series CPU Unit

¡
Hardware User’s Manual

Introduction to NJ-series Con-

Using robot control for OM-

Setting devices and hardware
ies CPU Unit.

Introduction to NX1P2 CPU

Introduction to NX701 CPU

Introduction to NX102 CPU

Purpose of use

Using motion control

Using EtherNet/IP
Using EtherCAT

RON robots
trollers
Units

Units

Units
 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
NJ/NX-series

¡
Troubleshooting Manual
NJ/NY-series NC Integrated Controller
¡

¡
User’s Manual
NJ-series NJ Robotics CPU Unit
¡

¡
User's Manual
NJ-series Robot Integrated CPU Unit
¡

¡
User’s Manual
NJ-series SECS/GEM CPU Units
¡

¡
User's Manual
NJ/NX-series Database Connection CPU Units
¡

¡
User's Manual
NX-series CPU Unit
¡

¡
FINS User’s Manual
NJ/NX-series CPU Unit OPC UA
¡

¡
User’s Manual
NJ/NX-series CPU Unit
¡

¡
Built-in EtherNet/IP Port User’s Manual
Manual

NJ/NX-series CPU Unit

¡

¡
Built-in EtherCAT Port User´s Manual
NJ/NX-series

¡
Motion Control Instructions Reference Manual
NJ/NX-series CPU Unit ¡

¡
Motion Control User’s Manual
NJ/NX-series

¡
Instructions Reference Manual
NX-series NX1P2 CPU Unit

¡
Built-in I/O and Option Board User's Manual
Basic information

NJ/NX-series CPU Unit

¡
Software User’s Manual
NJ-series CPU Unit
Hardware User’s Manual
NX-series NX1P2 CPU Unit
Hardware User’s Manual
NX-series NX102 CPU Unit
Hardware User’s Manual
NX-series CPU Unit
Hardware User’s Manual

Using robot control by NJ Ro-

Using robot control by NJ Ro-

Programming error process-

Using the database connec-

Using the database connec-

Using the NX1P2 CPU Unit

Using the NX1P2 CPU Unit

Using robot control for OM-

Using robot control for OM-

Using the GEM Services

Using the GEM Services

Using numerical control

Using numerical control

Purpose of use

Writing the user program

Relevant Manuals

Using motion control

Using motion control

Using EtherNet/IP

Using EtherNet/IP
Using EtherCAT

Using EtherCAT
Using OPC UA

Using OPC UA
Software settings

botics function

botics function
RON robots

RON robots
Using FINS

Using FINS
tion service

tion service
functions

functions
ing

4
 5
Relevant Manuals

NJ/NX-series

Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error items. However,
refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indi-
¡
Troubleshooting Manual
NJ/NY-series NC Integrated Controller
r
¡

User’s Manual
NJ-series NJ Robotics CPU Unit

r
¡

User's Manual
NJ-series Robot Integrated CPU Unit

r
¡

User’s Manual
NJ-series SECS/GEM CPU Units

r
¡

User's Manual
NJ/NX-series Database Connection CPU Units

r
¡

User's Manual
NX-series CPU Unit

r
¡

FINS User’s Manual

NJ/NX-series CPU Unit OPC UA

r
¡

User’s Manual
NJ/NX-series CPU Unit
¡

¡
Built-in EtherNet/IP Port User’s Manual
Manual

NJ/NX-series CPU Unit

¡

¡
Built-in EtherCAT Port User´s Manual
NJ/NX-series
Motion Control Instructions Reference Manual
NJ/NX-series CPU Unit ¡

¡
Motion Control User’s Manual
NJ/NX-series
Instructions Reference Manual
NX-series NX1P2 CPU Unit

NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

Built-in I/O and Option Board User's Manual
Basic information

NJ/NX-series CPU Unit

¡
Software User’s Manual
NJ-series CPU Unit

¡
Hardware User’s Manual
NX-series NX1P2 CPU Unit

¡
Hardware User’s Manual
NX-series NX102 CPU Unit

¡
Hardware User’s Manual
NX-series CPU Unit

¡
Hardware User’s Manual

Using robot control by NJ Ro-

Using the database connec-

Learning about error manage-

Using the NX1P2 CPU Unit
Using robot control for OM-
Testing operation and debug-

Using the GEM Services

Using numerical control

Purpose of use

cated with triangles.

Using motion control

Using motion control

ment and corrections*1
Using EtherNet/IP

Using EtherNet/IP
Using EtherCAT

Using EtherCAT
Using OPC UA

botics function
RON robots
Using FINS

tion service

Maintenance
functions
ging

*1.
Manual Structure

Manual Structure

Page Structure
The following page structure is used in this manual.

4 Installation and Wiring Level 1 heading

Level 2 heading
Level 2 heading 4-3 Mounting Units Level 3 heading
Gives the current
Level 3 heading 4-3-1 Connecting Controller Components headings.
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.

A step in a procedure 1 Join the Units so that the connectors fit exactly.

Hook Hook holes

Indicates a procedure. Connector

4-3 Mo u n t i n g U n i t s
4 Page tab
2 Gives the number

4-3-1 Connecting Controller Components

The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place. of the main section.
Move the sliders toward the back
until they lock into place.

Lock

Release

Slider

Precautions for Correct Use

Special information The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
Icons indicate the adjacent Unit connectors.
precautions, additional
information, or reference
information.

Manual name NJ-series CPU Unit Hardware User’s Manual (W500) 4-9

This illustration is provided only as a sample. It may not literally appear in this manual.

Special Information
Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

6 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Manual Structure

Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.

Version Information
Information on differences in specifications and functionality for Controller with different unit versions
and for different versions of the Sysmac Studio is given.

Precaution on Terminology
In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Control-
ler and "upload" refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, "synchronization" is used to both "upload" and "download" data. 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 specified by the user.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 7

Manual Structure

8 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Sections in this Manual

Sections in this Manual

1
1 10

Introduction to the 2
2 11
Motion Control
1 Function Module 10
10 Sample Programming
3
3 A
Motion Control
Configuration and
2 Principles
11
11 Troubleshooting
4
4 I
Configuring Axes
3 and Axes Groups A
A Appendices
5

Checking Wiring from

4 the Sysmac Studio II Index 6

7
5 Motion Control Parameters

8
6 Motion Control Programming

9
7 Manual Operation

8 Homing

9 Motion Control Functions

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 9

CONTENTS

CONTENTS
Introduction .............................................................................................................. 1
Intended Audience...........................................................................................................................................1
Applicable Products .........................................................................................................................................1

Relevant Manuals..................................................................................................... 3

Manual Structure...................................................................................................... 6
Page Structure.................................................................................................................................................6
Special Information ..........................................................................................................................................6
Precaution on Terminology ..............................................................................................................................7

Sections in this Manual ........................................................................................... 9

Terms and Conditions Agreement........................................................................ 16

Warranty, Limitations of Liability ....................................................................................................................16
Application Considerations ............................................................................................................................17
Disclaimers ....................................................................................................................................................17

Safety Precautions................................................................................................. 19

Precautions for Safe Use ...................................................................................... 20

Precautions for Correct Use ................................................................................. 21

Regulations and Standards .................................................................................. 22

Versions .................................................................................................................. 23
Checking Versions .........................................................................................................................................23
Unit Versions of CPU Units and Sysmac Studio Versions .............................................................................27

Related Manuals..................................................................................................... 28

Revision History..................................................................................................... 32

Section 1 Introduction to the Motion Control Function Module

1-1 Features ..................................................................................................................................1-2
1-2 System Configuration............................................................................................................1-3
1-3 Basic Flow of Operation........................................................................................................1-5
1-4 Specifications.........................................................................................................................1-7
1-4-1 General Specifications ................................................................................................................1-7
1-4-2 Performance Specifications ........................................................................................................1-7
1-4-3 Function Specifications ............................................................................................................. 1-11

Section 2 Motion Control Configuration and Principles

2-1 Internal Configuration of the CPU Unit ................................................................................2-2
2-2 Motion Control Configuration...............................................................................................2-3
2-3 Motion Control Principles .....................................................................................................2-5

10 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 CONTENTS

2-3-1 CPU Unit Tasks ...........................................................................................................................2-5

2-3-2 Example of Task Operations for Motion Control........................................................................2-12
2-4 EtherCAT Communications and Motion Control ..............................................................2-19
2-4-1 CAN Application Protocol over EtherCAT (CoE) .......................................................................2-19
2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module...............2-19
2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period.........2-22

Section 3 Configuring Axes and Axes Groups

3-1 Axes ........................................................................................................................................3-2
3-1-1 Introduction to Axes ....................................................................................................................3-2
3-1-2 Introduction to Axis Parameters ..................................................................................................3-3
3-1-3 Introduction to Axis Variables ......................................................................................................3-6
3-1-4 Synchronizing Axis Variables ......................................................................................................3-8
3-1-5 Specifying an Axis in the User Program......................................................................................3-9
3-2 Axis Setting Procedure .......................................................................................................3-10
3-2-1 Axis Configuration Procedure ...................................................................................................3-10
3-2-2 Setting Procedure .....................................................................................................................3-10
3-3 Axes Groups.........................................................................................................................3-21
3-3-1 Introduction to Axes Groups......................................................................................................3-21
3-3-2 Introduction to Axes Group Parameters ....................................................................................3-21
3-3-3 Introduction to Axes Group Variables........................................................................................3-22
3-3-4 Specifying an Axes Group in the User Program .......................................................................3-24
3-4 Setting Procedures for Axes Groups.................................................................................3-26
3-4-1 Setting Procedure for an Axes Group .......................................................................................3-26
3-4-2 Setting Procedure .....................................................................................................................3-26

Section 4 Checking Wiring from the Sysmac Studio

4-1 MC Test Run Function ...........................................................................................................4-2
4-1-1 List of MC Test Run Functions ....................................................................................................4-2
4-1-2 Application Procedure .................................................................................................................4-3
4-1-3 Axis Parameter Setting Example ................................................................................................4-4
4-1-4 Starting the MC Test Run Function .............................................................................................4-5
4-2 Monitoring Sensor Signals ...................................................................................................4-7
4-3 Checking Motor Operation....................................................................................................4-8
4-3-1 Turning ON the Servo .................................................................................................................4-8
4-3-2 Jogging........................................................................................................................................4-9
4-3-3 Homing ........................................................................................................................................4-9
4-3-4 Absolute Positioning..................................................................................................................4-10
4-3-5 Relative Positioning................................................................................................................... 4-11

Section 5 Motion Control Parameters

5-1 Introduction ............................................................................................................................5-2
5-2 Axis Parameters.....................................................................................................................5-5
5-2-1 Axis Parameters ..........................................................................................................................5-5
5-2-2 Axis Basic Settings......................................................................................................................5-8
5-2-3 Unit Conversion Settings...........................................................................................................5-13
5-2-4 Operation Settings ....................................................................................................................5-21
5-2-5 Other Operation Settings ..........................................................................................................5-24
5-2-6 Limit Settings.............................................................................................................................5-25
5-2-7 Position Count Settings .............................................................................................................5-26
5-2-8 Servo Drive Settings .................................................................................................................5-28
5-2-9 Homing Settings ........................................................................................................................5-29

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 11

CONTENTS

5-2-10 Axis Parameter Setting Example ..............................................................................................5-31

5-3 Axes Group Parameters ......................................................................................................5-34
5-3-1 Axes Group Parameters............................................................................................................5-34
5-3-2 Axes Group Basic Settings .......................................................................................................5-35
5-3-3 Axes Group Operation Settings ................................................................................................5-37
5-3-4 Enabling an Axes Group ...........................................................................................................5-38

Section 6 Motion Control Programming

6-1 Introduction ............................................................................................................................6-2
6-2 Motion Control Instructions..................................................................................................6-5
6-2-1 Function Blocks for PLCopen® Motion Control ...........................................................................6-5
6-2-2 Motion Control Instructions of the MC Function Module .............................................................6-5
6-3 State Transitions ....................................................................................................................6-7
6-3-1 Status of the Motion Control Function Module ............................................................................6-7
6-3-2 Axis States ..................................................................................................................................6-7
6-3-3 Axes Group States ......................................................................................................................6-9
6-4 Execution and Status of Motion Control Instructions......................................................6-12
6-4-1 Basic Rules for Execution of Instructions ..................................................................................6-12
6-4-2 Execution Timing Charts ...........................................................................................................6-14
6-4-3 Timing Chart for Re-execution of Motion Control Instructions...................................................6-17
6-4-4 Timing Chart for Multi-execution of Motion Control Instructions................................................6-17
6-5 Positions...............................................................................................................................6-19
6-5-1 Types of Positions .....................................................................................................................6-19
6-5-2 Valid Positions for Each Axis Type ............................................................................................6-20
6-6 System-defined Variables for Motion Control ...................................................................6-21
6-6-1 Overview of System-defined Variables for Motion Control ........................................................6-21
6-6-2 System for System-defined Variables for Motion Control..........................................................6-23
6-6-3 Tables of System-defined Variables for Motion Control.............................................................6-24
6-7 Cam Tables and Cam Data Variables .................................................................................6-37
6-8 Programming Motion Controls ...........................................................................................6-41
6-9 Creating Cam Tables ...........................................................................................................6-43

Section 7 Manual Operation

7-1 Outline.....................................................................................................................................7-2
7-2 Turning ON the Servo ............................................................................................................7-3
7-2-1 Turning ON the Servo .................................................................................................................7-3
7-2-2 Setting Axis Parameters..............................................................................................................7-4
7-2-3 Programming Example................................................................................................................7-4
7-3 Jogging ...................................................................................................................................7-6
7-3-1 Jogging Procedure ......................................................................................................................7-6
7-3-2 Setting Axis Parameters..............................................................................................................7-7
7-3-3 Setting Example for Input Variables ............................................................................................7-7
7-3-4 Programming Example................................................................................................................7-8

Section 8 Homing
8-1 Outline of Homing..................................................................................................................8-2
8-2 Homing Procedure.................................................................................................................8-5
8-2-1 Setting Homing Parameters ........................................................................................................8-5
8-2-2 Monitoring the Homing Operation ............................................................................................. 8-11

12 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 CONTENTS

8-3 Homing Operation................................................................................................................8-13

8-4 Homing with an Absolute Encoder ....................................................................................8-14
8-4-1 Outline of Function ....................................................................................................................8-15
8-4-2 Setting Procedure .....................................................................................................................8-17
8-5 High-speed Homing .............................................................................................................8-19

Section 9 Motion Control Functions

9-1 Single-axis Position Control .................................................................................................9-3
9-1-1 Outline of Operation ....................................................................................................................9-3
9-1-2 Absolute Positioning....................................................................................................................9-4
9-1-3 Relative Positioning.....................................................................................................................9-4
9-1-4 Interrupt Feeding .........................................................................................................................9-4
9-1-5 Cyclic Synchronous Positioning ..................................................................................................9-6
9-1-6 Stopping ......................................................................................................................................9-6
9-1-7 Override Factors ....................................................................................................................... 9-11
9-2 Single-axis Synchronized Control......................................................................................9-13
9-2-1 Overview of Synchronized Control ............................................................................................9-13
9-2-2 Gear Operation .........................................................................................................................9-13
9-2-3 Positioning Gear Operation .......................................................................................................9-14
9-2-4 Cam Operation ..........................................................................................................................9-15
9-2-5 Cam Tables ...............................................................................................................................9-16
9-2-6 Synchronous Positioning...........................................................................................................9-24
9-2-7 Combining Axes ........................................................................................................................9-25
9-2-8 Master Axis Phase Shift ............................................................................................................9-26
9-2-9 Slave Axis Position Compensation ...........................................................................................9-27
9-2-10 Achieving Synchronized Control in Multi-motion .......................................................................9-28
9-3 Single-axis Velocity Control................................................................................................9-30
9-3-1 Velocity Control .........................................................................................................................9-30
9-3-2 Cyclic Synchronous Velocity Control.........................................................................................9-30
9-4 Single-axis Torque Control .................................................................................................9-32
9-5 Common Functions for Single-axis Control......................................................................9-33
9-5-1 Positions....................................................................................................................................9-33
9-5-2 Velocity ......................................................................................................................................9-35
9-5-3 Acceleration and Deceleration ..................................................................................................9-36
9-5-4 Jerk ...........................................................................................................................................9-38
9-5-5 Specifying the Operation Direction............................................................................................9-39
9-5-6 Re-executing Motion Control Instructions .................................................................................9-43
9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ...................................................9-48
9-6 Multi-axes Coordinated Control .........................................................................................9-55
9-6-1 Outline of Operation ..................................................................................................................9-55
9-6-2 Linear Interpolation ...................................................................................................................9-57
9-6-3 Circular Interpolation .................................................................................................................9-58
9-6-4 Axes Group Cyclic Synchronous Positioning ............................................................................9-59
9-6-5 Stopping Under Multi-axes Coordinated Control.......................................................................9-59
9-6-6 Overrides for Multi-axes Coordinated Control ...........................................................................9-61
9-7 Common Functions for Multi-axes Coordinated Control.................................................9-63
9-7-1 Velocity Under Multi-axes Coordinated Control ........................................................................9-63
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control .....................................9-64
9-7-3 Jerk for Multi-axes Coordinated Control....................................................................................9-65
9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control .........................9-66
9-7-5 Multi-execution of Motion Control Instructions (Buffer Mode) for Multi-axes Coordinat-
ed Control..................................................................................................................................9-67
9-8 Other Functions ...................................................................................................................9-76
9-8-1 Changing the Current Position ..................................................................................................9-76
9-8-2 Torque Limit...............................................................................................................................9-77
9-8-3 Latching.....................................................................................................................................9-77
9-8-4 Zone Monitoring ........................................................................................................................9-78

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 13

CONTENTS

9-8-5 Software Limits..........................................................................................................................9-78

9-8-6 Following Error Monitoring ........................................................................................................9-80
9-8-7 Following Error Counter Reset ..................................................................................................9-81
9-8-8 Axis Following Error Monitoring ................................................................................................9-82
9-8-9 In-position Check ......................................................................................................................9-82
9-8-10 Changing Axis Use....................................................................................................................9-84
9-8-11 Enabling Digital Cam Switch .....................................................................................................9-85
9-8-12 Displaying 3D Motion Monitor for User Coordinate System ......................................................9-86

Section 10 Sample Programming

10-1 Overview of Sample Programming ....................................................................................10-2
10-1-1 Devices .....................................................................................................................................10-2
10-1-2 Installation and Wiring ...............................................................................................................10-2
10-1-3 Setup .........................................................................................................................................10-2
10-2 Basic Programming Samples .............................................................................................10-3
10-2-1 Monitoring EtherCAT Communications and Turning ON Servos ..............................................10-3
10-2-2 Interlocking Axis Operation with Master Control Instructions ....................................................10-4
10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation .10-6
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation ............................10-8
10-2-5 Monitoring for Instruction Errors ..............................................................................................10-14
10-2-6 Checking to See If Errors Are Reset .......................................................................................10-16
10-2-7 Stopping Axes during Single-axis Operation...........................................................................10-18
10-2-8 Stopping an Axes Group in Coordinated Motion .....................................................................10-22
10-2-9 Homing and Absolute Positioning ...........................................................................................10-30
10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................10-35
10-2-11 Interrupt Feeding .....................................................................................................................10-40
10-2-12 Changing the Cam Table by Re-execution of an Instruction ...................................................10-45
10-2-13 Using a Cam Profile Curve to Correct the Sync Position ........................................................10-55
10-2-14 Shifting the Phase of a Master Axis in Cam Motion ................................................................10-66
10-2-15 Changing the Actual Position during Velocity Control .............................................................10-74
10-2-16 Changing a Cam Data Variable and Saving the Cam Table....................................................10-80
10-2-17 Temporarily Changing Axis Parameters ..................................................................................10-91
10-2-18 Updating the Cam Table End Point Index ...............................................................................10-94

Section 11 Troubleshooting
11-1 Overview of Troubleshooting ............................................................................................. 11-2

Appendices
A-1 Connecting the 1S-series Servo Drive................................................................................ A-2
A-1-1 Wiring the Servo Drive ............................................................................................................... A-2
A-1-2 Servo Drive Settings .................................................................................................................. A-2
A-2 Connecting the G5-series Servo Drive ............................................................................. A-11
A-2-1 Wiring the Servo Drive ..............................................................................................................A-11
A-2-2 Servo Drive Settings .................................................................................................................A-11
A-3 Connecting to Encoder Input Terminals........................................................................... A-21
A-3-1 Wiring to Encoder Input Terminals ........................................................................................... A-21
A-3-2 Settings for Encoder Input Terminals ....................................................................................... A-21
A-4 Connecting to NX Units...................................................................................................... A-27
A-5 PDS State Transition........................................................................................................... A-28
A-5-1 PDS State Control Method ....................................................................................................... A-28
A-5-2 Main Circuit Power Supply OFF Detection............................................................................... A-29
A-6 Terminology......................................................................................................................... A-30
A-6-1 NJ/NX-series Controller ........................................................................................................... A-30

14 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 CONTENTS

A-6-2 Motion Control .......................................................................................................................... A-31

A-6-3 EtherCAT Communications ...................................................................................................... A-32
A-7 Version Information ............................................................................................................ A-34

Index

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 15

Terms and Conditions Agreement

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

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

 Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.

 Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be re-
sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return
of any Products by Buyer must be approved in writing by Omron before shipment. Omron Compa-
nies shall not be liable for the suitability or unsuitability or the results from the use of Products in
combination with any electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or information given orally
or in writing, are not to be construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY

16 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Terms and Conditions Agreement

WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.

Application Considerations

Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buy-
er’s request, Omron will provide applicable third party certification documents identifying ratings and
limitations of use which apply to the Product. This information by itself is not sufficient for a complete
determination of the suitability of the Product in combination with the end product, machine, system, or
other application or use. Buyer shall be solely responsible for determining appropriateness of the par-
ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-
sponsibility in all cases.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP-
MENT OR SYSTEM.

Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.

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 per-
formance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and oth-
er reasons. It is our practice to change part numbers when published ratings or features are changed,
or when significant construction changes are made. However, some specifications of the Product may

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 17

Terms and Conditions Agreement

be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-
lish key specifications for your application. Please consult with your Omron’s representative at any
time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

18 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Safety Precautions

Safety Precautions
Refer to the following manuals for safety precautions.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 19

Precautions for Safe Use

Precautions for Safe Use

Refer to the following manuals for precautions for safe use.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

20 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Precautions for Correct Use

Precautions for Correct Use

Refer to the following manuals for precautions for correct use.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 21

Regulations and Standards

Regulations and Standards

Refer to the following manuals for regulations and standards.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

22 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Versions

Versions
Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series
Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a
change in hardware or software specifications. Even when two Units or EtherCAT slaves have the
same model number, they will have functional or performance differences if they have different hard-
ware revisions or unit versions.

Checking Versions
You can check versions on the ID information indications or with the Sysmac Studio.

Checking Unit Versions on ID Information Indications

The unit version is given on the ID information indication on the side of the product.

 For NX701
The ID information on an NX-series NX701-££££ CPU Unit is shown below.

ID information indication

Lot number Serial number Unit version

LOT No. DDMYY£ xxxx Ver.1.££

PORT1 : ££££££££££££ HW Rev. £
PORT2 : ££££££££££££

MAC address Hardware revision

Note The hardware revision is not displayed for the Unit whose hardware revision is blank.

 For NX102
The ID information on an NX-series NX102-££££ CPU Unit is shown below.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 23

Versions

Unit version Hardware revision Lot number Serial number

Ver.£.££ HW Rev.£ LOT No. DDMYY£ xxxx

PORT1 ££££££££££££
PORT2 ££££££££££££

ID Information Indication MAC address

Note The hardware revision is not displayed for the Unit whose hardware revision is blank.

 For NX1P2
The ID information on an NX-series NX1P2-£££££££ CPU Unit is shown below.

MAC address

PORT1 : ££££££££££££
PORT2 : ££££££££££££
Hardware
Unit version Ver.1.££ HW Rev. £ revision
LOT No. DDMYY£ xxxx
ID information indication

Lot number Serial number

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

 For NJ-series
The ID information on an NJ-series NJ501-££££ CPU Unit is shown below.

24 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Versions

ID information indication

Unit model Unit version Hardware revision

NJ501 - ££££ Ver.1.££ HW Rev. £

PORT1 MAC ADDRESS: ££££££££££££
PORT2 MAC ADDRESS: ££££££££££££
Lot No. DDMYY£ xxxx

Lot number Serial number MAC address

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 25

Versions

Checking Unit Versions with the Sysmac Studio

You can use the Sysmac Studio to check unit versions. The procedure is different for Units and for
EtherCAT slaves.

 Checking the Unit Version of an NX-series CPU Unit

You can use the Production Information while the Sysmac Studio is online to check the unit version
of a Unit. You can do this for the following Units.

Model Unit for which unit version can be checked

NX701-££££ CPU Unit
NX102-££££ CPU Unit and NX Unit on CPU Rack
NX1P2-££££ CPU Unit, NX Unit on CPU Rack, and Option Boards

1 Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multi-
view Explorer and select Production Information.
The Production Information Dialog Box is displayed.

 Checking the Unit Version of an NJ-series CPU Unit

You can use the Production Information while the Sysmac Studio is online to check the unit version
of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus
Units. You cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.

1 Double-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the
Multiview Explorer. Or, right-click CPU Rack under Configurations and Setup - CPU/
Expansion Racks in the Multiview Explorer and select Edit from the menu.
The Unit Editor is displayed.

2 Right-click any open space in the Unit Editor and select Production Information.
The Production Information Dialog Box is displayed.

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information
Dialog Box.
The view will change between the production information details and outline.

Outline View Detail View

26 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Versions

The information that is displayed is different for the Outline View and Detail View. The Detail
View displays the unit version, hardware revision, and various versions. The Outline View dis-
plays only the unit version.

Note The hardware revision is separated by “/” and displayed on the right of the hardware version. The
hardware revision is not displayed for the Unit that the hardware revision is in blank.

 Checking the Unit Version of an EtherCAT Slave

You can use the Production Information while the Sysmac Studio is online to check the unit version
of an EtherCAT slave.
Use the following procedure to check the unit version.

1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right-
click EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed.

2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.
The Production Information Dialog Box is displayed.
The unit version is displayed after “Rev.”

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information
Dialog Box.
The view will change between the production information details and outline.

Outline View Detail View

Unit Versions of CPU Units and Sysmac Studio Versions

The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit. The ver-
sion of Sysmac Studio that supports the functions that were added for an upgrade is also required to
use those functions.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the relationship be-
tween the unit versions of CPU Units and the Sysmac Studio versions.
Refer to A-7 Version Information on page A-34 for the functions that are supported by each unit ver-
sion.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 27

Related Manuals

Related Manuals
The following are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NX-series CPU Unit W535 NX701-££££ Learning the basic An introduction to the entire NX701 system is
Hardware User's Manual specifications of the provided along with the following information on
NX701 CPU Units, the CPU Unit.
including introductory • Features and system configuration
information, design- • Introduction
ing, installation, and • Part names and functions
maintenance. • General specifications
Mainly hardware in- • Installation and wiring
formation is provided.
• Maintenance and inspection
NX-series W593 NX102-££££ Learning the basic An introduction to the entire NX102 system is
NX102 CPU Unit specifications of the provided along with the following information on
Hardware NX102 CPU Units, the CPU Unit.
User’s Manual including introductory • Features and system configuration
information, design- • Introduction
ing, installation, and • Part names and functions
maintenance. • General specifications
Mainly hardware in- • Installation and wiring
formation is provided.
• Maintenance and inspection
NX-series W578 NX1P2-££££ Learning the basic An introduction to the entire NX1P2 system is
NX1P2 CPU Unit specifications of the provided along with the following information on
Hardware NX1P2 CPU Units, the CPU Unit.
User’s Manual including introductory • Features and system configuration
information, design- • Introduction
ing, installation, and • Part names and functions
maintenance. • General specifications
Mainly hardware in- • Installation and wiring
formation is provided.
• Maintenance and inspection
NJ-series CPU Unit W500 NJ501-££££ Learning the basic An introduction to the entire NJ-series system is
Hardware User's Manual NJ301-££££ specifications of the provided along with the following information on
NJ101-££££ NJ-series CPU Units, the CPU Unit.
including introductory • Features and system configuration
information, design- • Introduction
ing, installation, and • Part names and functions
maintenance. • General specifications
Mainly hardware in- • Installation and wiring
formation is provided.
• Maintenance and inspection
NJ/NX-series CPU Unit W501 NX701-££££ Learning how to pro- The following information is provided on a Con-
Software User’s Manual NX102-££££ gram and set up an troller built with an NJ/NX-series CPU Unit.
NX1P2-££££ NJ/NX-series CPU • CPU Unit operation
NJ501-££££ Unit. • CPU Unit features
NJ301-££££ Mainly software infor- • Initial settings
NJ101-££££ mation is provided. • Programming based on IEC 61131-3 language
specifications
NX-series NX1P2 CPU Unit W579 NX1P2-££££ Learning about the Of the functions for an NX1P2 CPU Unit, the fol-
Built-in I/O and Option Board details of functions lowing information is provided.
User’s Manual only for an NX-series • Built-in I/O
NX1P2 CPU Unit and • Serial Communications Option Boards
an introduction of • Analog I/O Option Boards
functions for an An introduction of following functions for an
NJ/NX-series CPU NJ/NX-series CPU Unit is also provided.
Unit. • Motion control functions
• EtherNet/IP communications functions
• EtherCAT communications functions

28 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ/NX-series Instructions W502 NX701-££££ Learning detailed The instructions in the instruction set (IEC
Reference Manual NX102-££££ specifications on the 61131-3 specifications) are described.
NX1P2-££££ basic instructions of
NJ501-££££ an NJ/NX-series
NJ301-££££ CPU Unit.
NJ101-££££
NJ/NX-series CPU Unit W507 NX701-££££ Learning about mo- The settings and operation of the CPU Unit and
Motion Control User’s Manual NX102-££££ tion control settings programming concepts for motion control are de-
NX1P2-££££ and programming scribed.
NJ501-££££ concepts.
NJ301-££££
NJ101-££££
NJ/NX-series W508 NX701-££££ Learning about the The motion control instructions are described.
Motion Control Instructions NX102-££££ specifications of the
Reference Manual NX1P2-££££ motion control in-
NJ501-££££ structions.
NJ301-££££
NJ101-££££
NJ/NX-series W505 NX701-££££ Using the built-in Information on the built-in EtherCAT port is pro-
CPU Unit NX102-££££ EtherCAT port on an vided.
Built-in EtherCAT® Port NX1P2-££££ NJ/NX-series CPU This manual provides an introduction and pro-
User’s Manual NJ501-££££ Unit. vides information on the configuration, features,
NJ301-££££ and setup.
NJ101-££££
NJ/NX-series W506 NX701-££££ Using the built-in Information on the built-in EtherNet/IP port is pro-
CPU Unit NX102-££££ EtherNet/IP port on vided.
Built-in EtherNet/IP™ Port NX1P2-££££ an NJ/NX-series Information is provided on the basic setup, tag
User’s Manual NJ501-££££ CPU Unit. data links, and other features.
NJ301-££££
NJ101-££££
NJ/NX-series W588 NX102-££££ Using the OPC UA. Describes the OPC UA.
CPU Unit NJ501-1£00
OPC UA
User’s Manual
NX-series W596 NX701-££20 Using the FINS func- Describes the FINS function of an NX-series CPU
CPU Unit NX102-££££ tion of an NX-series Unit.
FINS Function CPU Unit.
User’s Manual
NJ/NX-series W527 NX701-££20 Using the database Describes the database connection service.
Database Connection CPU NX102-££20 connection service
Units NJ501-££20 with NJ/NX-series
User’s Manual NJ101-££20 Controllers.
NJ-series W528 NJ501-1340 Using the GEM Serv- Provides information on the GEM Services.
SECS/GEM CPU Units ices with NJ-series
User’s Manual Controllers.
NJ-series O037 NJ501-R£££ Using the NJ-series Describes the settings and operation of the CPU
Robot Integrated CPU Unit Robot Integrated Unit and programming concepts for OMRON ro-
User’s Manual CPU Unit. bot control.
Sysmac Studio W595 SYSMAC-SE2££ Learning about the Describes the operating procedures of the Sys-
Robot Integrated System Build- £ operating procedures mac Studio for Robot Integrated CPU Unit.
ing Function with Robot Inte- SYSMAC- and functions of the
grated CPU Unit Operation SE200D-64 Sysmac Studio to
Manual configure Robot Inte-
grated System using
Robot Integrated
CPU Unit.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 29

Related Manuals

Manual name Cat. No. Model numbers Application Description

Sysmac Studio W621 SYSMAC-SE2££ Learning about the Describes the operating procedures of the Sys-
Robot Integrated System Build- £ operating procedures mac Studio for IPC Application Controller.
ing Function with IPC Applica- SYSMAC- and functions of the
tion Controller Operation Man- SE200D-64 Sysmac Studio to
ual configure Robot Inte-
grated System using
IPC Application Con-
troller.
Sysmac Studio W618 SYSMAC-SE2££ Learning about an Describes an outline, execution procedures, and
3D Simulation Function Opera- £ outline of the 3D sim- operating procedures for the 3D simulation func-
tion Manual SYSMAC-SA4££ ulation function of the tion of the Sysmac Studio.
£-64 Sysmac Studio and
how to use the func-
tion.
NJ-series W539 NJ501-4£££ Controlling robots Describes the functionality to control robots.
NJ Robotics CPU Unit NJ501-R£££ with NJ-series CPU
User’s Manual Units.
NJ/NY-series O030 NJ501-5300 Performing numerical Describes the functionality to perform the numeri-
NC Integrated Controller NY532-5400 control with NJ/NY- cal control.
User’s Manual series Controllers.
NJ/NY-series O031 NJ501-5300 Learning about the The G code/M code instructions are described.
G code NY532-5400 specifications of the
Instructions Reference Manual G code/M code in-
structions.
NJ/NX-series W503 NX701-££££ Learning about the Concepts on managing errors that may be detect-
Troubleshooting Manual NX102-££££ errors that may be ed in an NJ/NX-series Controller and information
NX1P2-££££ detected in an on individual errors are described.
NJ501-££££ NJ/NX-series Con-
NJ301-££££ troller.
NJ101-££££
Sysmac Studio Version 1 W504 SYSMAC Learning about the Describes the operating procedures of the Sys-
Operation Manual -SE2£££ operating procedures mac Studio.
and functions of the
Sysmac Studio.
CNC Operator O032 SYSMAC-RTNC0£ Learning an introduc- An introduction of the CNC Operator, installation
Operation Manual ££D tion of the CNC Op- procedures, basic operations, connection opera-
erator and how to tions, and operating procedures for main func-
use it. tions are described.
NX-series W519 NX-ECC£££ Learning how to use The following items are described: the overall
EtherCAT® Coupler Unit the NX-series Ether- system and configuration methods of an Ether-
User’s Manual CAT Coupler Unit CAT Slave Terminal (which consists of an NX-ser-
and EtherCAT Slave ies EtherCAT Coupler Unit and NX Units), and in-
Terminals. formation on hardware, setup, and functions to
set up, control, and monitor NX Units through
EtherCAT.
NX-series W525 NX-££££££ Referencing lists of Lists of the power consumptions, weights, and
Data Reference Manual the data that is re- other NX Unit data that is required to configure
quired to configure systems with NX-series Units are provided.
systems with NX-ser-
ies Units.

30 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Related Manuals

Manual name Cat. No. Model numbers Application Description

NX-series W521 NX-ID££££ Learning how to use Describes the hardware, setup methods, and
NX Units NX-IA££££ NX Units. functions of the NX Units.
User’s Manual NX-OC££££ Manuals are available for the following Units.
NX-OD££££ Digital I/O Units, Analog I/O Units, System Units,
NX-MD££££ Position Interface Units, Communications Inter-
W522 NX-AD££££ face Units, Load Cell Input Unit, and IO-Link Mas-
NX-DA££££ ter Units.
W592 NX-HAD£££
W566 NX-TS££££
NX-HB££££
W523 NX-PD1£££
NX-PF0£££
NX-PC0£££
NX-TBX01
W524 NX-EC0£££
NX-ECS£££
NX-PG0£££
W540 NX-CIF£££
W565 NX-RS££££
W567 NX-ILM£££
GX-series EtherCAT Slave W488 GX-ID££££ Learning how to use Describes the hardware, setup methods and
Units GX-OD££££ the EtherCAT remote functions of the EtherCAT remote I/O terminals.
User’s Manual GX-OC££££ I/O terminals.
GX-MD££££
GX-AD££££
GX-DA££££
GX-EC££££
XWT-ID££
XWT-OD££
AC Servomotors/Servo Drives I586 R88M-1£ Learning how to use Describes the hardware, setup methods and
1S-series with R88D-1SN£-ECT the Servomotors/ functions of the Servomotors/Servo Drives with
Built-in EtherCAT® Communi- I621 R88M-1AL£/ -1AM Servo Drives with built-in EtherCAT Communications.
cations User's Manual £ built-in EtherCAT
R88D-1SAN£-ECT Communications.
AC Servomotors/Servo Drives I576 R88M-K£ Learning how to use Describes the hardware, setup methods and
G5 Series with R88D-KN£-ECT the AC Servomotors/ functions of the AC Servomotors/Servo Drives
Built-in EtherCAT® Communi- I577 R88L-EC-£ Servo Drives with with built-in EtherCAT Communications.
cations User's Manual R88D-KN£-ECT-L built-in EtherCAT The Linear Motor Type models and dedicated
Communications. models for position control are available in G5-
series.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 31

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.

Cat. No. W507-E1-23

Revision code

Revision
Date Revised content
code
01 July 2011 Original production
02 January 2012 • Added information on the NJ301-££££.
• Made changes accompanying release of unit version 1.01 of the CPU Unit.
03 May 2012 • Made changes accompanying release of unit version 1.02 of the CPU Unit.
• Corrected mistakes.
04 August 2012 Made changes accompanying release of unit version 1.03 of the CPU Unit.
05 February 2013 Made changes accompanying release of unit version 1.04 of the CPU Unit.
06 April 2013 • Made changes accompanying release of unit version 1.05 of the CPU Unit.
• Corrected mistakes.
07 June 2013 • Made changes accompanying release of unit version 1.06 of the CPU Unit.
• Corrected mistakes.
08 December • Made changes accompanying release of unit version 1.08 of the CPU Unit
2013 • Corrected mistakes.
09 July 2014 • Made changes accompanying release of unit version 1.09 of the CPU Unit.
• Corrected mistakes.
10 January 2015 • Made changes accompanying release of unit version 1.10 of the CPU Unit.
• Corrected mistakes.
11 January 2015 • Made changes accompanying release of the NX-series NX701-££££ CPU
Unit and the NJ-series NJ101-10££ CPU Unit.
• Corrected mistakes.
12 April 2016 • Made changes accompanying release of unit version 1.11 of the CPU Unit.
• Corrected mistakes.
13 July 2016 • Made changes accompanying release of unit version 1.12 of the CPU Unit.
• Corrected mistakes.
14 October 2016 • Made changes accompanying addition of NX-series NX1P2 CPU Units.
• Made changes accompanying release of unit version 1.13 of the CPU Unit.
• Corrected mistakes.
15 January 2017 Corrected mistakes.
16 October 2017 Corrected mistakes.
17 April 2018 • Made changes accompanying addition of NX-series NX102 CPU Units.
• Made changes accompanying the transfer of explanation for event codes
and errors to the NJ/NX-series Troubleshooting Manual.
• Corrected mistakes.
18 July 2018 Corrected mistakes.
19 January 2019 Corrected mistakes.

32 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Revision History

Revision
Date Revised content
code
20 April 2019 • Made changes accompanying addition of the 1S-series AC Servomotor/
Servo Drive models.
• Made changes accompanying addition of functions.
21 July 2019 Corrected mistakes.
22 October 2019 • Made changes accompanying addition of NX1P2-9B££££.
• Corrected mistakes.
23 August 2020 Made changes accompanying addition of NJ501-R£££.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 33

Revision History

34 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 1 1

Introduction to the Motion Control

Function Module
This section describes the features, system configuration, and application flow for the
Motion Control Function Module.

1-1 Features .......................................................................................................... 1-2

1-2 System Configuration .................................................................................... 1-3
1-3 Basic Flow of Operation ................................................................................ 1-5
1-4 Specifications ................................................................................................. 1-7
1-4-1 General Specifications .................................................................................... 1-7
1-4-2 Performance Specifications............................................................................. 1-7
1-4-3 Function Specifications ..................................................................................1-11

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-1

1 Introduction to the Motion Control Function Module

1-1 Features
The Motion Control Function Module (sometimes abbreviated to “MC Function Module”) is a software
function module that is built into the CPU Unit.
The MC Function Module can perform motion control for up to 256 axes through the EtherCAT port
that is built into the CPU Unit.
Cyclic communications are performed with Servo Drives and other devices that are connected to the
EtherCAT port to enable high-speed, high-precision machine control.

Motion Control Instructions Based on PLCopen®

The motion control instructions of the MC Function Module are based on motion control function
blocks that are standardized by PLCopen®.
These instructions allow you to program single-axis PTP positioning, interpolation control, synchron-
ized control (e.g., of electronic cams), velocity control, and torque control.
You can set the velocity, acceleration rate, deceleration rate, and jerk each time a motion control in-
struction is executed to flexibly control operation according to the application.

Additional Information

PLCopen®
PLCopen® is an association that promotes IEC 61131-3. It has its headquarters in Europe
and a world-wide membership. PLCopen® standardizes function blocks for motion control to
define a program interface for the languages specified in IEC 61131-3 (JIS B 3503).
Jerk
Jerk is the rate of change in the acceleration rate or deceleration rate. If you specify the jerk,
the velocity graph will form an S-curve for acceleration and deceleration.

Data Transmission Using EtherCAT Communications

The MC Function Module can be combined with OMRON 1S-series Servo Drives with built-in Ether-
CAT communications or G5-series Servo Drives with built-in EtherCAT communications to enable ex-
change of all control information with high-speed data communications.
The various control commands are transmitted via data communications. That means that the Servo-
motor's operational performance is maximized without being limited by interface specifications, such
as the response frequency of the encoder feedback pulses.
You can use the Servo Drive's various control parameters and monitor data on a host controller to uni-
fy management of system information.

Additional Information

What Is EtherCAT?
EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE
802.3). Each node achieves a short communications cycle time by transmitting Ethernet
frames at high speed. A mechanism that allows sharing clock information enables high-pre-
cision synchronized control with low communications jitter.

1-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 1 Introduction to the Motion Control Function Module

1-2 System Configuration

1-2 System Configuration
The MC Function Module receives sensor signal status from devices and control panels. It receives
commands from the motion control instructions that are executed in the user program. It uses both of
these to perform motion control with the Servo Drives, Encoder Input Terminals, and NX-series Posi-
tion Interface Units.
1

Motion Control Configuration on EtherCAT Network

The EtherCAT network configuration, the Slave Terminal configurations for EtherCAT Coupler Units,
and the Sysmac Studio are used for the MC Function Module.

 EtherCAT Network Configuration

The MC Function Module performs control for Servo Drives and Encoder Input Terminals through
the EtherCAT master port that is built into the CPU Unit.
The EtherCAT network configuration is used to perform precise motion control in a fixed period with
very little deviation.

 Slave Terminal Configurations of EtherCAT Coupler Units

The MC Function Module uses the Position Interface Units that are mounted under an EtherCAT
Coupler Unit to output motor control pulses and read encoder inputs.
You can also use this configuration to perform precise motion control in a fixed period with very little
deviation.

 Sysmac Studio
The Sysmac Studio is connected to the peripheral USB port on the CPU Unit with a commercially
available USB cable. You can also connect it to the built-in EtherNet/IP port on the CPU Unit with
Ethernet cable.

Sysmac Studio
Peripheral USB port
NX701/NJ-series Controller

Power Supply Unit CPU Unit

LAN USB
Or
EtherNet/IP

EtherCAT Network
Configuration
Built-in EtherNet/IP port EtherCAT
Built-in EtherCAT port

Positive limit input

Negative limit input
Immediate stop input
Home proximity input
Home input 1S-series Servo Drives with Built-in Encoder Input
Slave Terminal
External latch input, etc. EtherCAT Communications Terminal
G5-series Servo Drives with Built-in
EtherCAT Communications

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-3

1 Introduction to the Motion Control Function Module

Precautions for Correct Use

Some of the functions of the MC Function Module are different when NX-series Position Inter-
face Units are used. Refer to the NX-series Position Interface Units User’s Manual (Cat. No.
W524) for details.

Version Information

A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are re-
quired to use the NX-series Position Interface Units.

Motion Control Configuration on CPU Unit

The Position Interface Unit and Sysmac Studio are used for the MC Function Module.

 Position Interface Unit

The MC Function Module uses the Position Interface Units to output motor control pulses and read
encoder inputs.

 Sysmac Studio
The Sysmac Studio is connected to the built-in EtherNet/IP port on the CPU Unit with an Ethernet
cable.

Sysmac Studio

Position Interface Units

NX1P2

LAN EtherNet/IP

Built-in EtherNet/IP port

Encoder

G5-series Servo Drives

Precautions for Correct Use

Some of the functions of the MC Function Module are different when NX-series Position Inter-
face Units are used. Refer to the NX-series Position Interface Units User’s Manual (Cat. No.
W524) for details.

1-4 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 1 Introduction to the Motion Control Function Module

1-3 Basic Flow of Operation

1-3 Basic Flow of Operation
This section provides the basic procedure to perform motion control with the MC Function Module.

START

Setup Create a project. *1 1

Create the EtherCAT Network Configuration.*2 *3

Add axes. *4

Assign the axes.

Set the axis parameters.

Set the Controller Setup. *3

Transferring Transfer the project to the Controller.

Checking Wiring Open the MC Test Run Tab Page. *5

Checking Operation Monitor input signals to check the wiring.

Perform jogging.

Continues to A on next page.

*1. Refer to Sysmac Studio Version 1 Operation Manual (Cat. No. W504).
*2. If actual slave devices are connected, you can apply the actual EtherCAT network configuration to the config-
uration setup online.
If no slave devices are connected, you can select EtherCAT slave devices offline to set up the EtherCAT net-
work configuration.
*3. Refer to NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).
*4. Refer to Section 3 Configuring Axes and Axes Groups on page 3-1.
*5. Refer to Section 4 Checking Wiring from the Sysmac Studio on page 4-1.

Additional Information

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the proce-
dures for the NX-series Position Interface Units.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-5

1 Introduction to the Motion Control Function Module

A
Programming Write a program to perform jogging. *1

Manual operation Jog the axes with the user program. *2

Homing Define the homes of the Servomotor axes to

control. *3

Programming Program the motion controls. *1 *4

Yes
Debugging Error?

Read the error code. *5

No

Remove the cause of the error and clear the error.

Operation Operate the Controller and the machine. *6

Maintenance Perform periodic maintenance.

END

*1. Refer to Section 6 Motion Control Programming on page 6-1.

*2. Refer to Section 7 Manual Operation on page 7-1.
*3. Refer to Section 8 Homing on page 8-1.
*4. Refer to Section 10 Sample Programming on page 10-1.
*5. Refer to Section 11 Troubleshooting on page 11-1.
*6. Refer to Section 9 Motion Control Functions on page 9-1.

1-6 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 1 Introduction to the Motion Control Function Module

1-4 Specifications

1-4 Specifications
This section gives the specifications of the MC Function Module.

Precautions for Correct Use

The NX102-90££ Units and NJ101-90££ Units do not provide the Motion Control Function 1
Module.

1-4-1 General Specifications

1-4-1 General Specifications
General specifications conform to the general specifications of the CPU Unit.
Refer to the NX-series CPU Unit Hardware User’s Manual (Cat. No. W535), NX-series NX102 CPU
Unit Hardware User’s Manual (Cat. No. W593), NX-series NX1P2 CPU Unit Hardware User's Manual
(Cat. No. W578), or NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500) for details.

1-4-2 Performance Specifications

The following table describes the performance specifications for each type of CPU Units.

NX701-
Item
17££ 16££
Number of Maximum number of controlled axes*1 256 axes 128 axes
controlled ax-
es
Motion control axes*2 256 axes 128 axes

Single-axis position control axes*3 ---

Maximum number of used real axes*4 256 axes 128 axes

Used motion control servo axes 256 axes 128 axes

Used single-axis position control ---
servo axes
Maximum number of axes for linear interpolation axis control 4 axes per axes group
Number of axes for circular interpolation axis control 2 axes per axes group
Maximum number of axes groups 64 axes groups
Override factors 0.00% or 0.01% to 500.00%
Motion control period The same control period as that is used
for the process data communications
cycle for EtherCAT.
Multi-motion Supported.
Cams Number of cam data Maximum points per cam table 65,535 points
points Maximum points for all cam tables 1,048,560 points
Maximum number of cam tables 640 tables
*1. This is the total for all axis types. Refer to Axis Types on page 5-10 for details on axis types.
*2. This means the axes for which all motion control functions can be used.
*3. This means the axes for which only single-axis position control can be used among motion control functions. Refer to
Control Function on page 5-11 for details on a single-axis position control axis.
*4. This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used
Axis.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-7

1 Introduction to the Motion Control Function Module

NX102-
Item
12££ 11££ 10££ 90££
Number of controlled Maximum number of controlled axes*1 15 axes 4 axes
axes
Motion control axes*2 11 axes ---
Single-axis position control 4 axes
axes*3
Maximum number of used real axes*4 12 axes 8 axes 6 axes 4 axes

Used motion control servo 8 axes 4 axes 2 axes ---

axes
Used single-axis position 4 axes
control servo axes
Maximum number of axes for linear interpolation ax- 4 axes per axes group ---
is control
Number of axes for circular interpolation axis control 2 axes per axes group ---
Maximum number of axes groups 8 axes groups ---
Override factors 0.00% or 0.01% to 500.00%
Motion control period Same as the period for primary periodic task
Multi-motion Not supported.
Cams Number of cam data Maximum points per cam 65,535 points
points table
Maximum points for all cam 262,140 points
tables
Maximum number of cam tables 160 tables
*1. This is the total for all axis types. Refer to Axis Types on page 5-10 for details on axis types.
*2. This means the axes for which all motion control functions can be used.
*3. This means the axes for which only single-axis position control can be used among motion control functions. Refer to
Control Function on page 5-11 for details on a single-axis position control axis.
*4. This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used
Axis.

1-8 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 1 Introduction to the Motion Control Function Module

NX1P2-
Item

1-4 Specifications
11££ 10££ 90££ 9B££
Number of controlled Maximum number of controlled axes*1 12 axes 10 axes 4 axes 2 axes
axes
Motion control axes*2 8 axes 6 axes ---
Single-axis position control 4 axes 2 axes
axes*3
Maximum number of used real axes*4 8 axes 6 axes 4 axes 2 axes
1
Used motion control servo 4 axes 2 axes ---
axes

1-4-2 Performance Specifications

Used single-axis position 4 axes 2 axes
control servo axes
Maximum number of axes for linear interpolation ax- 4 axes per axes group ---
is control
Number of axes for circular interpolation axis control 2 axes per axes group ---
Maximum number of axes groups 8 axes groups ---
Override factors 0.00% or 0.01% to 500.00%
Motion control period Same as the period for primary periodic task
Multi-motion Not supported.
Cams Number of cam data Maximum points per cam 65,535 points ---
points table
Maximum points for all cam 262,140 points ---
tables
Maximum number of cam tables 80 tables ---
*1. This is the total for all axis types. Refer to Axis Types on page 5-10 for details on axis types.
*2. This means the axes for which all motion control functions can be used.
*3. This means the axes for which only single-axis position control can be used among motion control functions. Refer to
Control Function on page 5-11 for details on a single-axis position control axis.
*4. This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used
Axis.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-9

1 Introduction to the Motion Control Function Module

NJ501-
Item
£5££ £4££ £3££
Number of control- Maximum number of controlled axes*1 64 axes 32 axes 16 axes
led axes
Motion control axes*2 64 axes 32 axes 16 axes
Single-axis position con- ---
trol axes*3
Maximum number of used real axes*4 64 axes 32 axes 16 axes

Used motion control ser- 64 axes 32 axes 16 axes

vo axes
Used single-axis position ---
control servo axes
Maximum number of axes for linear interpola- 4 axes per axes group
tion axis control
Number of axes for circular interpolation axis 2 axes per axes group
control
Maximum number of axes groups 32 axes groups
Override factors 0.00% or 0.01% to 500.00%
Motion control period The same control period as that is used for the
process data communications cycle for EtherCAT.
Multi-motion Not supported.
Cams Number of cam da- Maximum points per cam 65,535 points
ta points table
Maximum points for all 1,048,560 points
cam tables
Maximum number of cam tables 640 tables
*1. This is the total for all axis types. Refer to Axis Types on page 5-10 for details on axis types.
*2. This means the axes for which all motion control functions can be used.
*3. This means the axes for which only single-axis position control can be used among motion control functions. Refer to
Control Function on page 5-11 for details on a single-axis position control axis.
*4. This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used
Axis.

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 1 Introduction to the Motion Control Function Module

NJ301- NJ101-
Item

1-4 Specifications
12££ 11££ 10££
Number of control- Maximum number of controlled axes*1 15 axes*2 *3 15 axes*2 *4 6 axes
led axes
Motion control axes*5 15 axes*2 *3 15 axes*2 *4 6 axes
Single-axis position con- ---
trol axes*6
Maximum number of used real axes*7 8 axes 4 axes 2 axes
1
Used motion control ser- 8 axes 4 axes 2 axes
vo axes

1-4-3 Function Specifications

Used single-axis position ---
control servo axes
Maximum number of axes for linear interpola- 4 axes per axes group
tion axis control
Number of axes for circular interpolation axis 2 axes per axes group
control
Maximum number of axes groups 32 axes groups
Override factors 0.00% or 0.01% to 500.00%
Motion control period The same control period as that is used for the
process data communications cycle for EtherCAT.
Multi-motion Not supported.
Cams Number of cam da- Maximum points per cam 65,535 points
ta points table
Maximum points for all 262,140 points
cam tables
Maximum number of cam tables 160 tables
*1. This is the total for all axis types. Refer to Axis Types on page 5-10 for details on axis types.
*2. Functions with asterisks were added for an upgraded version of the CPU Unit. Refer to A-7 Version Information on
page A-34 for information on version upgrades.
*3. This number of axes is achieved in a combination of a CPU Unit with unit version 1.06 or later and Sysmac Studio
version 1.07 or higher. In other combinations, this is 8 axes.
*4. This number of axes is achieved in a combination of a CPU Unit with unit version 1.06 or later and Sysmac Studio
version 1.07 or higher. In other combinations, this is 4 axes.
*5. This means the axes for which all motion control functions can be used.
*6. This means the axes for which only single-axis position control can be used among motion control functions. Refer to
Control Function on page 5-11 for details on a single-axis position control axis.
*7. This is the total number of axes whose axis type is set to Servo Axis or Encoder Axis and axis use is set to Used
Axis.

1-4-3 Function Specifications

The following table describes the functions that are supported for connections to OMRON control devi-
ces.

Item Description
Controllable Servo Drives OMRON 1S-series Servo Drives with built-in EtherCAT com-
munications or G5-series Servo Drives with built-in EtherCAT
communications*1 *2
Controllable encoder input terminals OMRON GX-series GX-EC0211/EC0241 EtherCAT Remote
I/O Terminals*3

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-11

1 Introduction to the Motion Control Function Module

Item Description
Controllable Position Interface Units*2*4 OMRON NX-EC0£££ Incremental Encoder Input Units
OMRON NX-ECS£££ SSI Input Units
OMRON NX-PG0£££ Pulse Output Units
Control method Control commands using EtherCAT communications
Control modes Position control,
Velocity control,
and Torque control
Unit conversions Position units Pulse, mm, μm, nm, degree, and inch
Electronic gear ratio Pulse per motor rotation/travel distance per motor rotation, or
(Pulse per motor rotation × Motor gear ratio)/(Work travel dis-
tance per rotation × Work gear ratio)
Positions that can be managed Command positions and actual positions
Axis types Servo axes, Virtual servo axes, Encoder axes, and Virtual en-
coder axes
Position command values Negative or positive long reals (LREAL) or 0
(command units*5)
Velocity command values Negative or positive long reals (LREAL) or 0
(command units/s)
Acceleration command values and deceleration command Positive long reals (LREAL) or 0
values (command units/s2)
Jerk command values Positive long reals (LREAL) or 0
(command units/s3)
Single axes Single-axis po- Absolute positioning Positioning is performed for a target position that is specified
sition control with an absolute value.
Relative positioning Positioning is performed for a specified travel distance from
the command current position.
Interrupt feeding Positioning is performed for a specified travel distance from
the position where an interrupt input was received from an ex-
ternal input.
Cyclic synchronous abso- A command position is output each control period in Position
lute positioning*2 Control Mode.
Single-axis ve- Velocity control Velocity control is performed in Position Control Mode.
locity control
Cyclic synchronous veloc- A velocity command is output each control period in Velocity
ity control Control Mode.
Single-axis tor- Torque control The torque of the motor is controlled.
que control
Single-axis Starting cam operation A cam motion is performed using the specified cam table.
synchronized
control
Ending cam operation The cam motion for the axis that is specified with the input pa-
rameter is ended.
Starting gear operation A gear motion with the specified gear ratio is performed be-
tween a master axis and slave axis.
Positioning gear operation A gear motion with the specified gear ratio and sync position
is performed between a master axis and slave axis.
Ending gear operation The specified gear motion or positioning gear motion is
ended.
Synchronous positioning Positioning is performed in sync with a specified master axis.
Master axis phase shift The phase of a master axis in synchronized control is shifted.

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 1 Introduction to the Motion Control Function Module

Item Description

1-4 Specifications
Combining axes The command positions of two axes are added or subtracted
and the result is output as the command position.
Single-axis Powering the Servo The Servo in the Servo Drive is turned ON to enable axis mo-
manual opera- tion.
tion
Jogging An axis is jogged at a specified target velocity.
Auxiliary func- Resetting axis errors Axes errors are cleared. 1
tions for single-
axis control

1-4-3 Function Specifications

Homing A motor is operated and the limit signals, home proximity sig-
nal, and home signal are used to define home.
Homing with parameters*2 The parameters are specified, the motor is operated, and the
limit signals, home proximity signal, and home signal are
used to define home.
High-speed homing Positioning is performed for an absolute target position of 0 to
return to home.
Stopping An axis is decelerated to a stop.
Immediately stopping An axis is stopped immediately.
Setting override factors The target velocity of an axis can be changed.
Changing the current po- The command current position or actual current position of an
sition axis can be changed to any position.
Enabling external latches The position of an axis is recorded when a trigger occurs.
Disabling external latches The current latch is disabled.
Zone monitoring You can monitor the command position or actual position of
an axis to see when it is within a specified range (zone).
Enable Digital Cam The digital outputs are turned ON or turned OFF depending
Switch*2 on the axis position.
Monitoring axis following You can monitor whether the difference between the com-
error mand positions or actual positions of two specified axes ex-
ceeds a threshold value.
Resetting the following er- The error between the command current position and actual
ror current position is set to 0.
Torque limit The torque control function of the Servo Drive can be enabled
or disabled and the torque limits can be set to control the out-
put torque.
Changing axis use *2 The Axis Use axis parameter can be temporarily changed.

Start velocity*2 You can set the initial velocity when axis motion starts.
Axes Multi-axes co- Absolute linear interpola- Linear interpolation is performed to a specified absolute posi-
groups ordinated con- tion tion.
trol
Relative linear interpola- Linear interpolation is performed to a specified relative posi-
tion tion.
Circular 2D interpolation Circular interpolation is performed for two axes.
Axes group cyclic syn- A positioning command is output each control period in Posi-
chronous absolute posi- tion Control Mode.
tioning*2
Auxiliary func- Resetting axes group er- Axes group errors and axis errors are cleared.
tions for multi- rors
axes coordinat-
ed control

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-13

1 Introduction to the Motion Control Function Module

Item Description
Enabling axes groups Motion of an axes group is enabled.
Disabling axes groups Motion of an axes group is disabled.
Changing the axes in an The Composition Axes parameter in the axes group param-
axes group*2 eters can be overwritten temporarily.
Stopping axes groups All axes in interpolated motion are decelerated to a stop.
Immediately stopping ax- All axes in interpolated motion are stopped immediately.
es groups
Setting axes group over- The blended target velocity is changed during interpolated
ride factors motion.
Reading axes group posi- The command current positions and actual current positions
tions*2 of an axes group can be read.
Common Cams*6 Setting cam table proper- The end point index of the cam table that is specified in the
items ties input parameter is changed.
Saving cam tables The cam table that is specified with the input parameter is
saved in non-volatile memory in the CPU Unit.
Generating cam tables*2 The cam table that is specified with the input parameter is
generated from the cam property and cam node.
Parameters Writing MC settings Some of the axis parameters or axes group parameters are
overwritten temporarily.
Changing axis parame- You can access and change the axis parameters from the
ters*2 user program.
Auxiliary Count modes You can select either Linear Mode (finite length) or Rotary
functions Mode (infinite length).
Unit conversions You can set the display unit for each axis according to the
machine.
Acceleration/ Automatic acceleration/ Jerk is set for the acceleration/deceleration curve for an axis
deceleration deceleration control motion or axes group motion.
control Changing the acceleration You can change the acceleration or deceleration rate even
and deceleration rates during acceleration or deceleration.
In-position check You can set an in-position range and in-position check time to
confirm when positioning is completed.
Stop method You can set the stop method to the immediate stop input sig-
nal or limit input signal.
Re-execution of motion control instructions You can change the input variables for a motion control in-
struction during execution and execute the instruction again
to change the target values during operation.
Multi-execution of motion control instruc- You can specify when to start execution and how to connect
tions the velocities between operations when another motion con-
(Buffer Mode) trol instruction is executed during operation.
Monitoring Software limits The movement range of an axis is monitored.
functions Following error The error between the command current value and the actual
current value is monitored for an axis.
Velocity, acceleration rate, You can set and monitor warning values for each axis and
deceleration rate, torque, each axes group.
interpolation velocity, in-
terpolation acceleration
rate, and interpolation de-
celeration rate

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 1 Introduction to the Motion Control Function Module

Item Description

1-4 Specifications
Absolute encoder support You can use an OMRON 1S-series Servomotor or G5-series
Servomotor with an Absolute Encoder to eliminate the need
to perform homing at startup.*7
Input signal logic inversion*2 You can inverse the logic of immediate stop input signal, posi-
tive limit input signal, negative limit input signal, or home
proximity input signal.
External interface signals The Servo Drive input signals given below are used. 1
• Home signal, home proximity signal, positive limit signal,
negative limit signal, immediate stop signal, and interrupt

1-4-3 Function Specifications

input signal
*1. Unit version 2.1 or later is recommended for G5-series Cylinder-type Servo Drives. Unit version 1.1 or later is recom-
mended for G5-series Linear Motor Types.
*2. Functions were added for an upgraded version of the CPU Unit. Refer to A-7 Version Information on page A-34 for
information on version upgrades.
*3. The recommended unit version is 1.1 or later.
*4. Some of the functions of the MC Function Module are different when NX-series Position Interface Units are used. Re-
fer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for details.
*5. Positions can be set within a 40-bit signed integer range when converted to pulses.
*6. You can create the cam table with the Cam Editor in the Sysmac Studio or with the Generate Cam Table instruction in
the user program. Specify the master axis phase and the slave axis displacement. You can change the phase pitch for
each range. Cam data can be overwritten from the user program.
*7. Application is possible when you use an absolute external scale for an OMRON G5-series Linear Motor Type Servo
Drive with built-in EtherCAT communications.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 1-15

1 Introduction to the Motion Control Function Module

1-16 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 2
Motion Control Configuration and 2
Principles
This section outlines the internal structure of the CPU Unit and describes the configu-
ration and principles of the MC Function Module.

2-1 Internal Configuration of the CPU Unit ........................................................ 2-2

2-2 Motion Control Configuration ....................................................................... 2-3
2-3 Motion Control Principles.............................................................................. 2-5
2-3-1 CPU Unit Tasks ............................................................................................... 2-5
2-3-2 Example of Task Operations for Motion Control............................................ 2-12
2-4 EtherCAT Communications and Motion Control....................................... 2-19
2-4-1 CAN Application Protocol over EtherCAT (CoE) ........................................... 2-19
2-4-2 Relationship between EtherCAT Master Function Module and MC
Function Module............................................................................................ 2-19
2-4-3 Relationship between Process Data Communications Cycle and Mo-
tion Control Period......................................................................................... 2-22

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2 Motion Control Configuration and Principles

2-1 Internal Configuration of the CPU Unit

This section provides an overview of the internal mechanisms of the NJ/NX-series CPU Unit.
The CPU Unit has the following software configuration.
The Motion Control Function Module is a software module that performs motion control.

Motion Control Function EtherCAT Master Func- Other Function Modules*1

Module tion Module
PLC Function Module
OS
*1. Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on other Function
Modules.

The PLC Function Module runs on top of the OS. The other Function Modules run on top of the PLC
Function Module.
A description of each Function Module is given in the following table.

Function Module Abbrevi-

Description
name ation
PLC Function Module PLC This module manages overall scheduling, executes the user program,
sends commands to the Motion Control Function Module, and provides in-
terfaces to USB and the SD Memory Card.
Motion Control Func- MC This module performs motion control according to the commands from mo-
tion Module tion control instructions that are executed in the user program. It sends da-
ta to the EtherCAT Master Function Module.
EtherCAT Master ECAT This module communicates with the EtherCAT slaves as the EtherCAT
Function Module master.

Note Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on other Function
Modules.

This manual provides the specifications and operating procedures for the Motion Control Function
Module (sometimes abbreviated to “MC Function Module”).
Refer to the other NJ/NX-series user’s manuals as required when using the MC Function Module in an
application.

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 2 Motion Control Configuration and Principles

2-2 Motion Control Configuration

2-2 Motion Control Configuration

A control system built with Servo Drives generally controls motor operation with a semi-closed loop.
The semi-closed loop uses an encoder attached to the motor to detect the amount of rotation that has
been performed by the motor in response to the command value. This is provided as feedback of the
machine's travel distance. The following error between the command value and actual motor rotation
is calculated and control is performed to bring the following error to zero.

In a machine configuration that uses the MC Function Module, no feedback information is provided for
the commands from the user program in the CPU Unit. A feedback system is built into the Servo Drive. 2

Configuration on EtherCAT Network

NJ/XN-series CPU Unit Servo Drive
User program MC Function EtherCAT Master
Communica-
Module Function Module tions
processing
Motion Command
Command Communications interpretation
control interpretation
instruction Data processing
processing
Status Position
control
Velocity
EtherCAT control
communications
Torque
control M

A feedback system is not configured. A feedback system is configured.

• When motion control instructions are executed in the user program, the MC Function Module inter-
prets the resulting commands.
• The MC Function Module then performs motion control processing at a fixed period based on the
results of the command interpretation. It generates command values to send to the Servo Drive. The
following command values are generated: target position, target velocity, and target torque.
• The command values are sent by using PDO communications during each process data communi-
cations cycle of EtherCAT communications.
• The Servo Drive performs position loop control, velocity loop control, and torque loop control based
on the command values received during each process data communications cycle of EtherCAT
communications.
• The encoder's current value and the Servo Drive status are sent to the CPU Unit during each proc-
ess data communications cycle of EtherCAT communications.

Additional Information

• Motion control processing and process data communications in EtherCAT communications

are performed during the same time period.
• The MC Function Module controls the Servo Drive, which contains the position control loop,
velocity control loop, and torque control loop.
• Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information
on the configuration to use the NX-series Position Interface Units.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 2-3

2 Motion Control Configuration and Principles

Configuration on CPU Unit

Position Interface
NX102 CPU Unit or NX1P2 CPU Unit Unit Servo Drive
User MC Function NX bus function
program Module module
Motion Command
control interpretation Position
instructions Data processing
control
Pulse trains
Velocity
control
Torque
control M

A feedback system is not configured. A feedback system is configured.

• When motion control instructions are executed in the user program, the MC Function Module inter-
prets the resulting commands.
• The MC Function Module then performs motion control processing at a fixed period based on the
results of the command interpretation. It generates command values to send to the Position Inter-
face Unit (Pulse Output Unit). The following command values are generated: target position and tar-
get velocity.
• Generated command values are output to the Servo Drive as pulse trains.
• The Servo Drive performs position loop control and velocity loop control based on the command val-
ues which are output as pulse trains.

Additional Information

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information
on the configuration to use the NX-series Position Interface Units.

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 2 Motion Control Configuration and Principles

2-3 Motion Control Principles

2-3 Motion Control Principles

This section provides information on the CPU Unit tasks and how they relate to motion control.

2-3-1 CPU Unit Tasks

Tasks are attributes of programs that determine the execution conditions and sequence of the pro-
grams.
The NJ/NX-series CPU Units support the following tasks.
2
Type of task Task name
Tasks that execute programs at a fixed period Primary periodic task

2-3-1 CPU Unit Tasks

Priority-5*1, -16*2, -17, and -18 periodic tasks
Tasks that execute programs only once when the execution Event task (execution priority: 8 and 48)*3
conditions for the tasks are met
*1. You can use the priority-5 periodic task only with NX701 CPU Units.
*2. You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.
*3. A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use
event tasks.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on programs,
tasks, and setting methods.

Types of Tasks and Task Priority

The NX701 CPU Unit can execute the primary periodic task and the priority-5 periodic task in parallel
with a multi-core processor.
The NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit cannot execute more than one task
in parallel.
Tasks have an execution priority. Tasks with the highest execution priority are executed first. If the exe-
cution conditions are met for another task with a higher execution priority while a task is under execu-
tion, the task with the higher execution priority is given priority in execution.
The following table lists the tasks in which you can use motion control instructions and the task priori-
ties for the NJ/NX-series CPU Unit. You cannot use motion control instructions in event tasks.

Number Priori-
Type of task Operation
of tasks ty
Primary periodic task 1 4 This task executes I/O refreshing, programs, and motion con-
trol in the specified task period.
This task has the highest execution priority of all tasks and
can be executed quickly and precisely. Therefore, this task is
best suited for situations when synchronized control or highly
responsive control is required.
Use the primary periodic task to execute all control with a sin-
gle task.

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2 Motion Control Configuration and Principles

Number Priori-
Type of task Operation
of tasks ty
Periodic tasks 0 or 1 5*1 This task executes I/O refreshing, programs, and motion con-
trol in the specified task period.
The priority-5 periodic task has the second highest execution
priority after the primary periodic task and can be executed
quickly and precisely.
The priority-5 periodic task is used when you want to divide
functions configuring the device for separate control, those
functions that need high-speed control with the primary peri-
odic task and others with the priority-5 periodic task.
The primary periodic task and priority-5 periodic task are used
for the multi-task motion control. *2
16*3 This task executes programs and I/O refreshing in the speci-
fied task period.
The execution period for the priority-16 periodic task is longer
than the execution period of the primary periodic task and pri-
ority-5 periodic task. Therefore, this periodic task is used to
execute programs.
In the priority-16 periodic task, you can write the user pro-
gram for some slaves and Units that refresh I/O in the primary
periodic task.
For example, synchronized control and control requiring a fast
response time are placed in the primary periodic task or prior-
ity-5 periodic task. Overall device control is separately placed
in a priority-16 periodic task.
*1. You can use the priority-5 periodic task only with NX701 CPU Units.
*2. The multi-motion performs the motion controls in parallel using both the primary periodic task and the priori-
ty-5 periodic task.
*3. You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.

Note The CPU Unit has priority-17 and -18 periodic tasks. However, you cannot use motion control instructions in
these tasks. These tasks also do not perform I/O refreshing.

Precautions for Correct Use

Motion control instructions can be used in the primary periodic task and in a priority-5 or a prior-
ity-16 periodic task.
If motion control instructions are used in any other tasks, an error will occur when the user pro-
gram is built on the Sysmac Studio.

Additional Information

The NX701 CPU Unit allows you to execute the motion control in the primary periodic task and
in the priority-5 periodic task. If these two motion controls need to be identified, the motion con-
trol in the primary periodic task is called motion control 1, while the motion control in the priori-
ty-5 periodic task is called motion control 2.

Task Assignment
• Axes and axes groups can be assigned to either of the primary periodic task and the priority-5 peri-
odic task. The I/O device task that is assigned to an axis must be the same type of task that is as-
signed to the axis.

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 2 Motion Control Configuration and Principles

Assignment possible I/O device Assignment NOT possible I/O device

2-3 Motion Control Principles

(Primary (Primary
periodic task) periodic task)
Axis 1: Primary periodic task CH1 Axis 1: Primary periodic task CH1

Axis 2: Primary periodic task CH2 Axis 2: Priority-5 periodic task CH2

• You can execute motion control instructions from the user program that is operated in the priority-16
periodic task for the axes and axes groups that are assigned to the primary periodic task.

Precautions for Correct Use

2
• You cannot execute motion control instructions from the user program that is operated in the
priority-5 periodic task for the axes and axes groups that are assigned to the primary periodic
task.

2-3-1 CPU Unit Tasks

If you perform the execution, depending on whether the axes that are assigned to the priori-
ty-5 periodic task exist or not, the operation differs as follows.
a) If the axes that are assigned to the priority-5 periodic task exist, an Illegal Axis Specifica-
tion (event code: 54600000 hex) occurs.
b) If the axes that are assigned to the priority-5 periodic task do not exist, motion control in-
structions are executed, however, do not use the instructions due to the variations of exe-
cution timing.
Similarly, you cannot execute motion control instructions from the user program that is oper-
ated in the primary periodic task for the axes and axes groups that are assigned to the priori-
ty-5 periodic task.
• You cannot execute motion control instructions from the user program that is operated in the
priority-16 periodic task for the axes and axes groups that are assigned to the priority-5 peri-
odic task. If you perform the execution, an Illegal Axis Specification (event code: 54600000
hex) occurs.

Additional Information

Refer to Section 3 Configuring Axes and Axes Groups on page 3-1 for details on axes and
axes groups.

Basic Operation of Tasks

 Overall Task Operation

The primary periodic task and periodic tasks operate based on the task period of the primary peri-
odic task (also called the primary period).
The primary periodic task and priority-5 periodic task include operations such as system common
processing and motion control in addition to I/O refreshing and user program execution.
Processing of motion control instructions in the programs is executed during the next motion con-
trol (MC) period after the END instruction is executed in the task.

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2 Motion Control Configuration and Principles

Primary period (t)

Primary

MC

MC

MC

MC

MC
IO UPG IO UPG IO UPG IO UPG IO UPG
periodic task

Task period (t×2)

Priority-5
IO UPG MC IO UPG MC IO UPG
periodic task

(A) (C)
Task period (t×4)

Priority-16
IO UPG UPG UPG IO UPG
periodic task

(B)

Symbol Description
IO I/O refreshing
UPG User program execution
MC Motion control
(A) A dotted line represents a transition to another task.
(B) A dashed-dotted line means that processing for that task has been interrupted.
(C) A double line means that all processing for that task has been completed.

 Operation of the Primary Periodic Task

Task period (= primary period)
Task execution time

I/O refresh Control processing

System common processing 2
System common processing 1
Output data processing

Input data processing

Motion control

Refresh User program

executed. execution

Processing Processing contents

Output data processing • Output refresh data is created for Output Units that execute I/O refreshing.
• If forced refreshing is set, the forced refreshing values are reflected in the output
refresh data.
Refresh execution This process exchanges data with I/O.
Input data processing • Whether the condition expression for event task execution is met or not is deter-
mined.
• Input refresh data is loaded from Input Units that execute I/O refreshing.
• If forced refreshing is set, the forced refreshing values are reflected in the input
refresh data that was read.
System common proc- • Processing for exclusive control of variables in tasks is performed when access-
essing 1 ing tasks are set.
• Motion input processing is performed. *1
• Data tracing processing (sampling and trigger checking) is performed.

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 2 Motion Control Configuration and Principles

Processing Processing contents

2-3 Motion Control Principles

User program execu- Programs assigned to tasks are executed in the order that they are assigned.
tion
Motion control 1*2 The motion control commands from the motion control instructions in the programs
in the primary periodic task and priority-16 periodic task are executed.
Motion output processing is performed. *3
System common proc- • Processing for exclusive control of variables in tasks is performed when refresh-
essing 2 ing tasks are set.
• Processing for variables accessed from outside of the Controller is performed to
maintain concurrency with task execution (executed for the variable access time
that is set in the Task Settings).
• If there is processing for EtherNet/IP tag data links and refreshing tasks are set 2
for the tags (i.e., variables with a Network Publish attribute), variable access
processing is performed.

2-3-1 CPU Unit Tasks

*1. The Servo Drive status, axis current values, and other motion control system-defined variables are up-
dated according to data received from the Servo Drives.
*2. For the system-defined variables of the axes that are assigned to Motion control 1 _MC_AX[0-255], or
_MC1_AX[0-255] are used. Similarly, for the system-defined variables of the axes groups,
_MC_GRP[0-63] or _MC1_GRP[0-63] are used.
Refer to 3-1-3 Introduction to Axis Variables on page 3-6 for the system-defined variables of axes and
3-3-3 Introduction to Axes Group Variables on page 3-22 for the system-defined variables of axes
groups.
*3. Data is sent to the Servo Drives during I/O refreshing in the next primary periodic task.

 Operation of a Priority-5 Periodic Task

Task period
Task execution time

I/O refresh Control processing

System common processing 2
System common processing 1
Output data processing

Input data processing

Motion control

Refresh User program

executed. execution

Processing Processing contents

Output data process- • Output refresh data is created for Output Units that execute I/O refreshing.
ing • If forced refreshing is set, the forced refreshing values are reflected in the output
refresh data.
Refresh execution This process exchanges data with I/O.
Input data processing • Input refresh data is loaded from Input Units that execute I/O refreshing.
• If forced refreshing is set, the forced refreshing values are reflected in the input
refresh data that was read.
System common proc- • Processing for exclusive control of variables in tasks is performed when access-
essing 1 ing tasks are set.
• Motion input processing is performed.*1
• Data tracing processing (sampling and trigger checking) is performed.
User program execu- Programs assigned to tasks are executed in the order that they are assigned.
tion

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2 Motion Control Configuration and Principles

Processing Processing contents

Motion control 2*2 • The motion control commands from the motion control instructions in the pro-
grams in the primary periodic task and priority-5 periodic task are executed.
• Motion output processing is performed.*3
System common proc- • Processing for exclusive control of variables in tasks is performed when refresh-
essing 2 ing tasks are set.
• Processing for variables accessed from outside of the Controller is performed to
maintain concurrency with task execution (executed for the variable access time
that is set in the Task Settings).
*1. The Servo Drive status, axis current values, and other motion control system-defined variables are up-
dated according to data received from the Servo Drives.
*2. For the system-defined variables of the axes that are assigned to Motion control 2, _MC2_AX[0-255] are
used. Similarly, for the system-defined variables of the axes groups, _MC2_GRP[0-63] are used.
Refer to 3-1-3 Introduction to Axis Variables on page 3-6 for the system-defined variables of axes and
3-3-3 Introduction to Axes Group Variables on page 3-22 for the system-defined variables of axes
groups.
*3. Data is sent to the Servo Drives during I/O refreshing in the next priority-5 periodic task.

 Operation of a Priority-16 Periodic Task

You can refresh I/O in the priority-16 periodic task.

Task period

Task execution time

Task processing time Task processing time

*1 *1
I/O refresh Control Control
processing processing
Output data processing

System common
Input data processing
System common

User program
User program

processing 2
processing 1
executed.

execution
execution
Refresh

*1. The CPU Unit will temporarily interrupt the execution of a task in order to execute a task with a higher
execution priority.

Task Period
For a single task, the primary period, which is the task period for the primary periodic task, is the
standard period for execution.
In this case, the primary period is automatically used as the motion control period. (It is also the same
as the process data communications cycle for EtherCAT communications.)
The NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit support only the single task control.

For multi-motion, two kinds of period, the primary period and the task period of priority-5 periodic task
are the standard periods for execution.
In this case, the motion control takes two kinds of period, while the process data communications cy-
cle for EtherCAT communications automatically takes each of the task periods.

Periodic task execution is synchronized with the primary period. Set the task period of a periodic task
as an integer multiple of the primary period.

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 2 Motion Control Configuration and Principles

For example, if the primary period is 1 ms, then you can set the task period of a priority-5 periodic task

2-3 Motion Control Principles

to 2 ms and the task period of a priority-16 periodic task to 4 ms. In that case, the start of the period
for the primary periodic task and the priority-5 periodic task will match once every two primary periods.
Similarly, the start of the period for the primary periodic task and the priority-16 periodic task will match
once every four primary periods.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the task
period.

Additional Information

If two process data communications cycles need to be identified, the communications cycle for 2
the primary periodic task is called process data communications cycle 1, while the communica-
tions cycle for the priority-5 periodic task is called process data communications cycle 2.

2-3-1 CPU Unit Tasks

 Valid Task Periods for NX701 CPU Unit
For the NX701 CPU Unit, valid task periods depend on the type of task as shown below.

Task Valid task periods

Primary periodic task 125 μs, 250 μs to 8 ms (specify in increments of 250 μs)
Priority-5 periodic task 125 μs, 250 μs to 100 ms (specify in increments of 250 μs)
Priority-16 periodic task 1 ms to 100 ms (specify in increments of 250 μs)

Note The setting conditions of task periods of the primary periodic task and the periodic tasks.
The task periods for periodic tasks must be set to integer multiples of the task period of the primary peri-
odic task.
Set the task period so that the least common multiple of task periods of each task must be less than or
equal to 600 ms.

 Valid Task Periods for NX102 CPU Unit

Only the primary periodic task is valid for an NX102 CPU Unit. Valid task periods are as follows.

Task Valid task periods

Primary periodic task 1 ms to 32 ms (specify in increments of 250 μs)

 Valid Task Periods for NX1P2 CPU Unit

Only the primary periodic task is valid for an NX1P2 CPU Unit. Valid task periods are as follows.

Task Valid task periods

Primary periodic task 2 ms to 8 ms (specify in increments of 250 μs)

 Valid Task Periods for NJ-series CPU Unit

The following table lists the possible combinations of primary periodic task and priority-16 periodic
task periods for the NJ-series CPU Unit.

Primary peri-
Valid task periods for periodic tasks
od
500 μs*1 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40 ms, 50 ms,
60 ms, 75 ms, or 100 ms
1 ms 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40 ms, 50 ms,
60 ms, 75 ms, or 100 ms
2 ms 2 ms, 4 ms, 8 ms, 10 ms, 20 ms, 30 ms, 40 ms, 50 ms, 60 ms, or 100 ms

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2 Motion Control Configuration and Principles

Primary peri-
Valid task periods for periodic tasks
od
4 ms 4 ms, 8 ms, 20 ms, 40 ms, 60 ms, or 100 ms
*1. Unit version 1.03 or later is required to use this setting on the NJ301 CPU Unit.
You cannot use this setting on the NJ101-10££.

2-3-2 Example of Task Operations for Motion Control

Motion control instructions can be used in the primary periodic task, in a priority-5 periodic task, or in a
priority-16 periodic task.
This section provides examples of task operations.

Using Motion Control Instructions in the Primary Periodic Task

If high-speed motion control is required, place the motion control instructions (FB) in the primary peri-
odic task.

Slave A Servo
IN Execution command
Primary period Primary period

Primary IO UPG MC IO UPG MC

periodic task FB FB

Execution of motion control instructions

1 Loading Data
The input data from the EtherCAT slaves (slave A) is loaded during the I/O refresh (IO).

2 Instruction Execution
The motion control instructions (FB) are executed based on the data that was loaded during
user program execution (UPG).
The output variables of the motion control instructions are refreshed at this point.

3 Command Generation
Motion processing according to the motion control instructions (FB) that were executed is per-
formed during motion control (MC) immediately after user program execution in the primary pe-
riodic task. During this processing, execution commands for the Servo Drives and other devi-
ces are generated.

4 Sending Commands
The execution commands that were generated are sent to the Servo Drive or other device dur-
ing the I/O refresh (IO) in the next period.

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 2 Motion Control Configuration and Principles

Additional Information

2-3 Motion Control Principles

All instructions from inputs to execution command outputs to the Servo Drive or other device
are processed quickly in this task. We recommend placing all motion control instructions in the
primary periodic task.

Using Motion Control Instructions in a Priority-5 Periodic Task

If second high-speed motion control after the primary periodic task is required, place the motion con-
trol instructions (FB) in a priority-5 periodic task.
The basic operation is the same as that of the primary periodic task. 2

 Timing of Processing

2-3-2 Example of Task Operations for Motion Control

Slave A Servo
IN Execution command
Task period Task period

Priority-5 IO UPG MC IO UPG MC

periodic task FB FB

Execution of motion control instructions

1 Loading Data
The input data from the EtherCAT slaves (slave A) is loaded during the I/O refresh (IO).

2 Instruction Execution
The motion control instructions (FB) are executed based on the data that was loaded during
user program execution (UPG).
The output variables of the motion control instructions are refreshed at this point.

3 Command Generation
Motion processing according to the motion control instructions (FB) that were executed is per-
formed during motion control (MC) immediately after user program execution in the primary pe-
riodic task. During this processing, execution commands for the Servo Drives and other devi-
ces are generated.

4 Sending Commands
The execution commands that were generated are sent to the Servo Drive or other device dur-
ing the I/O refresh (IO) in the next period.

Additional Information

• You can use the priority-5 periodic task only with NX701 CPU Units.
• The priority-5 periodic task is used when you want to divide functions configuring the device
for separate control, those functions that need high-speed control with the primary periodic
task and others with the priority-5 periodic task.

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2 Motion Control Configuration and Principles

 Axis Variable Update Timing in Multi-motion

The multi-motion refers to execution of parallel control using the primary periodic task and the prior-
ity-5 periodic task.
In the multi-motion, the user program for the priority-5 periodic task can access the values of an
Axis Variable of an axis that is controlled in the primary periodic task. The reverse is possible: the
user program for the primary periodic task can access the values of an Axis Variable of an axis that
is controlled in the priority-5 periodic task.

Additional Information

• Refer to 3-1-4 Synchronizing Axis Variables on page 3-8 for details on synchronization of
axis variables.
• The user program for the priority-16 periodic task can access the values of an Axis Variable
of an axis that is controlled in the primary periodic task. Refer to Using Motion Control In-
structions in a Priority-16 Periodic Task on page 2-15 and 3-1-4 Synchronizing Axis Varia-
bles on page 3-8 for details.

The values of an Axis Variable are updated synchronizing to the task period of accessing task.
The values of an Axis Variable that is accessed are not overwritten during the user program execu-
tion for the task that accesses the values of an Axis Variable.

The timing that the values of an Axis Variable in the primary periodic task update to the priority-5
periodic task is shown below.

Servo
Primary period (t) Execution command

Primary
MC

MC

MC

MC

MC
IO UPG IO UPG IO UPG IO UPG IO UPG
periodic task

Task period (t×2)

Priority-5
IO UPG MC IO UPG MC IO UPG
periodic task (A)
(B)

Sym
Description
bol
(A) Axis Variable updated.
Regardless of where the user program execution for the priority-5 periodic task starts, the Axis Varia-
ble is updated with the execution result of the primary periodic task immediately before the start of
the task periods matched.
(B) The values of an Axis Variable are not overwritten during the user program execution.

The update timing is similar if two task periods are the same.

Servo
Primary period (t) Execution command

Primary
MC

MC

MC

MC

MC

IO UPG IO UPG IO UPG IO UPG IO UPG

periodic task

Task period (t)

Priority-5
MC

MC

MC

MC

MC

IO UPG IO UPG IO UPG IO UPG IO UPG

periodic task

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 2 Motion Control Configuration and Principles

Additional Information

2-3 Motion Control Principles

If a Task Period Exceeded error occurs, the Axis Variable is updated with the execution result of
the one before the preceding primary periodic task period immediately before the start of the
task periods matched, instead of the execution result of the preceding one.
Primary period(t) Task Period Exceeded occurred.

Primary

MC

MC
IO UPG IO IO IO UPG
periodic task

MC
Task period (t×2)

Priority-5
periodic task IO UPG MC IO UPG MC 2
(A)
(B)

2-3-2 Example of Task Operations for Motion Control

Sym-
Description
bol
(A) Axis Variable updated.
If a Task Period Exceeded error occurs, the Axis Variable is updated with the value of the pri-
mary periodic task period before the error.
(B) The values of an Axis Variable are not overwritten during the user program execution.

The timing that the values of an Axis Variable in the priority-5 periodic task update to the primary
periodic task is shown below.

Servo
Primrary period (t) (B) Execution command

Primary
MC

MC

MC

MC

MC
IO UPG IO UPG IO UPG IO UPG IO UPG
periodic task
(A)
Task period (t×2)

Priority-5
IO UPG MC IO UPG MC IO UPG
periodic task

Sym
Description
bol
(A) Axis Variable updated.
The Axis Variable is updated with the execution result of the priority-5 periodic task immediately be-
fore the start of the task periods matched.
(B) The values of an Axis Variable are not overwritten during the user program execution.

Using Motion Control Instructions in a Priority-16 Periodic Task

If high speed motion control is not required and/or your user program is too large, place motion control
instructions in a priority-16 periodic task.

 Timing of Processing
Motion control processing (MC) for the motion control instructions (FB) that are executed in the
same task period as the priority-16 periodic task are performed at the same time.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 2-15

2 Motion Control Configuration and Principles

Therefore, processing for multiple axes can be simultaneously executed or stopped.

Slave A Servo
IN Execution command
Primary period

Primary IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC

periodic task

Priority-16 UPG
periodic task FB

Execution of motion control instructions

Task period (primary period × 3)

Slave A Servo
IN Execution command
Primary period

Primary IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC

periodic task

Priority-16 UPG
periodic task FB

Execution of motion control instructions

Task period (primary period × 3)

1 Loading Data
The input data from the EtherCAT slaves (slave A) is loaded during the I/O refresh (IO).

2 Instruction Execution
The motion control instructions (FB) are executed based on the data that was loaded during
user program execution (UPG) in the priority-16 periodic task.
The output variables of the motion control instructions are refreshed at this point.

3 Command Generation
Motion control instructions (FB) are executed in the task period of the priority-16 periodic task
according to the motion control instructions (FB) that were executed.
Motion processing is performed during motion control processing (MC) in the next primary peri-
odic task after the periodic task. During this processing, execution commands for the Servo
Drives or other devices are generated.

4 Sending Commands
The execution commands that were generated are sent to the Servo Drive or other device dur-
ing the I/O refresh (IO) in the next period.

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 2 Motion Control Configuration and Principles

 Axis Variable Update Timing

2-3 Motion Control Principles

Axis Variables are system-defined variables for some of the axis parameters and for the monitor
information, such as the actual position and error information, for the axes controlled by the MC
Function Module.
If you access an Axis Variable of the primary periodic task during the priority-16 periodic task, the
values of the variable that were read at the start of the priority-16 periodic task are used.
Also, the values of an Axis Variable are not written when a motion control instruction (FB) is execut-
ed. They are written in motion control processing (MC) at the start of the next priority-16 periodic
task.

I/O Servo 2
OUT Execution
Primary period command

2-3-2 Example of Task Operations for Motion Control

Primary IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC
periodic task *3

Values of
Priority-16 Axis UPG UPG
periodic task Variable FB
are read *1
Execution of motion control instructions *2
Task period (primary period × 3)

*1. The values of an Axis Variable of the primary periodic task are read at the start of user program execution
for the priority-16 periodic task.
*2. The values of an Axis Variable are not written when a motion control instruction (FB) is executed in the
priority-16 periodic task.
*3. The values are written during this motion control processing (MC).

Precautions for Correct Use

• When motion control instructions are placed in a priority-16 periodic task, the response time
of the Servo Drive or other device will increase if the task period of the priority-16 periodic
task is lengthened.
• Make sure that all axes can be stopped safely for emergency stops, including emergency
stops commanded from external devices.
• The execution timing of motion control instructions in a priority-16 periodic task is not the
same as the execution timing for I/O control. Design the user program to allow for this.
• You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.

Additional Information

For information on Axis Variables, refer to 3-1-3 Introduction to Axis Variables on page 3-6.

Using Motion Control Instructions in Two Different Types of Tasks

If you have processes that require high-speed motion control and processes that do not require high-
speed motion control for the same axis, you can place the motion control instructions (FB) both in the
primary periodic task and in a priority-16 periodic task.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 2-17

2 Motion Control Configuration and Principles

If motion control instructions (FB) are executed in both tasks within the period of the priority-16 period-
ic task, the MC Function Module will perform motion processing for instructions in the primary periodic
task first.

For example, the MC_MoveAbsolute instruction is executed in the priority-16 periodic task. Then, the
MC_MoveRelative is executed for the same axis in the primary periodic task. The operation for this is
shown below.
• The MC Function Module will execute MC_MoveRelative first. MC_MoveAbsolute is executed with
multi-execution of instructions.

Servo
Execution command for MC_MoveRelative
Primary period

Primary IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC

periodic task FB2 FB2 FB2 FB2

FB2: MC_MoveRelative
Priority-16 UPG The instruction is buffered for
periodic task FB1 multi-execution of instructions.
FB1: MC_MoveAbsolute

Task period (primary period × 3)

The values of output variables for a motion control instruction and the values of system-defined varia-
bles for motion control will change during the I/O refresh of the task that executed the instruction.
Therefore, you may notice different behavior depending on the task if you use motion control instruc-
tions for the same axis in different tasks.
Make sure that you thoroughly understand the processes of each task before you start to develop your
user program.

Precautions for Correct Use

• If you include motion control instructions for the same axis in both the primary periodic task
and the priority-16 periodic task, pay close attention to the following when you develop your
user program: the execution order of the motion control instructions, the timing of updates for
system-defined variables for motion control, and the output timing of command values.
• If you use system-defined variables for motion control for the same axis in multiple tasks, pay
close attention to the differences in timing for updating system-defined variables for motion
control when you develop your user program.
• You cannot use the priority-16 periodic task on NX102 CPU Units and NX1P2 CPU Units.

Additional Information

For information on multi-execution of instructions, refer to 9-5-7 Multi-execution of Motion Con-

trol Instructions (Buffer Mode) on page 9-48.

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 2 Motion Control Configuration and Principles

2-4 EtherCAT Communications and Motion

2-4 EtherCAT Communications and Mo-
tion Control
The MC Function Module controls Servo Drives, counters, and NX-series Position Interface Units
through the PDO communications of the EtherCAT Master Function Module in the CPU Unit.

Control
This section describes EtherCAT communications and other items related to the MC Function Module.

2-4-1 CAN Application Protocol over EtherCAT (CoE)

2
The MC Function Module exchanges data with the slaves on EtherCAT using the CAN application pro-
tocol over EtherCAT (CoE).

2-4-1 CAN Application Protocol over EtherCAT (CoE)

With CoE, the parameters and control information held by the slaves are specified according to data
specifications of the object dictionary (OD).
To communicate the data between the Controller (communications master) and slaves, two methods
are used: process data objects (PDOs), which periodically exchange data in realtime, and service data
objects (SDOs), which exchange data when required.

The MC Function Module uses PDO communications for commands to refresh I/O data, such as data
for Servomotor position control, on a fixed control period.
It uses SDO communications for commands to read and write data at specified times, such as for pa-
rameter transfers.

Controller
(communications master) EtherCAT Slaves
communications lines

PDO communications Executed periodically.

Output data
Input data

SDO communications
Write data
Read data

Executed for requests.

2-4-2 Relationship between EtherCAT Master Function Module and MC

Function Module
The NJ/NX-series CPU Unit can perform sequence control and motion control through connections to
EtherCAT slaves.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 2-19

2 Motion Control Configuration and Principles

Sequence Control
• I/O ports for configuration slaves are automatically created when you create the EtherCAT Configu-
ration in EtherCAT Tab Page in the Sysmac Studio.
• You use the I/O Map Tab Page in the Sysmac Studio to assign device variables.
• Perform sequence control through instructions other than motion control instructions.

Motion Control
• I/O ports for configuration slaves are automatically created when you create the EtherCAT Configu-
ration in EtherCAT Tab Page in the Sysmac Studio.
• Create Axis Variables in Motion Control Setup View and assign the EtherCAT slaves for which mo-
tion control is performed.
• Perform motion control through motion control instructions.

The following devices can be assigned to Axis Variables: EtherCAT slave Servo Drives, Encoder Input
Terminals, and NX-series Position Interface Units.

Additional Information

• Commands are not sent directly through PDO communications to an EtherCAT slave or NX-
series Position Interface Unit that is assigned to an Axis Variable for instructions other than
motion control instructions. However, the status of such an EtherCAT slave can be accessed
indirectly through the Axis Variables.
• You can use SDO communications to read and write the objects of EtherCAT slaves and NX-
series Position Interface Units that are assigned to Axis Variables.
However, do not use SDO communications to write objects that are mapped to PDO commu-
nications. If you do, the operation of the slaves will depend on slave specifications. For OM-
RON slaves, SDO communications will result in errors.
• If EtherCAT slave Servo Drives, Encoder Input Terminals, and NX-series Position Interface
Units are not assigned to Axis Variables, you must execute sequence control for them in the
same way as for general-purpose EtherCAT slaves.

Version Information

With the Sysmac Studio version 1.09 or higher, you can assign device variables to the I/O ports
of slaves and Units that are assigned to the Axis Variables.
The following are the conditions of I/O ports to which you can assign device variables.
• I/O ports with Read/Write attribute set to Read (R: Read only).
• I/O ports with Read/Write attribute set to Write (W: Write only). Also, for these I/O ports, <Not
assigned> must be set for the process data field under Detailed Settings on the Axis Basic
Settings Display in the Sysmac Studio.
If you used the Sysmac Studio version 1.09 or higher to create a project and assign device vari-
ables to the Axis Variables, and open the project with the Sysmac Studio version 1.08 or lower,
the assignment of the device variables will be cleared.

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 2 Motion Control Configuration and Principles

2-4 EtherCAT Communications and Motion

 NX701 CPU Unit

User program in PLC CPU Unit

Function Module

Device variables
Instructions Executed. EtherCAT
other than EtherCAT
Sequence slaves
motion control
control instructions
EtherCAT

Control
Master
Function EtherCAT EtherCAT
MC Function Module Task period

variables
Axis
Motion control Module
instructions slaves,
•Profile processing
•Synchronization Servo Drives,
encoder input
Motion control
Executed.
processing
Other processing
terminals, 2
Position
Interface Units

2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module
 NX102 CPU Unit

User program in PLC CPU Unit

Function Module
Executed.

I/O ports
Device variables

Instructions
other than NX Bus NX Units
motion control Function
Sequence instructions
control Module

EtherCAT EtherCAT
slaves

MC Function Module EtherCAT NX Units,

Master Position
• Profile processing Function Interface Units
Task Module
• Synchronization
Executed. period
processing
Other processing EtherCAT EtherCAT
variables
Axis

Motion control
Motion control instructions slaves,
Servo Drives,
encoder input
terminals,
Position
Interface Units

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 2-21

2 Motion Control Configuration and Principles

 NX1P2 CPU Unit

User program in PLC CPU Unit

Function Module
Instructions Executed.

I/O ports
other than Built-in I/O

Device variables
motion control Option Boards
instructions
Sequence NX Bus NX Units
control Function
Module
EtherCAT EtherCAT
slaves

MC Function Module EtherCAT NX Units,

Master Position
•Profile processing
Function Interface Units
•Synchronization Task
processing Module
period
Other processing
variables
Axis

Motion control EtherCAT EtherCAT

Motion control instructions slaves,
Servo Drives,
Executed. encoder input
terminals,
Position
Interface Units

 NJ-series CPU Unit

User program in PLC CPU Unit

Function Module
Instructions CJ-series Units
I/O ports

other than Executed.

Device variables

motion control Basic I/O Units,

instructions Special Units
Sequence
control EtherCAT EtherCAT
slaves

Motion control MC Function Module Task period EtherCAT EtherCAT EtherCAT

variables
Axis

instructions Master slaves,

• Profile processing
Function Servo Drives,
• Synchronization
Module encoder input
processing
Motion control Executed. terminals,
Other processing
Position
Interface Units

2-4-3 Relationship between Process Data Communications Cycle and

Motion Control Period
The PLC Function Module sends motion control commands to the MC Function Module when motion
control instructions are executed in the user program. The MC Function Module then performs motion
control processing based on those commands and sends the results of processing as commands to
the EtherCAT’s Servo Drive or other device.

This type of data exchange is updated as shown in the following processing period.

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 2 Motion Control Configuration and Principles

2-4 EtherCAT Communications and Motion

 NX701 CPU Unit
• Primary period = Motion control 1 period = Process data communications cycle for EtherCAT
communications 1
• Task period of the priority-5 periodic task = Motion control 2 period = Process data communica-
tions cycle for EtherCAT communications 2

CPU Unit

Control
Slaves
Execution of user Motion control processing
program in PLC by MC Function Module
Function Module EtherCAT Processing in slave

2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period
Sequence control period *1 Motion control period Communications cycle Data refresh
period in slave
(depends on the slave)

*1. If the sequence control period is primary period, the motion control period and the communications cycle
are primary period.
If the sequence control period is the task period of the priority-5 periodic task, the motion control period
and the communications cycle are the task period of the priority-5 periodic task.

 NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit
• Primary period = Motion control period = Process data communications cycle for EtherCAT com-
munications

CPU Unit Sequence control period

(primary periodic task period or
Basic I/O Units and periodic task period)
Special Units

Execution of user
program in PLC
Function Module
Slaves

Motion control processing

by MC Function Module EtherCAT Processing in slave

Sequence control period Motion control period Communications cycle Data refresh
(primary periodic task) = Primary periodic (EtherCAT data communi- period in slave
task period cations cycle = Primary (depends on
periodic task period) the slave)

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 2-23

2 Motion Control Configuration and Principles

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 3
Configuring Axes and Axes
Groups
3
This section describes the concept of axes and axes groups, the settings for axes that
are required for the MC Test Run function to operate on the Sysmac Studio, and the
instructions for creating and configuring axes and axes groups using the Sysmac Stu-
dio.

3-1 Axes................................................................................................................. 3-2

3-1-1 Introduction to Axes......................................................................................... 3-2
3-1-2 Introduction to Axis Parameters ...................................................................... 3-3
3-1-3 Introduction to Axis Variables .......................................................................... 3-6
3-1-4 Synchronizing Axis Variables .......................................................................... 3-8
3-1-5 Specifying an Axis in the User Program.......................................................... 3-9
3-2 Axis Setting Procedure................................................................................ 3-10
3-2-1 Axis Configuration Procedure........................................................................ 3-10
3-2-2 Setting Procedure.......................................................................................... 3-10
3-3 Axes Groups ................................................................................................. 3-21
3-3-1 Introduction to Axes Groups.......................................................................... 3-21
3-3-2 Introduction to Axes Group Parameters ........................................................ 3-21
3-3-3 Introduction to Axes Group Variables ............................................................ 3-22
3-3-4 Specifying an Axes Group in the User Program............................................ 3-24
3-4 Setting Procedures for Axes Groups ......................................................... 3-26
3-4-1 Setting Procedure for an Axes Group ........................................................... 3-26
3-4-2 Setting Procedure.......................................................................................... 3-26

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 3-1

3 Configuring Axes and Axes Groups

3-1 Axes
This section describes the axes that are used in a MC Function Module.

3-1-1 Introduction to Axes

In a motion control system, the targets of motion control are called axes.
An axis can be an actual Servo Drive, encoder, or other device connected via EtherCAT communica-
tions or it can be a virtual Servo Drive or encoder within the MC Function Module.

Although all axes of NX701 and NJ-series CPU Units are motion control axes, NX102 CPU Units and
NX1P2 CPU Units allow the use of single-axis position control axes in addition to motion control axes.
You can set each axis to Single-axis Position Control Axis in Control Function in the Axis Basic Set-
tings.
Refer to Control Function on page 5-11 for details on the control function.

The MC Function Module supports the axis types that are given in the following table.

Axis type Description

Servo axis These axes are used by the EtherCAT slave Servo Drives and NX-series Position Inter-
face Units.*1 They are assigned to actual Servo Drives or other devices.
One Servomotor is used as one axis.
If you use NX-series Position Interface Units, you can assign more than one device, such
as a Pulse Output Unit and Digital Input Unit, to the same axis.
Virtual servo axis These virtual axes exist only inside the MC Function Module. They are not used by actual
Servo Drives. For example, they are used as master axes for synchronizing control.
Encoder axis These axes are used by the EtherCAT slave Encoder Input Terminals and NX-series Posi-
tion Interface Units.*1 An encoder axis is assigned to an actual encoder input terminal or
other device.
If one encoder input terminal contains two encoder inputs, the individual encoder inputs
will act as one axis.
Virtual encoder ax- These axes are used virtually for encoder operation. A virtual encoder axis is used tempo-
is rarily in place of an encoder axis when there is no physical encoder. *2
*1. Refer to 1-4-3 Function Specifications on page 1-11 for the controllable devices.
*2. Virtual encoder axes are used in combination with motion control instructions that update the actual position
of the virtual encoder axis.
Counting cannot be used with versions of the MC Function Module that do not support these instructions.

The following elements are related to the axes of the MC Function Module.
The number of elements provided is the same as the maximum number of controlled axes for each
model. The maximum number of controlled axes varies depending on the model.
Refer to 1-4-2 Performance Specifications on page 1-7 for details.

Configuration ele-
Description Page
ment
Axis parameters The axis parameters set the maximum velocity, jogging, homing, and oth- page 3-3
er items for the axes operations controlled by the MC Function Module.
Use the Sysmac Studio to set the axis parameters.

3-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 3 Configuring Axes and Axes Groups

Configuration ele-
Description Page
ment
Axis Variables Axis Variables are system-defined variables for the actual position, error page 3-6
information, and other monitor information for axes controlled by the MC
Function Module.
Axis Variables are created when you add an axis from the Multiview Ex-
plorer of the Sysmac Studio. The names of the Axis Variables (called the
Axis Variable names) are set here.
Specifying axes in In the user program, motion control is implemented with motion control page 3-9
the user program instructions. Motion control instructions that perform single-axis control
are used to create axis commands.

3-1 Axes
To control an axis with axis commands, specify the Axis Variable name of
the system-defined variable or the Axis Variable name that was set with
the Sysmac Studio for the Axis in-out variable of the instruction.

3
3-1-2 Introduction to Axis Parameters

3-1-2 Introduction to Axis Parameters

 Axis Parameters
Classification Parameter name
Axis Basic Settings Axis Number
Motion Control*1
Axis Use
Axis Type
Control Function*2
Input Device/Output Device
Unit Conversion Settings Unit of Display
Command Pulse Count Per Motor Rotation
Work Travel Distance Per Motor Rotation
Reducer Use*3
Work Travel Distance Per Rotation*3
Work Gear Ratio*3
Motor Gear Ratio*3
Operation Settings Maximum Velocity
Start Velocity*4
Maximum Jog Velocity
Maximum Acceleration
Maximum Deceleration
Acceleration/Deceleration Over
Operation Selection at Reversing
Velocity Warning Value
Acceleration Warning Value
Deceleration Warning Value
Positive Torque Warning Value*5
Negative Torque Warning Value*5
Actual Velocity Filter Time Constant
In-position Range
In-position Check Time

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 3-3

3 Configuring Axes and Axes Groups

Classification Parameter name

Zero Position Range
Other Operation Settings Immediate Stop Input Stop Method
Limit Input Stop Method
Drive Error Reset Monitoring Time
Maximum Positive Torque Limit
Maximum Negative Torque Limit
Immediate Stop Input Logic Inversion*4
Positive Limit Input Logic Inversion*4
Negative Limit Input Logic Inversion*4
Home Proximity Input Logic Inversion*4
Limit Settings Software Limits
Positive Software Limit
Negative Software Limit
Following Error Over Value
Following Error Warning Value
Position Count Settings Count Mode
Modulo Maximum Position Setting Value
Modulo Minimum Position Setting Value
Encoder Type
Servo Drive Settings Modulo Maximum Position Setting Value
Modulo Minimum Position Setting Value
PDS State Control Method
Homing Settings Homing Method
Home Input Signal
Homing Start Direction
Home Input Detection Direction
Operation Selection at Positive Limit Input
Operation Selection at Negative Limit Input
Homing Velocity
Homing Approach Velocity
Homing Acceleration
Homing Deceleration
Homing Jerk
Home Input Mask Distance
Home Offset
Homing Holding Time
Homing Compensation Value
Homing Compensation Velocity
*1. Set this parameter when using the NX701 CPU Unit.
*2. Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.
*3. A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use
this parameter.
*4. A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required to use
this parameter.
*5. This parameter is enabled only for torque control.

Refer to 5-2 Axis Parameters on page 5-5 for details on axis parameters.

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 3 Configuring Axes and Axes Groups

 Settings Required to Use Axes

The following settings must be made to use the axes that are created with the Sysmac Studio.

Classification Parameter name Setting Page

Axis Basic Set- Axis Number Axis numbers are automatically set in the order that page 5-8
tings the axes are created.
Motion Control*1 Select Primary periodic task.
Axis Use Select Used axis.
Axis Type Select the type of axis to control.
Control Function*2 Select All. *3

3-1 Axes
Input Device/ Specify the node address of the EtherCAT slave de-
Output Device vice that is assigned to the axis.
The Node Address parameter cannot be selected if
the Axis Type parameter is set to use a virtual axis.
*1. Set this parameter when using the NX701 CPU Unit.
3
*2. Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.
*3. To use the axis as a motion control axis, select All. To use the axis as a single-axis position control axis,

3-1-2 Introduction to Axis Parameters

select Single-axis position control only.

 Required Settings to Perform a Servo Drive Test Run from the Sysmac
Studio
Make the following settings to operate an EtherCAT-connected Servo Drive or other device using
the MC Test Run function of the Sysmac Studio.

Classification Parameter name Setting Page

Axis Basic Set- Axis Number Axis numbers are automatically set in the order that page 5-8
tings the axes are created.
Motion Control*1 Select Primary periodic task.
Axis Use Select Used axis.
Axis Type Select Servo axis.
Control Function*2 Select All. *3
Input Device/ Specify the node address of the EtherCAT slave de-
Output Device vice that is assigned to the axis.
The Node Address parameter cannot be selected if
the Axis Type parameter is set to use a virtual axis.
Unit Conversion Unit of Display Select the display unit (mm, degrees, etc.). page 5-13
Settings
Command Pulse Set the number of command pulses per motor rota-
Count Per Motor tion according to the encoder resolution. *4
Rotation
Work Travel Dis- Set the workpiece travel distance per motor rotation
tance Per Motor according to the machine specifications.
Rotation
Reducer Use*5 Specify whether to use the reducer setting or not.
Work Travel Dis- Set the work travel distance per rotation.
tance Per Rota-
tion*5
Work Gear Ratio*5 Set the gear ratio for the workpiece.
Motor Gear Ra- Set the gear ratio of the motor.
tio*5

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 3-5

3 Configuring Axes and Axes Groups

Classification Parameter name Setting Page

Position Count Count Mode Set this parameter according to the machine specifi- page 5-26
Settings cations.
Limit Settings Software Limits Set this parameter according to the device specifica- page 5-25
tions.
*1. Set this parameter when using the NX701 CPU Unit.
*2. Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.
*3. To use the axis as a motion control axis, select All. To use the axis as a single-axis position control axis,
select Single-axis position control only.
*4. For example, if the encoder resolution is 10,000 pulses/rotation, set 10,000.
*5. A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use
this parameter.

Precautions for Correct Use

• Select the appropriate values based on the machine's operating conditions for parameters
such as the maximum velocity, maximum acceleration/deceleration, or stop settings when the
motor is actually operated.
• OMRON 1S-series Servo Drives and G5-series Servo Drives can be set to specific node ad-
dresses by using the rotary switches on the front panels.
If the rotary switches are set to 00, the node address will be determined by the settings made
in the EtherCAT Editor of the Sysmac Studio.
If the rotary switches are set to 00 for all connected Servo Drives, errors will not occur even if
the Servo Drive's connection position is changed. Set the node addresses on the rotary
switches to assign specific Servo Drives for each machine control.

3-1-3 Introduction to Axis Variables

Axis Variables are system-defined variables for some of the axis parameters and for the monitor infor-
mation, such as the actual position and error information, for the axes controlled by the MC Function
Module.
When you create axes with the Sysmac Studio, Axis Variables are registered in the variable table in
the order that the axes are created.
Axis variables are structures with a data type of _sAXIS_REF.

Axis Variable Names

Each Axis Variable in the MC Function Module has two variable names: The Axis Variable name in the
system-defined variables and the Axis Variable name that is assigned when the axis is added on the
Sysmac Studio.
The Axis Variable names in the system-defined variables are _MC_AX[0] to _MC_AX[255],
_MC1_AX[0] to _MC1_AX[255], _MC2_AX[0] to _MC2_AX[255].
When you add axes on the Sysmac Studio, the MC_Axis000 to MC_Axis255 are set by default for
_MC_AX[0] to _MC_AX[255].
The numbers are assigned in the order that the axes are added. You can change each of these Axis
Variables as required from the Sysmac Studio.
You can use either the Axis Variables for the system-defined variables or the Axis Variables that are
added on the Sysmac Studio to specify the Axis Variables in the user program.

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 3 Configuring Axes and Axes Groups

 Example When _MC_AX[0-255] Is Used

Axis Variable name in the system-de-
fined variables Default Axis Variable name when axis Axis number ex-
(AT specification in global variable ta- is added on the Sysmac Studio ample
ble*1)
_MC_AX[0] MC_Axis000 Axis 0
_MC_AX[1] MC_Axis001 Axis 1
: : :
_MC_AX[255] MC_Axis255 Axis 255

3-1 Axes
*1. An error will occur if you change the names in the AT column in the global variable table on the Sysmac
Studio.

Additional Information

• _MC_AX[0-255] or _MC1_AX[0-255], and _MC2_AX[0-255] are available for the NX701 CPU
3
Unit.
Only _MC_AX[0-14] is available for the NX102 CPU Unit.

3-1-3 Introduction to Axis Variables

Only _MC_AX[0-11] is available for the NX1P2 CPU Unit.
Only _MC_AX[0-63] is available for the NJ-series CPU Unit.
• For the NX701 CPU Unit, you can access the same values of _MC_AX[0-255] and
_MC1_AX[0-255] if the axis numbers of them are the same. You can use either of the Axis
Variables, or both of them at the same time.
• The Axis Variable assigned to primary periodic task is _MC_AX[0-255] or _MC1_AX[0-255].
The Axis Variable assigned to priority-5 periodic task is _MC2_AX[0-255].

Examples of Axis Variable Levels and Changing Axis Variable

Names
In the descriptions below, _MC_AX[0] is used as an example. The same information applies to the oth-
er variables.

_MC_AX[0] Axis Variable

_MC_AX[0].Status Level that indicates the axis status
_MC_AX[0].Status.Ready Variable that indicates that the axis is ready for operation
_MC_AX[0].Status.Disabled Variable that indicates when the axis is disabled
:
_MC_AX[0].Details Level that indicates the axis control status
_MC_AX[0].Details.Idle Variable that indicates when the axis is idle
_MC_AX[0].Details.InPosWaiting Variable that indicates in-position waiting
:
_MC_AX[0].Cmd Level that indicates the axis command values
_MC_AX[0].Cmd.Pos Variable that indicates the command current position
_MC_AX[0].Cmd.Vel Variable that indicates the command current velocity
_MC_AX[0].Cmd.AccDec Variable that indicates the command current acceleration/
deceleration rate in the axis monitor
:
_MC_AX[0].Act Level that indicates the axis current values
_MC_AX[0].Act.Pos Variable that indicates the actual current position
_MC_AX[0].Act.Vel Variable that indicates the actual current velocity
:
_MC_AX[0].Cfg Level that indicates the axis basic settings

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3 Configuring Axes and Axes Groups

_MC_AX[0].Cfg.AxNo Variable that indicates the axis number

_MC_AX[0].Cfg.AxEnable Variable that indicates when the axis is enabled
_MC_AX[0].Cfg.AxType Variable that indicates the axis type
:
_MC_AX[0].Scale.Units Variable that indicates the display unit
_MC_AX[1] Axis Variable
:

 Example:
If MC_Axis000 is changed to MyAxis1, then either MyAxis1.Act.Pos or _MC_AX[0].Act.Pos can be
used as the variable that indicates the actual current position.

Refer to Axis Variables on page 6-25 for details on Axis Variables.

3-1-4 Synchronizing Axis Variables

The user program for the priority-5 periodic task can access the values of an Axis Variable of an axis
that is controlled in the primary periodic task. The reverse is possible: the user program for the primary
periodic task can access the values of an Axis Variable of an axis that is controlled in the priority-5
periodic task.
Also, the user program for the priority-16 periodic task can access the values of an Axis Variable that
is controlled in the primary periodic task.
The following table shows the relationship between the types of accessing tasks and the Axis Varia-
bles.
¡: Access possible, Í: Access not possible

Axis Variable for motion control 1 Axis Variable for motion control 2
Task type
User defined*1 System defined*2 User defined*1 System defined*3
Primary periodic task ¡ ¡ ¡*4 Í
Priority-5 periodic task ¡*5 Í ¡ ¡
Priority-16 periodic task ¡*5 ¡*6 ¡*4 Í
Priority-17 or priority-18 periodic
¡*5 ¡*7 ¡*4 ¡*8
task
Priority-8 or priority-48 event task ¡*5 ¡*7 ¡*4 ¡*8
*1. The user-defined Axis Variables, such as MC_Axis000 and Loader1, that are automatically generated when
you create the axes on the Sysmac Studio. We recommend that you use the user-defined Axis Variables.
*2. _MC_AX[*] or _MC1_AX[*]
*3. _MC2_AX[*]
*4. The Axis Variable for axis 1 is processed every task period of the priority-5 periodic task.
*5. The Axis Variable for axis 1 is processed every primary task period.
*6. The Axis Variables for the maximum number of axes are processed every primary task period. It is not rec-
ommended because the task execution time of the primary periodic task is increased.
*7. The Axis Variables for the maximum number of axes are processed every primary task period.
*8. The Axis Variables for the maximum number of axes are processed every task period of the priority-5 peri-
odic task.

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 3 Configuring Axes and Axes Groups

3-1-5 Specifying an Axis in the User Program

In the user program, an Axis Variable name is specified for the in-out variable Axis in motion control
instructions.
In the following example, the Axis Variable name for the axis that was added for the system-defined
Axis Variable name of _MC_AX[0] has been changed to MyAxis1 in the Sysmac Studio.

In-out variable Axis

Specify an Axis
MC_Power_instance
Variable name. MC_Power

3-1 Axes
MyAxis1 Axis Axis MyAxis1
Enable Status MyAxis1OnStatus
ServoOn Busy MyAxis1OnBusy
Error MyAxis1OnError
ErrorID MyAxis1OnErrorID 3

3-1-5 Specifying an Axis in the User Program

You can also use the _MC_AX[0] system-defined variable in place of MyAxis1.

Refer to 6-2 Motion Control Instructions on page 6-5 for details on motion control instructions.

Refer to the instruction descriptions in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508) for details on motion control instructions.

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3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

This section gives the procedures to set servo axes that are newly created with the Sysmac Studio.

3-2-1 Axis Configuration Procedure

START

Create a project.

Create the EtherCAT Network Configuration.

Add axes.

Assign the axes.

Set the axis parameters.

Go online and synchronize the data.

Transfer the project to the Controller.

END

3-2-2 Setting Procedure

This section describes how to set an axis.

Starting the Sysmac Studio

1 Start the Sysmac Studio and click the New Project Button.

2 Set the project properties, select the device, and click the Create Button.

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 3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

A new project is displayed.
3

3-2-2 Setting Procedure

Creating the EtherCAT Network Configuration
There are two methods to create an EtherCAT Network Configuration: online and offline.

 Online Method

1 Double-click EtherCAT in the Multiview Explorer.

The EtherCAT Tab Page is displayed.

2 Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

3 Right-click the Master Icon in the EtherCAT Tab Page and select Compare and Merge with
Actual Network Configuration from the menu.

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3 Configuring Axes and Axes Groups

When obtaining the information is completed, the physical slave configuration of the EtherCAT
slaves is displayed.
Right-click the displayed physical configuration and select Apply actual network configuration.

 Offline Method

1 Double-click EtherCAT in the Multiview Explorer.

The EtherCAT Tab Page is displayed.

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 3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

3

3-2-2 Setting Procedure

2 Right-click the slave to connect and select Insert from the menu.

The slave is inserted on the display.

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3 Configuring Axes and Axes Groups

3 Insert the remaining slaves.

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 3 Configuring Axes and Axes Groups

Adding Axes

1 Right-click Axis Settings in the Multiview Explorer and select Motion Control Axis or Single-
axis Position Control Axis from the Add Menu.

3-2 Axis Setting Procedure

Additional Information

• Single-axis Position Control Axis is displayed for the NX102 CPU Unit and NX1P2 CPU
Unit.
• Refer to Control Function on page 5-11 for details on the differences between Motion
Control Axis and Single-axis Position Control Axis.

3-2-2 Setting Procedure

An axis is added to the Multiview Explorer. The default name for the new axis is MC_Axis000.

Additional Information

Changing Axis Variable Names in the User Program

Perform the following two procedures to change Axis Variable names that are already used.
• Change the Axis Variable name in the variable table in the variable declarations.
• Change the Axis Variable name in the user program.
Even if you change the Axis Variable names in the variable table, the Axis Variable names in
the user program do not change.
An error will occur if you use a variable name that is not declared in the variable table, in the
user program. Always change the names in both places.

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3 Configuring Axes and Axes Groups

 Copying an Axis
You can also add an axis by copying the axis settings for an existing axis.

Assigning an Axis

1 Right-click an axis in the Multiview Explorer and select Edit from the menu.

The Axis Basic Settings are displayed in the Axis Parameter Settings Tab Page.

Additional Information

Control Function is displayed for the NX102 CPU Unit and NX1P2 CPU Unit.

2 Select Primary periodic task or Priority-5 periodic task from Motion control.

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 3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

Additional Information

The setting is available for the NX701 CPU Unit.

3 Select Servo axis in the Axis type.

3-2-2 Setting Procedure

4 Select All in the Control Function.

Additional Information

• You can select this parameter for the NX102 CPU Unit and NX1P2 CPU Unit.
• To use the axis as a motion control axis, select All. To use the axis as a single-axis position
control axis, select Single-axis position control only.

5 Select the Servo Drive to use.

Select the Servo Drive to use in Output device 1.
This setting allows you to use the EtherCAT slave Servo Drive as an axis.

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3 Configuring Axes and Axes Groups

Setting Axis Parameters

Click each of the icons in the Axis Parameter Settings Tab Page.
The settings for each icon are displayed on the Axis Parameter Settings Tab Page.

Right-click Axis Settings in the Multiview Explorer and select Axis Setting Table to enable setting the
axis parameters for all axes at the same time.

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 3 Configuring Axes and Axes Groups

3-2 Axis Setting Procedure

3

3-2-2 Setting Procedure

Precautions for Correct Use

When making operation settings such as the display unit, electronic gear (unit conversion for-
mula), maximum velocity, or maximum acceleration/deceleration, be sure to use appropriate
values for the operating conditions of the device.

Additional Information

Changing Axis Variable Names in the User Program

Perform the following two procedures to change Axis Variable names that are already used.
• Change the Axis Variable name in the variable table in the variable declarations.
• Change the Axis Variable name in the user program.
Even if you change the Axis Variable names in the variable table, the Axis Variable names in
the user program do not change.
An error will occur if you use a variable name that is not declared in the variable table, in the
user program. Always change the names in both places.

Downloading to the CPU Unit

Use the Synchronization menu command of the Sysmac Studio to download the project to the NJ/NX-
series CPU Unit.

1 Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

2 Select Synchronization from the Controller Menu and then click the Transfer to Controller
Button.

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3 Configuring Axes and Axes Groups

Additional Information

The MC Function Module connects to OMRON 1S-series Servo Drives with built-in EtherCAT
communications, G5-series Servo Drives with built-in EtherCAT communications, or NX-series
Pulse Output Units.
Connectable Servo Drive Models
• You can connect the R88D-1SN£££-ECT, R88D-1SAN£££-ECT, R88D-KN£££-ECT,
and R88D-KN£££-ECT-L Servo Drives.
• The R88D-KN£££-ECT-R Servo Drives support only Position Control Mode (Cyclic Syn-
chronous Position Control Mode). Therefore, any functions that use Velocity Control Mode
(Cyclic Synchronous Velocity Control Mode) or Torque Control Mode (Cyclic Synchronous
Torque Control Mode) cannot be used.
Servo Drive Settings
• The MC Function Module uses some of the input signals and functions of the Servo Drives.
Servo Drive signal wiring and object setting are required to use the MC Function Module
properly.
Refer to A-1 Connecting the 1S-series Servo Drive on page A-2 or A-2 Connecting the G5-
series Servo Drive on page A-11 for specific settings.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the settings
to use NX-series Pulse Output Units.

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 3 Configuring Axes and Axes Groups

3-3 Axes Groups

This section describes the axes groups of the MC Function Module.

3-3-1 Introduction to Axes Groups

3-3 Axes Groups

Use axes groups to perform complex operations on multiple axes, such as linear or circular interpola-
tion.
An axes group consists of multiple axes.
Use the Sysmac Studio to set Axes Group Variables to enable execution of axes group motion control
instructions or to enable access of the status of the axes group.
The MC Function Module can handle up to 64 groups.
The specifications for axes groups are shown in the following table. 3
Specifications

3-3-1 Introduction to Axes Groups

Item
NX701 NX102 NX1P2 NJ-series
Number of axes groups 64 groups max. 8 groups max. 8 groups max. 32 groups max.
Number of composition axes 4 axes max. per axes group

The following elements are related to the axes groups of the MC Function Module.

Configuration ele-
Description Page
ment
Axes group parameters The axes group parameters set the maximum interpolation velocity, page 3-21
maximum interpolation acceleration/deceleration, and other items for the
axes groups controlled by the MC Function Module.
Use the Sysmac Studio to set the axes group parameters.
Axes Group Variables Axes Group Variables are system-defined variables that include a por- page 3-22
tion of the axes group parameters as well as the command interpolation
velocity, error information, and other monitor information for the axes
groups controlled by the MC Function Module.
Axes Group Variables are created when you add an axes group from the
Multiview Explorer of the Sysmac Studio. The names of the Axes Group
Variables (called the Axes Group Variable names) are set here.
Specifying axes groups In the user program, motion control is implemented with motion control page 3-24
in the user program instructions. Motion control instructions that perform multi-axes coordi-
nated control are called axes group commands.
To control an axes group with axes group commands, specify the axes
group variable name of the system-defined variable or the axes group
variable name that was set with the Sysmac Studio for the AxesGroup
in-out variable of the instruction.

Precautions for Correct Use

Do not configure an axes group with axes on the EtherCAT network and axes on the CPU Unit.
The timing of commands may not be synchronized because the synchronization between the
networks is not performed. This may result in unintended operation.

3-3-2 Introduction to Axes Group Parameters

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3 Configuring Axes and Axes Groups

 Axes Group Parameters

Classification Parameter name
Axes Group Basic Settings Axes Group Number
Motion Control*1
Axes Group Use
Composition
Composition Axes
Axes Group Operation Settings Maximum Interpolation Velocity
Maximum Interpolation Acceleration
Maximum Interpolation Deceleration
Interpolation Acceleration/Deceleration Over
Interpolation Velocity Warning Value
Interpolation Acceleration Warning Value
Interpolation Deceleration Warning Value
Axes Group Stop Method
Correction Allowance Ratio
*1. Set this parameter when using the NX701 CPU Unit.

Refer to 5-3 Axes Group Parameters on page 5-34 for details on axes group parameters.

 Settings Required to Use an Axes Group

The following settings must be made to use the axes groups that are created with the Sysmac Stu-
dio.

Classification Parameter name Setting Page

Axes Group Basic Axes Group Num- Axes group numbers are automatically set in the or- page
Settings ber der that the axes groups are created. 5-35
Motion Control*1 Select Primary periodic task.
Axes Group Use Select Use.
Composition Select the axis composition to control.
Composition Axes This parameter sets the axes to assign to the axes
group.
*1. Set this parameter when using the NX701 CPU Unit.

Precautions for Correct Use

• Set appropriate values for the maximum interpolation velocity, stop method, and other items
based on the operating conditions.
• An axis for which Control Function is set to Single-axis position control only cannot be
allocated as an axis in an axes group.

3-3-3 Introduction to Axes Group Variables

Axes Group Variables are system-defined variables for the setting information and the monitoring in-
formation, such as the actual position and error information, for the axes groups controlled by the MC
Function Module.
When you create axes groups with the Sysmac Studio, Axes Group Variables are registered in the var-
iable table in the order that the axes groups are created. Axes Group Variables are structures with a
data type of _sGROUP_REF.

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 3 Configuring Axes and Axes Groups

Axes Group Variable Names

Each Axes Group Variable in the MC Function Module has two variable names: The Axes Group Vari-
able name in the system-defined variables and the Axes Group Variable that is assigned when the ax-
es group is added on the Sysmac Studio.
The Axes Group Variable names in the system-defined variables are _MC_GRP[0] to _MC_GRP[63],
_MC1_GRP[0] to _MC1_GRP[63], _MC2_GRP[0] to _MC2_GRP[63].

3-3 Axes Groups

When you add axes groups on the Sysmac Studio, MC_Group000 to MC_Group063 are set by default
for _MC_GRP[0] to _MC_GRP[63].
The numbers are assigned in the order that the axes are added. You can change each of these Axes
Group Variable names as required from the Sysmac Studio.
You can use either the Axes Group Variable names for the system-defined variables or the Axes
Group Variable names that are set on the Sysmac Studio to specify the Axes Group Variables in the
user program.
3

 Example When _MC_GRP[0-63] Is Used

3-3-3 Introduction to Axes Group Variables

Axes Group Variable name in the sys-
Default Axes Group Variable
tem-defined variables Axes group number ex-
name when axes group is add-
(AT specification in global variable ta- ample
ed on Sysmac Studio
ble*1)
_MC_GRP[0] MC_Group000 Axes group 0
_MC_GRP[1] MC_Group001 Axes group 1
: : :
_MC_GRP[63] MC_Group063 Axes group 63
*1. An error will occur if you change the names in the AT column in the global variable table on the Sysmac
Studio.

Additional Information

• _MC_GRP[0-63], _MC1_GRP[0-63], and _MC2_GRP[0-63] are available for the NX701 CPU
Unit.
Only _MC_GRP[0-7] is available for the NX102 CPU Unit and NX1P2 CPU Unit.
Only _MC_GRP[0-31] is available for the NJ-series CPU Unit.
• For the NX701 CPU Unit, you can access the same values of _MC_GRP[0-63] and
_MC1_GRP[0-63] if the axes group numbers of them are the same. You can use either of the
Axes Group Variables, or both of them at the same time.
• The Axes Group Variable assigned to primary periodic task is _MC_GRP[0-63] or
_MC1_GRP[0-63].
The Axes Group Variable assigned to priority-5 periodic task is _MC2_GRP[0-63].

Examples of Axes Group Variable Levels and Changing Axes

Group Variable Names
In the descriptions below, _MC_GRP[0] is used as an example. The same information applies to the
other axes group variables.

_MC_GRP[0] Axes Group Variable

_MC_GRP[0].Status Level that indicates the axes group status
:
_MC_GRP[0].Cmd Level that indicates the axes group command values

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3 Configuring Axes and Axes Groups

_MC_GRP[0].Cmd.Vel Variable that indicates the command interpolation velocity

_MC_GRP[0].Cmd.AccDec Variable that indicates the command interpolation acceleration/
deceleration rate
:
_MC_GRP[0].Cfg Level that indicates the axes group basic settings
_MC_GRP[0].Cfg.GrNo Variable that indicates the axes group number
_MC_GRP[0].Cfg.GrEnable Variable that indicates when the axes group is enabled
_MC_GRP[0].Kinematics Level that indicates the kinematics transformation settings
_MC_GRP[0].Kinematics.GrType Variable that indicates the axis composition
_MC_GRP[0].Kinematics.Axis[0] Variable that indicates the axis A0 composition axis
:
_MC_GRP[0].Kinematics.Axis[3] Variable that indicates the axis A3 composition axis
_MC_GRP[1] Axes Group Variable
:

 Example:
If MC_Group000 is changed to MyGroup1, then either MyGroup1.Cmd.Vel or
_MC_GRP[0].Cmd.Vel can be used as the variable that indicates the command interpolation veloci-
ty.

Refer to Axes Group Variables on page 6-33 for details on Axes Group Variables.

3-3-4 Specifying an Axes Group in the User Program

In the user program, an axes group variable name is specified for the in-out variable AxesGroup in
motion control instructions.
In the following example, the Axes Group Variable name for the axes group that was added for the
system-defined Axes Group Variable name of _MC_GRP[0] has been changed to MyGroup1 in the
Sysmac Studio.

In-out variable AxesGroup

MC_MoveLinear_instance
Specify an Axes
Group Variable MC_MoveLinear
name. MyGroup1 AxesGroup AxesGroup MyGroup1
Execute Done MyGroup1OnDone
MovLStart Position Busy MyGroup1OnBusy
Velocity Active MyGroup1OnActive
Acceleration CommandAborted MyGroup1OnCA
Deceleration Error MyGroup1OnError
Jerk ErrorID MyGroup1OnErrorID
CoordSystem
BufferMode
TransitionMode
MoveMode

You can also use the _MC_GRP[0] system-defined variable in place of MyGroup1.

Refer to 6-2 Motion Control Instructions on page 6-5 for details on motion control instructions.

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 3 Configuring Axes and Axes Groups

Refer to the instruction descriptions in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508) for details on motion control instructions.

3-3 Axes Groups

3

3-3-4 Specifying an Axes Group in the User Program

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3 Configuring Axes and Axes Groups

3-4 Setting Procedures for Axes Groups

This section gives the procedures to use the Sysmac Studio to set up an axes group.
No configuration is required if you are not going to use any axes group command instructions, such as
linear interpolation or circular interpolation.

3-4-1 Setting Procedure for an Axes Group

START

Start the Sysmac Studio.

Add an axes group.

Set the axes group parameters.

Go online and synchronize the data.

Transfer the project to the Controller.

END

3-4-2 Setting Procedure

This section gives the procedures to use the Sysmac Studio to set up an axes group in a project that
already contains the axes.

Starting the Sysmac Studio

Start the Sysmac Studio and open the project.

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 3 Configuring Axes and Axes Groups

Adding an Axes Group

3-4 Setting Procedures for Axes Groups

Right-click Axes Group Settings in the Multiview Explorer and select Axes Group Settings from the
Add Menu.

3-4-2 Setting Procedure

An axes group is added to the Multiview Explorer.
The default name for the new axes group is MC_Group000.

 Copying an Axes Group

You can also create an axes group by copying an axes group from a project.

Setting Axes Group Parameters

1 Right-click an axes group in the Multiview Explorer and select Edit from the menu.

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3 Configuring Axes and Axes Groups

The Axes Group Basic Settings are displayed in the Axes Group Parameter Settings Tab
Page.

2 Select Primary periodic task or Priority-5 periodic task from Motion Control.

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 3 Configuring Axes and Axes Groups

Additional Information

3-4 Setting Procedures for Axes Groups

The setting is available for the NX701 CPU Unit.

3 Select Used axes group in the Axes group use Box.

3-4-2 Setting Procedure

4 Select the composition of the axes group in the Composition Box. A 2-axis composition is se-
lected in the following example.

5 Assign the axis to use in the Logical axes Box.

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3 Configuring Axes and Axes Groups

6 Click the bottom icon. The Axes Group Operation Settings Display is displayed.
Set appropriate values for the settings based on the operating conditions of the device.

Additional Information

Changing Axes Group Variable Names in the User Program

Perform the following two procedures to change Axes Group Variable names that are already
used.
• Change the Axes Group Variable name in the variable table in the variable declarations.
• Change the Axes Group Variable name in the user program.
Even if you change the Axes Group Variable names in the variable table, the Axes Group Varia-
ble names in the user program do not change.
An error will occur if you use a variable name that is not declared in the variable table, in the
user program. Always change the names in both places.

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 3 Configuring Axes and Axes Groups

Downloading to the CPU Unit

3-4 Setting Procedures for Axes Groups

Use the Synchronization menu command of the Sysmac Studio to download the project to the NJ/NX-
series CPU Unit.

1 Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

2 Select Synchronization from the Controller Menu and then click the Transfer to Controller
Button.

3-4-2 Setting Procedure

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3 Configuring Axes and Axes Groups

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 4
Checking Wiring from the Sysmac
Studio
This section describes the MC Test Run function of the Sysmac Studio. You can use
the MC Test Run function to monitor sensor signals and check motor wiring without
any programming. 4

4-1 MC Test Run Function ................................................................................... 4-2

4-1-1 List of MC Test Run Functions ........................................................................ 4-2
4-1-2 Application Procedure ..................................................................................... 4-3
4-1-3 Axis Parameter Setting Example..................................................................... 4-4
4-1-4 Starting the MC Test Run Function ................................................................. 4-5
4-2 Monitoring Sensor Signals............................................................................ 4-7
4-3 Checking Motor Operation ............................................................................ 4-8
4-3-1 Turning ON the Servo...................................................................................... 4-8
4-3-2 Jogging............................................................................................................ 4-9
4-3-3 Homing ............................................................................................................ 4-9
4-3-4 Absolute Positioning...................................................................................... 4-10
4-3-5 Relative Positioning........................................................................................4-11

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4 Checking Wiring from the Sysmac Studio

4-1 MC Test Run Function

This section describes how to use the MC Test Run function to check wiring and basic settings.
You can use the MC Test Run function in the Sysmac Studio to check wiring without any programming.

Precautions for Correct Use

You can use the MC Test Run function for OMRON 1S-series Servo Drives, G5-series Servo
Drives, or NX-series Pulse Output Units. Do not use it with servo drives from any other manu-
facturer.

Additional Information

• Refer to A-1 Connecting the 1S-series Servo Drive on page A-2 for the procedure to con-
nect to the OMRON 1S-series Servo Drive.
• Refer to A-2 Connecting the G5-series Servo Drive on page A-11 for the procedure to con-
nect to the OMRON G5-series Servo Drive.

4-1-1 List of MC Test Run Functions

The MC Test Run function supports the following functions.
You can check the wiring of sensors for monitoring and the operations of Servo ON, jogging, and hom-
ing for axis operation to check the wiring between the CPU Unit and Servo Drives.

Catego-
Function Description Setting/monitor item
ry
Axis op- Servo ON/OFF The Servo is turned ON and OFF. ---
eration
Jogging Jogging is performed in the positive or Target Velocity
negative direction. Acceleration/Deceleration
Homing Homing is performed using the homing Homing Parameters
parameter settings.
Absolute positioning Absolute positioning is performed. *1 Target Position
Target Velocity
Acceleration/Deceleration
Jerk
Relative positioning Relative positioning is performed. Travel Distance
Target Velocity
Acceleration/Deceleration
Jerk
Deceleration stop A deceleration stop is performed during ---
the MC Test Run.
Resetting errors The errors in the MC Function Module ---
are reset.
Monitor- Servo Drive status The status of the Servo Drive is moni- Servo ON/OFF
ing tored. Servo Ready
Main Power

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 4 Checking Wiring from the Sysmac Studio

Catego-
Function Description Setting/monitor item
ry
Input signals The status of the input signals are Positive Limit Input/Negative Limit
monitored. Input
Immediate Stop Input
Home Proximity Input
Home Input
External Latch Inputs 1 to 2
Actual position The actual position is monitored. Command and Actual Current Posi-

4-1 MC Test Run Function

monitor tions
Actual velocity mon- The actual velocity is monitored. Command and Actual Current Ve-
itor locities
Axis status The status of the axes is monitored. Axis Ready-to-execute
Standstill
Discrete Motion
Continuous Motion
Homing
Deceleration Stopping
Home Defined 4
In Home Position
Error list The errors in the MC Function Module MC Common Errors

4-1-2 Application Procedure

are monitored. Axis Errors
Axes Group Errors
*1. When the Count Mode of the axis is set to Rotary Mode, positioning is performed toward the target posi-
tion in the positive direction.
For details, refer to the MC_MoveAbsolute (Absolute Positioning) instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).

4-1-2 Application Procedure

Before you perform an MC Test Run, check the following two items.
• Are the Sysmac Studio and Controller connected and are they online?
• Is the MC Test Run Mode currently not in use from any other copy of the Sysmac Studio?

After you have confirmed these two items, perform the following operations as instructed.

START

Setup Create the EtherCAT slave configuration, add axes,

assign the axes, and set the axis parameters. *1

Starting the MC Start the MC test run function. *2

test run function

Checking wiring Confirm sensor wiring.

Checking motor
operation Use jogging to check the direction of the motor.

Checking electronic
gear settings Perform relative positioning to check the travel distance.

Confirming homing Perform homing to check the homing operation.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 4-3

4 Checking Wiring from the Sysmac Studio

*1. Refer to Section 3 Configuring Axes and Axes Groups on page 3-1.
*2. Refer to 4-1-4 Starting the MC Test Run Function on page 4-5.

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.
Always confirm that it is safe for the Servomotor to operate before executing any of these op-
erations.
• When you operate the Controller from the Sysmac Studio, always install external emergency
circuits so that the Servomotor can be stopped safely whenever necessary. The Sysmac Stu-
dio may not be able to send commands under some circumstances, e.g., if an error occurs in
the computer.
• Set the EtherCAT communications and establish communications before you attempt to per-
form operation from the Sysmac Studio.
• Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the proce-
dures for the NX-series Position Interface Units.

Additional Information

You can perform the following operations to end the MC Test Run function at any time.
• Select MC Test Run − Stop from the Controller Menu of the Sysmac Studio.
• Right-click the axis in the Multiview Explorer of the Sysmac Studio and select Stop MC Test
Run from the menu.
• Close the MC Test Run Tab Page on the Sysmac Studio.
• Exit the Sysmac Studio.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

4-1-3 Axis Parameter Setting Example

Set the following axis parameters before you execute the MC Test Run Mode in the Sysmac Studio.
The following setting example is for a one-axis device.

Servomotor
Encoder resolution: 20 bits/rotation
1 rotation
10mm Ball screw
Ball screw pitch: 10 mm

Encoder Output Pulse Count per Motor Rotation

20 bits = 1,048,576

Parameter name Setting

Axis Variable Name Axis1*1
Axis Number 1*2
Axis Use Used axis
Axis Type Servo axis
Input Device/Output Device 1*3
Unit of Display μm
Command Pulse Count Per Motor Rotation 1,048,576*4

4-4 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 4 Checking Wiring from the Sysmac Studio

Parameter name Setting

Work Travel Distance Per Motor Rotation 10,000*4
Maximum Velocity 500,000*5
Maximum Jog Velocity 50,000*6
Maximum Acceleration 5,000,000*7
Maximum Deceleration 5,000,000*7
Software Limits Immediate stop for command position

4-1 MC Test Run Function

Positive Software Limit 500,000*8
Negative Software Limit 0*8
Count Mode Linear Mode
*1. If there is more than one axis, a different variable name is set for each axis.
*2. If there is more than one axis, a different value is set for each axis.
*3. Set the same node address as for the Servo Drive. If there is more than one axis, a different value is set for
each axis.
*4. The position command unit will be 1 μm.
*5. The maximum velocity will be 3,000 r/min = 30 m/min = 0.5 m/s = 500,000 μm/s.
*6. The maximum jog velocity will be 10% of the maximum velocity, i.e., 0.05 m/s = 50,000 μm/s. 4
*7. The maximum acceleration and the maximum deceleration will be 5 m/s2. The acceleration time to the maxi-

4-1-4 Starting the MC Test Run Function

mum velocity (3,000 r/min) will be 0.1 s.
*8. Set a positioning that is within the movable range of the device. The positive software limit is set to 50 cm =
500,000 μm.

4-1-4 Starting the MC Test Run Function

The MC Test Run Mode is started from the Sysmac Studio.

1 Start the Sysmac Studio and open a project in which the axis settings are completed.

2 Select Online from the Controller Menu. The Sysmac Studio goes online with the Controller.

3 Select MC Test Run − Start from the Controller Menu.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 4-5

4 Checking Wiring from the Sysmac Studio

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.

4-6 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 4 Checking Wiring from the Sysmac Studio

4-2 Monitoring Sensor Signals

You can use the input signal display to check sensor signal wiring.

1 Select the axis to check on the MC Test Run Tab Page.

4-2 Monitoring Sensor Signals

4

2 Check to see if the signals turn ON and OFF properly on the monitor screen by turning ON and
OFF the sensor connected to each input signal.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 4-7

4 Checking Wiring from the Sysmac Studio

4-3 Checking Motor Operation

Use the functions of the MC Test Run to check motor operation.

4-3-1 Turning ON the Servo

You can use the Servo ON Button to turn the Servo ON and OFF.

1 Select the axis for which to turn ON the Servo.

2 Click the Servo ON Button to turn ON the Servo.

3 Click the Servo OFF Button to turn OFF the Servo.

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.
Always confirm that it is safe for the Servomotor to operate before executing any of these op-
erations.
• When you operate the Controller from the Sysmac Studio, always install external emergency
circuits so that the Servomotor can be stopped safely whenever necessary. The Sysmac Stu-
dio may not be able to send commands under some circumstances, e.g., if an error occurs in
the computer.
• Set the EtherCAT communications and establish communications before you attempt to per-
form operation from the Sysmac Studio.
• If you use an NX-series Pulse Output Unit, you must provide a separate means to turn the
power supply to the motor drive ON and OFF. Refer to the NX-series Position Interface Units
User’s Manual (Cat. No. W524) for details.

4-8 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 4 Checking Wiring from the Sysmac Studio

4-3-2 Jogging

1 Select the axis to jog on the Jogging Tab Page of the MC Test Run Tab Page.

2 Click the Servo ON Button to turn ON the Servo.

3 Enter the target velocity, acceleration rate, and deceleration rate, and then press the Apply

4-3 Checking Motor Operation

Button.

4 Click the or Button.

The motor will operate in either the positive or negative direction while one of these buttons is
clicked.
Check to see if the motor operates in the set direction.

4
4-3-3 Homing

4-3-2 Jogging
To perform homing with the MC Test Run function, you must make the Homing Settings for axis pa-
rameters.
For details on homing, refer to Section 8 Homing on page 8-1 and 5-2-9 Homing Settings on page
5-29.

1 Set the homing parameters in the Homing Settings on the Axis Parameter Settings Tab Page.

2 Click the Homing Tab on the MC Test Run Tab Page.

The following dialog box is displayed.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 4-9

4 Checking Wiring from the Sysmac Studio

3 Select the axis to home.

4 Click the Servo ON Button to turn ON the Servo.

5 Click the Apply homing parameters Button.

6 Click the Button.

Check to see if the homing operation agrees with the settings.

Additional Information

• When you click the Homing Settings Button, the Homing Settings are displayed on the
Axis Parameter Settings Tab Page. Set the homing parameters.
• If the homing parameters were set in advance, click the Apply homing parameters Button
to apply those settings.

4-3-4 Absolute Positioning

1 Click the Absolute positioning Tab on the MC Test Run Tab Page.
The following dialog box will appear.

4-10 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 4 Checking Wiring from the Sysmac Studio

4-3 Checking Motor Operation

4

4-3-5 Relative Positioning

2 Select the axis to perform absolute positioning.

3 Click the Servo ON Button to turn ON the Servo.

4 Enter the target position, target velocity, acceleration rate, deceleration rate, and jerk, and then
click the Apply Button.

5 Click the Button. Absolute positioning will start.

Check to see if positioning agrees with the settings.

4-3-5 Relative Positioning

1 Click the Relative positioning Tab on the MC Test Run Tab Page.
The following dialog box will appear.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 4-11

4 Checking Wiring from the Sysmac Studio

2 Select the axis to perform relative positioning.

3 Click the Servo ON Button to turn ON the Servo.

4 Enter the target travel distance, target velocity, acceleration rate, deceleration rate, and jerk,
and then click the Apply Button.

5 Click the Button. Relative positioning will start.

Check to see if the travel distance agrees with the settings.

4-12 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 5
Motion Control Parameters
This section explains about axis parameters and axes group parameters used for mo-
tion control.

5-1 Introduction .................................................................................................... 5-2 5

5-2 Axis Parameters ............................................................................................. 5-5
5-2-1 Axis Parameters .............................................................................................. 5-5
5-2-2 Axis Basic Settings.......................................................................................... 5-8
5-2-3 Unit Conversion Settings............................................................................... 5-13
5-2-4 Operation Settings......................................................................................... 5-21
5-2-5 Other Operation Settings............................................................................... 5-24
5-2-6 Limit Settings................................................................................................. 5-25
5-2-7 Position Count Settings ................................................................................. 5-26
5-2-8 Servo Drive Settings...................................................................................... 5-28
5-2-9 Homing Settings ............................................................................................ 5-29
5-2-10 Axis Parameter Setting Example................................................................... 5-31
5-3 Axes Group Parameters .............................................................................. 5-34
5-3-1 Axes Group Parameters................................................................................ 5-34
5-3-2 Axes Group Basic Settings............................................................................ 5-35
5-3-3 Axes Group Operation Settings..................................................................... 5-37
5-3-4 Enabling an Axes Group ............................................................................... 5-38

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 5-1

5 Motion Control Parameters

5-1 Introduction
You can use motion control instructions to perform single-axis operations and multi-axes operations on
axes groups with the NJ/NX-series CPU Unit’s MC Function Module.
Axis and axes group parameters are used to set these operations.
Axis parameters must be set, but axes group parameters are not required if you do not use multi-axes
operations for axes groups.

These parameters are called motion control parameter settings (MC parameter settings).

Sysmac Studio

CPU Unit

ID211
AD042
RUN
ERC
ERH
B1 A1
0
1
2
3 MACH 78

9 01
456
No.
4 x10 1
23

5
78
6 9 01
456

0
x10
23
7
8
9
10
11
12
13
14
15
COM

DC24V
7mA

Downloaded.*1

Non-volatile memory • After the setting Main memory Temporary User program
are downloaded changes to some
parameters MC_Write instruction
• When power is or other instructions
MC common parameter settings*2 MC common parameter settings*2
turned ON
Axis parameter settings Axis parameter settings MC_WriteAxisP
Temporarily arameter/MC_R
Axes group parameter settings Axes group parameter settings changes/reads to
eadAxisParame
Uploaded.*1 some axis ter instruction*3
parameter settings
Data movement or
Accessing some other instructions
parameters as
variables

*1. Use the Synchronization menu command of the Sysmac Studio to upload and download the project.
*2. There are no MC Common Parameter Settings for the current version of the MC Function Module.
*3. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use the
MC_WriteAxisParameter (Write Axis Parameters) and MC_ReadAxisParameter (Read Axis Parameters) in-
structions.

Data Flow for Setting MC Parameters

• Download your MC Parameter Settings to the CPU Unit using the Sysmac Studio to save those set-
tings in the CPU Unit's non-volatile memory.
When you upload the MC Parameter Settings to the Sysmac Studio, the MC Parameter Settings
that were saved in the non-volatile memory are uploaded.
• The settings that were saved in the non-volatile memory are applied to the main memory after you
download them or when the power is turned ON.
• If there are no problems with the saved settings, the MC Function Module executes control based
on the settings in the main memory.
• The settings of some of the parameters can be accessed as system-defined variables for motion
control.
• You can upload and download MC parameter settings regardless of the CPU Unit mode or the sta-
tus of the MC Function Module.
• When you start the download process, all axes in motion will stop immediately.

5-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 5 Motion Control Parameters

Version Information

If a CPU Unit with unit version 1.13 or later and Sysmac Studio version 1.17 or higher are com-
bined, commands to the I/O devices can continuously be sent even when the download process
is in progress.
For the CPU Unit with unit version 1.12 or earlier, sending commands to the I/O devices is stop-
ped when the download process is executed.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for how to set to
stop or continue sending commands to the I/O devices when the download process starts.
Stopping sending commands to I/O devices
Servo is turned OFF during the download, and the axis status will be Disable (Axis Disa-
bled).
Continuing sending commands to I/O devices
The following status immediately before downloading is maintained during the download: the
Servo ON state for the MC_Power instruction and the output torque limit for the MC_SetTor-
queLimit instruction.
The Servo ON state and torque limit are maintained even if the MC_Power and MC_SetTor-

5-1 Introduction
queLimit instructions are deleted from the user program after the program is updated by
downloading.

Overwriting MC Parameters with Programming Instructions

• You can use motion control instructions like the MC_Write (Write MC Setting), MC_ChangeAxe- 5
sInGroup (Change Axes in Group) or MC_WriteAxisParameter (Write Axis Parameters) instruction
to change the settings of some of the MC parameters in the main memory while the user program is
running.
• If the specified set value is outside the valid range, the Error output variable from the instruction
changes to TRUE and the MC parameter setting is not changed.
• Changes to MC parameter settings become valid in either of the following two situations.
a) The axis or axes group is stopped and you execute an instruction for an axis command or axes
group command.
b) You set the Buffer Mode Selection for the instruction to Aborting and execute more than one in-
struction.
• For details on MC_Write (Write MC Setting), MC_ChangeAxesInGroup (Change Axes in Group),
MC_WriteAxisParameter (Write Axis Parameters) and other instructions, refer to the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 5-3

5 Motion Control Parameters

Precautions for Correct Use

• Changes to the MC Parameter Settings that are made with the MC_Write (Write MC Setting)
instruction are saved in the main memory in the CPU Unit. They are not saved in the built-in
non-volatile memory in the CPU Unit.
Therefore, if you cycle the power supply or download the settings from the Sysmac Studio,
the parameter settings in the non-volatile memory are restored. Also, you cannot upload the
data in the main memory from the Sysmac Studio.
If you need to save settings to the non-volatile memory, use the Sysmac Studio to change the
parameter settings and then download those settings to the CPU Unit .
• To maintain the MC_Power (Power Servo) and MC_SetTorqueLimit instructions after down-
loading, set Retain attribute of the input bits for the instructions to Retain.
• You can use the following instructions to change the settings of the MC parameters.
MC_Write (Write MC Setting) instruction
MC_ChangeAxesInGroup (Change Axes in Group) instruction
MC_ChangeAxisUse (Change Axis Use) instruction
MC_WriteAxisParameter (Write Axis Parameters) instruction
• Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information
on using the NX-series Position Interface Units.

5-4 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 5 Motion Control Parameters

5-2 Axis Parameters

The axis parameters set the maximum velocity, jerk, homing, and other items for the axes controlled
by the MC Function Module.
The number of axis parameters provided is the same as the maximum number of controlled axes for
each model. The maximum number of controlled axes varies depending on the model.
Refer to 1-4-2 Performance Specifications on page 1-7 for details.
The same parameter settings are provided for each axis. This section describes only the parameters
for axis 1.

5-2-1 Axis Parameters

5-2 Axis Parameters

Use the Sysmac Studio to set the axis parameters for each axis.

Temporary changes*1
Reading
Classification Parameter name Sup- Page
Applicable instruction variables*2
port
Axis Basic Axis Number OK page 5-8
Settings
5
Motion Control*3 OK*4
Axis Use OK*5 MC_ChangeAxisUse OK

5-2-1 Axis Parameters

Axis Type OK
Control Function*6
Input Device/Output Device OK
Unit Conver- Unit of Display OK*7 MC_WriteAxisParameter*8 OK page 5-13
sion Settings Command Pulse Count Per Motor OK
Rotation
Work Travel Distance Per Motor OK
Rotation
Reducer Use*9
Work Travel Distance Per Rota-
tion*9
Work Gear Ratio*9
Motor Gear Ratio*9

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 5-5

5 Motion Control Parameters

Temporary changes*1
Reading
Classification Parameter name Sup- Page
Applicable instruction variables*2
port
Operation Set- Maximum Velocity OK*7 MC_WriteAxisParameter*8 page 5-21
tings Start Velocity*10
Maximum Jog Velocity
Maximum Acceleration
Maximum Deceleration
Acceleration/Deceleration Over
Operation Selection at Reversing
Velocity Warning Value OK MC_Write
Acceleration Warning Value MC_WriteAxisParameter*8
Deceleration Warning Value
Positive Torque Warning Value*11
Negative Torque Warning Value*11
In-position Range OK
*12

In-position Check Time OK

Actual Velocity Filter Time Constant OK*7 MC_WriteAxisParameter*8
Zero Position Range
Other Opera- Immediate Stop Input Stop Method OK*7 MC_WriteAxisParameter*8 page 5-24
tion Settings Limit Input Stop Method
Drive Error Reset Monitoring Time
Maximum Positive Torque Limit
Maximum Negative Torque Limit
Immediate Stop Input Logic Inver-
sion*10
Positive Limit Input Logic Inver-
sion*10
Negative Limit Input Logic Inver-
sion*10
Home Proximity Input Logic Inver-
sion*10
Limit Settings Software Limits OK MC_Write page 5-25
Positive Software Limit MC_WriteAxisParameter*8
Negative Software Limit
Following Error Over Value
Following Error Warning Value
Position Count Count Mode OK*7 MC_WriteAxisParameter*8 page 5-26
Settings Modulo Maximum Position Setting OK*4
Value
Modulo Minimum Position Setting OK*4
Value
Encoder Type

5-6 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 5 Motion Control Parameters

Temporary changes*1
Reading
Classification Parameter name Sup- Page
Applicable instruction variables*2
port
Servo Drive Modulo Maximum Position Setting page 5-28
Settings Value
Modulo Minimum Position Setting
Value
PDS State Control Method*4
Homing Set- Homing Method OK*7 MC_WriteAxisParameter*8 page 5-29
tings Home Input Signal
Homing Start Direction
Home Input Detection Direction
Operation Selection at Positive Lim-

5-2 Axis Parameters

it Input
Operation Selection at Negative
Limit Input
Homing Velocity
Homing Approach Velocity
Homing Acceleration
Homing Deceleration
5
Homing Jerk
Home Input Mask Distance

5-2-1 Axis Parameters

Home Offset
Homing Holding Time
Homing Compensation Value
Homing Compensation Velocity
*1. This column indicates if you can use instructions to temporarily change the settings.
*2. Indicates whether you can access the parameter with a system-defined variable for motion control in the user program.
*3. Set this parameter when using the NX701 CPU Unit.
*4. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this parameter.
*5. A CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher are required for temporary
changes.
*6. Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.
*7. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required for temporary
changes.
*8. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use the MC_Write-
AxisParameter instruction.
The parameters that can be temporarily changed with the MC_WriteAxisParameter instruction can be read with the
MC_ReadAxisParameter instruction.
*9. A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use this parameter.
*10. A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required to use this parameter.
*11. This parameter is enabled only for torque control.
*12. A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required for temporary
changes using the MC_Write instruction.
A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required for temporary
changes using the MC_WriteAxisParameter instruction.

Refer to 3-2 Axis Setting Procedure on page 3-10 for details on how to set axis parameters.
Refer to 6-6 System-defined Variables for Motion Control on page 6-21 for information on system-
defined variables for motion control.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 5-7

5 Motion Control Parameters

For details on instructions including the MC_Write (Write MC Setting) instruction, refer to the NJ/NX-
series Motion Control Instructions Reference Manual (Cat. No. W508).

5-2-2 Axis Basic Settings

The Axis Basic Settings are used to set whether to use the axis. If you use the axis, set the axis type
and the node address of the EtherCAT slave device.

Setting De-
Parameter name Function
range fault
Axis Number Set the logical number of the axis. This number indicates the axis --- ---
number of the corresponding system-defined variable,
_MC_AX[0-255], _MC1_AX[0-255], and _MC2_AX[0-255].
Motion Control*1 Assign to either of the primary periodic task or priority-5 periodic task. 1 to 2 1
1: Primary periodic task
2 Priority-5 periodic task
Axis Use Set whether to enable or disable the axis. *2 0 to 2 0
0: Undefined axis
1: Unused axis*3
2: Used axis
Axis Type Set the axis type. 0 to 3 2
I/O wiring is not required for virtual axes.
0: Servo axis
1: Encoder axis
2: Virtual servo axis
3: Virtual encoder axis
Control Function*4 Select the function of axis to control. *5 0, 1 0
0: All
1: Single-axis position control only
Input Device/Out- Specify the node address of the EtherCAT slave device that is as- 0 to ---
put Device signed to the axis. *6 65535
The Node Address parameter cannot be selected if the Axis Type pa-
rameter is set to use a virtual axis.
*1. Set this parameter when using the NX701 CPU Unit.
*2. Busy (Executing) changes to TRUE if you execute a motion control instruction for an undefined or unused
axis.
Busy changes to FALSE when Execute or Enable changes to FALSE.
You can set axes as unused axes to enable using the same user program for different axis configurations
without the need to delete programming for axes that are not used.
*3. With a CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher, Unused axis
(changeable to used axis) and Unused axis (unchangeable to used axis) are displayed by the Sysmac
Studio.
If you set Unused axis (changeable to used axis), you can set the axis parameters and use the
MC_ChangeAxisUse (Change Axis Use) instruction to temporarily change the setting of the Axis Use axis
parameter.
Refer to 9-8-10 Changing Axis Use on page 9-84 for details.
*4. Set this parameter when using the NX102 CPU Unit and NX1P2 CPU Unit.
*5. To use the axis as a motion control axis, select All. To use the axis as a single-axis position control axis,
select Single-axis position control only.
*6. For an NX-series Position Interface Unit, select the node address of the EtherCAT Coupler Unit and the NX
Unit number of the Position Interface Unit.

5-8 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 5 Motion Control Parameters

Precautions for Correct Use

Using Absolute Encoders

When absolute encoders are used, the absolute encoder home offset for each axis is saved
to the CPU Unit along with the axis number.
The saved offset is lost if the axis number is changed. If you change the axis number, set the
Homing Settings again.

Axis Numbers
You can set the number for axis numbers up to the maximum number of controlled axes. You can
change the number of real axes to used axes up to the maximum number of used real axes.

Item NX701-17££ NX701-16££

5-2 Axis Parameters

Settable axis numbers 0 to 255 0 to 127
Maximum number of used real axes 256 axes 128 axes

Item NX102-12££ NX102-11££ NX102-10££ NX102-90££

Settable axis numbers 0 to 14 0 to 14 0 to 14 0 to 3
Maximum number of used real axes 12 axes 8 axes 6 axes 4 axes
Used motion control servo axes 8 axes 4 axes 2 axes --- 5
Used single-axis position control servo axes 4 axes 4 axes 4 axes 4 axes

5-2-2 Axis Basic Settings

NX1P2-9B£££
Item NX1P2-11££££ NX1P2-10££££ NX1P2-90££££
£
Settable axis numbers 0 to 11 0 to 9 0 to 3 0 or 1
Maximum number of used 8 axes 6 axes 4 axes 2 axes
real axes
Used motion control servo 4 axes 2 axes --- ---
axes
Used single-axis position 4 axes 4 axes 4 axes 2 axes
control servo axes

Item NJ501-£5££ NJ501-£4££ NJ501-£3££

Settable axis numbers 0 to 63 0 to 31 0 to 15
Maximum number of used 64 axes 32 axes 16 axes
real axes

Item NJ301-12££ NJ301-11££ NJ101-10££

Settable axis numbers 0 to 14*1 0 to 14*2 0 to 5
Maximum number of used 8 axes 4 axes 2 axes
real axes
*1. The range is 0 to 7 for a CPU Unit with unit version 1.05 or earlier.
*2. The range is 0 to 3 for a CPU Unit with unit version 1.05 or earlier.

Motion Control
For the NX701 CPU Unit, the axes to use are assigned to either of the primary periodic task or priori-
ty-5 periodic task.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 5-9

5 Motion Control Parameters

Additional Information

The Motion control setting is not available for the NX102 CPU Unit, NX1P2 CPU Unit, and NJ-
series CPU Unit, which support only the primary periodic task.

Axis Types
The following table describes the different axis types that you can select in the Axis Type parameter.

Axis type Description

Servo axis These axes are used by the EtherCAT slave Servo Drives and NX-series Position In-
terface Units.*1 They are assigned to actual Servo Drives or other devices.
One Servomotor is used as one axis.
If you use NX-series Position Interface Units, you can assign more than one device,
such as a Pulse Output Unit and Digital Input Unit, to the same axis.
Virtual servo axis These virtual axes exist only inside the MC Function Module. They are not used by
actual Servo Drives.
For example, they are used as master axes for synchronizing control.
Encoder axis These axes are used by the EtherCAT slave Encoder Input Terminals and NX-series
Position Interface Units.*1 An encoder axis is assigned to an actual encoder input ter-
minal or other device.
If one encoder input terminal contains two counters, each counter will act as one axis.
Virtual encoder axis These virtual axes are used for encoder operation. A virtual encoder axis is used tem-
porarily in place of an encoder axis when there is no physical encoder. *2
*1. Refer to 1-4-3 Function Specifications on page 1-11 for the controllable devices.
*2. Virtual encoder axes are used in combination with motion control instructions that update the actual position
of the virtual encoder axis.
They cannot be used in place of encoder axes for versions of the MC Function Module that do not support
such instructions.

 Virtual Servo Axes

A virtual servo axis does not have a physical encoder or external I/O signals.
Therefore, virtual servo axes differ from servo axes in the following ways.
• They are always in Servo ON state.
• The actual current position equals the command current position.
However, there is sometimes calculation error because processing is performed with long reals
in the MC Function Module.
• The actual current velocity equals the command current velocity.
However, there is sometimes calculation error because processing is performed with long reals
in the MC Function Module.
• External input signals cannot be used.
• If the MC_Home or MC_HomeWithParameter instruction is executed, the instruction is process-
ed as a zero position preset regardless of the setting of the Homing Method axis parameter.
• If a motion control instruction that uses a latch function is executed, you must set the trigger input
condition to Controller Mode. An error does not occur if you set it to Drive Mode, but a latch trig-
ger will not occur, so execution of the instruction will not end.
Latches are used by the following instructions: MC_TouchProbe (Enable External Latch),
MC_MoveFeed (Interrupt Feeding), MC_MoveLink (Synchronous Positioning), and other instruc-
tions.

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 5 Motion Control Parameters

• Errors do not occur for immediate stop inputs or positive/negative limit inputs because the input
signals do not exist.

 Encoder Axes and Virtual Encoder Axes

Encoder and virtual encoder axes differ from servo and virtual servo axes in the following ways.
• They do not have command positions. They have only actual positions.
• You cannot use motion-type motion control instructions for them.

Precautions for Correct Use

You cannot set the axis type of a single-axis position control axis to Encoder axis or Virtual en-
coder axis.

5-2 Axis Parameters

Control Function
Select the function of axis to control.
This setting is selectable only when you use an NX102 CPU Unit or NX1P2 CPU Unit.

Control Function Description

All Sets the axis to a motion control axis for which all controls can be used.
Single-axis position control Sets the axis to a single-axis position control axis for which only single-axis po-
5
only sition control can be used.

5-2-2 Axis Basic Settings

The following table shows the axis types that are available with the selected Control Function.

Control Function
Axis type
All Single-axis position control only
Servo axis ¡ ¡
Virtual servo axis ¡ ¡
Encoder axis ¡ Í
Virtual encoder axis ¡ Í

The following table shows the enabled functions.

Control Function
Motion control function
All Single-axis position control only
Single-axis position control ¡ ¡
Single-axis synchronized control ¡ Í
Single-axis velocity control ¡ ¡*1
Single-axis torque control ¡ Í
Multi-axes coordinated control ¡ Í
*1. You can use only the MC_MoveVelocity (Velocity Control) instruction.

Refer to Section 9 Motion Control Functions on page 9-1 for details on motion control functions.

Additional Information

Select Single-axis position control only when you use NX102-90££ or NX1P2-9£££££.

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5 Motion Control Parameters

Input Device/Output Device

For a servo or encoder axis, the node address specifies the node address of the EtherCAT slave de-
vice that is assigned to the axis.
For an NX-series Position Interface Unit, select the node address of the EtherCAT Coupler Unit and
the NX Unit number of the Position Interface Unit.
The Node Address parameter cannot be selected if the Axis Type parameter is set to a virtual axis.

Precautions for Correct Use

• OMRON 1S-series Servo Drives and G5-series Servo Drives can be set to specific node ad-
dresses by using the node address switches on the front panels.
If the node address switches are set to 00, the node address will be determined by the set-
tings made in the EtherCAT Editor of the Sysmac Studio.
If the node address switches are set to 00 for all connected Servo Drives, errors will not occur
even if the Servo Drive's connection position is changed. Set the node addresses on the
node address switches to assign specific Servo Drives for each machine control.
• The value set on the Servo Drive's node address switches is loaded only once when the Ser-
vo Drive's control power is turned ON.
Such changes are enabled only after the power supply is turned ON again.
Do not change the setting on the node address switches after the power supply has been
turned ON.
• An error occurs if the same node address is used more than once.

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 5 Motion Control Parameters

Additional Information

• The following example shows the EtherCAT device’s node address setting for an OMRON
1S-series Servo Drive with built-in EtherCAT communications.

7-segment display CN7

ID
01 2 01
EF EF

23

23345
CD

CD
ID switch

45

45
AB

AB
67 67
89 89
x16 x1

Status indicators

5-2 Axis Parameters

• The rotary switches in the display area on the Servo Drive are used to set the EtherCAT node
address.

Node address setting range

Rotary switch setting
OMRON slaves Non-OMRON slaves*1
00 Value set from the Sysmac Studio Value set from the Sysmac
Studio
(1 to 512*2) 5
01 to FF Node address switch setting (1 to 512*2)
*1. The value set from the Sysmac Studio will be used for all non-OMRON slaves, regardless of any

5-2-3 Unit Conversion Settings

setting at the slave.
*2. For the NJ-series CPU Unit, the set value is 1 to 192. However, only for the NJ101 CPU Unit, the
maximum number of slaves which can be connected is 64 slaves.
For the NX102 CPU Unit, the set value is 1 to 192, and the maximum number of slaves which can
be connected is 64 slaves.
For the NX1P2 CPU Unit, the set value is 1 to 192, and the maximum number of slaves which can
be connected is 16 slaves.

5-2-3 Unit Conversion Settings

These parameters set position units.

Parameter name Function Setting range Default

Unit of Display Set the unit for command positions. 0 to 5 0
• pulse
• mm
• μm
• nm
• degree
• inch
Command Pulse Count Per Set the number of pulses per motor rotation for 1 to 4,294,967,295 10,000
Motor Rotation*1 command positions according to the encoder res-
olution. *2
The command value is converted to a number of
pulses based on the electronic gear ratio.
Work Travel Distance Per Set the workpiece travel distance per motor rota- 0.000000001 to 10,000
Motor Rotation*3 tion for command positions. 4,294,967,295

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5 Motion Control Parameters

Parameter name Function Setting range Default

Reducer Use*4 *5 Specify whether to use the reducer setting or not. TRUE or FALSE FALSE
TRUE: Used.
FALSE: Not used.
Work Travel Distance Per Set the work travel distance per rotation. Positive long reals 10,000
Rotation*4 *6 *7
Work Gear Ratio*4 *6 Set the gear ratio for the workpiece. 1 to 4,294,967,295 1

Motor Gear Ratio*4 *6 Set the gear ratio of the motor. 1 to 4,294,967,295 1
*1. This is the numerator of the electronic gear ratio (unit conversion formula).
*2. For example, if the encoder resolution is 10,000 pulses/rotation, set 10,000.
*3. This is the denominator of the electronic gear ratio (unit conversion formula) when you set not to use the
reducer.
This parameter is disabled when you set to use the reducer.
*4. A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use this
parameter.
*5. When you set to use the reducer, some conditions must be met to make the unit conversion settings.
Refer to Conditions to Use Reducers on page 5-15 for the conditions.
*6. This parameter is enabled when you set to use the reducer.
*7. The setting is possible only when the Count Mode is Linear Mode. When the Count Mode is Rotary Mode,
the parameter value is calculated from the modulo maximum position setting value and modulo minimum
position setting value.

Precautions for Correct Use

• Set to use the reducer if you use the Count Mode to Rotary Mode.
When you set not to use the reducer, the number of pulses for one cycle of the ring counter
may not be an expected integer because of a calculation error for one cycle of the ring coun-
ter when converted to pulses. The unexpected integer may cause the position offset.
• When you make a change in the unit conversion settings, except for a change in the unit of
display conversion, there are some differences between the physical position of the machine
and the command current position of the MC Function Module. Therefore, if you made a
change in the unit conversion settings, execute the Home instruction to define the home
again.

Positions are generally given in pulses between the MC Function Module and Servo Drives or encoder
input terminals.
Use a display unit of millimeters or degrees for motion control instructions so that you can easily un-
derstand the operation.

MC Pulses Servo
User Position Motion
program control Function Drive
increment Module
instructions

Encoder
Input
Terminal
Pulses

You can use the Unit of Display parameter and electronic gear (unit conversion formula) settings to
change from a pulse unit to millimeters or degrees.

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 5 Motion Control Parameters

Additional Information

For a virtual servo axis, the command current value is converted to pulses and then that value
is converted to the unit of display. The resulting value is used as the actual current value.

User Position Motion MC

program increment control Function Pulses Command
instruction Module position

Actual
position

Unit of Display

5-2 Axis Parameters

You can use the Unit of Display parameter to set the unit to display on the Sysmac Studio. The display
shows the position's display unit.
The following table describes the units you can set.

Unit Description
pulse Use this unit to express values in pulses.
mm Use this unit for comparatively long-distance direct operation.
5
μm Use this unit for precise direct operation.
nm Use this unit for more precise direct operation than μm.

5-2-3 Unit Conversion Settings

degree Use this unit for rotary tables or other rotating axes.
inch Use this unit for direct operation.

Conditions to Use Reducers

When you set to use the reducer, the following condition must be met to use the unit conversion set-
tings.
• The result of the following calculation must be equal to or between 0.000000001 and 4,294,967,295:
Work travel distance per rotation × Work gear ratio ÷ Motor gear ratio.

When the Count Mode is Rotary Mode, the following condition must also be met.
• The result of the following calculation must be equal to or less than 1,099,511,627,775: Command
pulse count per motor rotation × Motor gear ratio.

The work gear ratio and the motor gear ratio in the above calculations are determined from the divi-
sion by the highest common factor of the two.
Therefore, even if the condition is not met by the calculation with the set values, the condition may be
met in actual operation.

 Example
When the work gear ratio is 4 and the motor gear ratio is 6, you assume the work gear ratio to be 2
and the motor gear ratio to be 3 in the calculation.

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5 Motion Control Parameters

Electronic Gear Ratio (Unit Conversion Formula)

Use the electronic gear to set the relationship between the display unit and pulse unit in the MC Func-
tion Module.
Use the Sysmac Studio and set the electronic gear ratio.

MC Function Servo
Command position Module Drive Y pulses
(X units) Electronic
gear
Actual position
(X units)
X units

Command position value (pulses) = Command position (X units) × Electronic gear ratio

 When Not Using a Reducer

When you set not to use the reducer, the following formula is used to express the electronic gear
ratio.

Command Pulse Count Per Motor Rotation*1 (Y Pulses)

Electronic gear ratio =
Work Travel Distance Per Motor Rotation*2 (X Units)

*1. For an encoder axis, this is the number of pulses per encoder rotation.
*2. For an encoder axis, this is the travel distance per encoder rotation.

Precautions for Correct Use

The electronic gear converts units to the values that are used for positioning by the MC Func-
tion Module and motion control instructions.
Motion control instructions specify the target position as LREAL data. However, an instruction
error will occur if the command position after conversion to pulses by the electronic gear ex-
ceeds 40 bits.

In this example, an OMRON 1S-series Servomotor with a 23-bit absolute encoder is used.
Mechanically, the reduction ratio of the reducer is 1/5 and the workpiece moves 10 mm for every
rotation of the ball screw.

Workpiece

Servomotor encoder
resolution: 23 bits/rotation
(8,388,608 pulses per rotation) Reduction ratio: 1/5 Ball screw pitch: 10 mm

The Unit of Display parameter is set to millimeters. The Command Pulse Count Per Motor Rotation
is set to the resolution of the encoder on the Servomotor.
A reducer with a reduction ratio of 1/5 is used, so the ball screw turns once for every five rotations
of the Servomotor. The workpiece moves 2 mm (10 mm × 1/5), so the Work Travel Distance Per
Motor Rotation is set to 2.

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 5 Motion Control Parameters

Parameter name Setting

Unit of Display mm
Command Pulse Count Per Motor Rotation 8,388,608
Work Travel Distance Per Motor Rotation 2

With these settings, the command unit for positions in the user program is 1 mm.
For example, to move to an absolute position of 100.5 mm, the Position (Target Position) input vari-
able to the MC_MoveAbsolute (Absolute Positioning) instruction is set to 100.5.

Additional Information

Parameter Settings for a Reduction Ratio of 1/9 for the Example

The travel distance of the workpiece for one rotation of the Servomotor is 10 mm × 1/9, or
1.1111... mm (a repeating decimal number).
For numbers that do not divide evenly, multiply the command pulse count per motor rotation

5-2 Axis Parameters

and the work travel distance per motor rotation by the same coefficient and set the parame-
ters to the results.
Here, the reduction ratio is 1/9, so we use 9 as our coefficient.
• Command Pulse Count Per Motor Rotation: 75,497,472 (8,388,608 x 9)
• Work Travel Distance Per Motor Rotation: 10 (10 x 1/9 x 9)

 When Using a Reducer and the Count Mode Is Linear Mode

When you set to use a reducer and the Count Mode is Linear Mode, the following calculation for-
5
mula is used to have the electric gear ratio.

5-2-3 Unit Conversion Settings

Command Pulse Count Per Motor Rotation × Motor Gear Ratio
Electronic gear ratio =
Work Travel Distance Per Rotation × Work Gear Ratio

Precautions for Correct Use

The electronic gear converts units to the values that are used for positioning by the MC Func-
tion Module and motion control instructions.
Motion control instructions specify the target position as LREAL data. However, an instruction
error will occur if the command position after conversion to pulses by the electronic gear ex-
ceeds 40 bits.

In this example, an OMRON 1S-series Servomotor with a 23-bit absolute encoder is used.
Mechanically, the reduction ratio of the reducer is 3/5 and the workpiece moves 10 mm for every
rotation of the ball screw.

Workpiece

Servomotor encoder
resolution: 23 bits/rotation
(8,388,608 pulses per rotation) Reduction ratio: 3/5 Ball screw pitch: 10 mm

The Unit of Display parameter is set to millimeters. The Command Pulse Count Per Motor Rotation
is set to the resolution of the encoder on the Servomotor.
The Work Travel Distance Per Rotation is set to 10 mm, which equals to the ball screw pitch.

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5 Motion Control Parameters

A reducer with a reduction ratio of 3/5 is used, so the ball screw turns three times for every five
rotations of the Servomotor. For this reduction ratio setting, the work gear ratio is set to 3 and the
motor gear ratio is set to 5.

Parameter name Setting

Unit of Display mm
Command Pulse Count Per Motor Rotation 8,388,608
Work Travel Distance Per Rotation 10
Work Gear Ratio 3
Motor Gear Ratio 5

With these settings, the command unit for positions in the user program is 1 mm.
For example, to move to an absolute position of 100.5 mm, the Position (Target Position) input vari-
able to the MC_MoveAbsolute (Absolute Positioning) instruction is set to 100.5.

 When Using a Reducer and the Count Mode Is Rotary Mode

When you set to use a reducer and the Count Mode is Rotary Mode, the following calculation for-
mula is used to have the electric gear ratio.
In Rotary Mode, the Work Travel Distance Per Rotation is automatically determined and set by the
result of “Modulo maximum position - Modulo minimum position”.

Command Pulse Count Per Motor Rotation × Motor Gear Ratio

Electronic gear ratio =
Work Travel Distance Per Rotation × Work Gear Ratio
Command Pulse Count Per Motor Rotation × Motor Gear Ratio
=
(Modulo maximum position - Modulo minimum position) × Work Gear Ratio

Precautions for Correct Use

The electronic gear converts units to the values that are used for positioning by the MC Func-
tion Module and motion control instructions.
Motion control instructions specify the target position as LREAL data. However, an instruction
error will occur if the command position after conversion to pulses by the electronic gear ex-
ceeds 40 bits.

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 5 Motion Control Parameters

In this example 1, an OMRON 1S-series Servomotor with a 23-bit absolute encoder is used.
Mechanically, the reduction ratio of the reducer is 3/5 and the workpiece moves 360 degree for ev-
ery rotation of the turntable.

Turntable
360 degree/rotation

Reduction ratio: 3/5

5-2 Axis Parameters

Servomotor encoder
resolution: 23 bits/rotation
(8,388,608 pulses per rotation)

The Unit of Display parameter is set to degree. The Command Pulse Count Per Motor Rotation is
set to the resolution of the encoder on the Servomotor. 5
The Work Travel Distance Per Rotation is automatically determined and set by the result of “Modu-
lo maximum position - Modulo minimum position”.

5-2-3 Unit Conversion Settings

A reducer with a reduction ratio of 3/5 is used, so the turntable (or workpiece) turns three times for
every five rotations of the Servomotor. For this reduction ratio setting, the work gear ratio is set to 3
and the motor gear ratio is set to 5.

Parameter name Setting

Unit of Display degree
Command Pulse Count Per Motor Rotation 8,388,608
Work Travel Distance Per Rotation Modulo maximum position - Modulo minimum position
Work Gear Ratio 3
Motor Gear Ratio 5

With these settings, the command unit for positions in the user program is 1 degree.
For example, to move to an absolute position of 100.5 degree, the Position (Target Position) input
variable to the MC_MoveAbsolute (Absolute Positioning) instruction is set to 100.5.

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5 Motion Control Parameters

In this example 2, an OMRON 1S-series Servomotor with a 23-bit absolute encoder is used.
Mechanically, the reduction ratio of the reducer is 3/5 and the conveyor moves 80 mm for every
rotation of the pulley. The travel distance per conveyor rotation is 360 mm.

Servomotor encoder resolution: 23 bits/rotation

(8,388,608 pulses per rotation) Travel distance per conveyor
rotation = 360 mm
Travel distance per pulley (Modulo maximum position/Modulo
rotation = 80 mm minimum position: 0 to 360)

Servomotor

Reducer

Reduction Mechanical
ratio: 3/5 ratio: 80/360

Final ratio:
3 × 80 Work Gear Ratio
= 5 × 360
= Motor Gear Ratio

The Unit of Display parameter is set to millimeters. The Command Pulse Count Per Motor Rotation
is set to the resolution of the encoder on the Servomotor.
The travel distance per conveyor rotation is automatically set by the result of “Modulo maximum po-
sition - Modulo minimum position”.

Parameter name Setting

Modulo Maximum Position 360
Modulo Minimum Position 0

A reducer with a reduction ratio of 3/5 is used, so the pulley turns three times for every five rota-
tions of the Servomotor. The conveyor travel distance per pulley rotation is 80 mm and the travel
distance per conveyor rotation is 360. For this reduction ratio setting, the work gear ratio is set to
240 (3 × 80) and the motor gear ratio is set to 1,800 (5 × 360).

Parameter name Setting

Unit of Display mm
Command Pulse Count Per Motor Rotation 8,388,608
Work Travel Distance Per Rotation Modulo maximum position - Modulo minimum position
Work Gear Ratio 240
Motor Gear Ratio 1,800

Additional Information

• If the travel distance per pulley rotation is not an integer (e.g. 80.1 mm), use a ratio multiplied
by the coefficient of 10, which converts values to integers, to calculate the work gear ratio
and the motor gear ratio. When the above example is used, the work gear ratio is set to 2,403
(3 × 80.1 × 10), and the motor gear ratio is set to 18,000 (5 × 360 × 10).
• In the same way as the above example 2, when a multi-step reducer is used, multiply several
ratios together and use a final ratio to set the work gear ratio and the motor gear ratio.

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 5 Motion Control Parameters

5-2-4 Operation Settings

These parameters set items for axis operation, such as the maximum velocity and maximum accelera-
tion/deceleration rate. Set them according to the specifications of the device you are controlling.

Parameter name Function Setting range Default

Maximum Velocity Set the maximum velocity for each axis. *1 Positive long reals*2 400,000,000
Do not set a value that exceeds the maxi-
mum speed of the motor that you are using.
(Unit: command units/s)
Start Velocity*3 Set the start velocity for each axis. Positive long reals 0
Set a value that does not exceed the maxi-
mum velocity. (Unit: command units/s)
Maximum Jog Veloci- Set the maximum jog velocity for each axis. Positive long reals 1,000,000

5-2 Axis Parameters

ty *4

Set a value that does not exceed the maxi-

mum velocity. (Unit: command units/s)
Maximum Accelera- Set the maximum acceleration rate for an ax- Non-negative long reals 0
tion is operation command.
There will be no limit to the acceleration rate
if 0 is set. (Unit: command units/s2)
Maximum Decelera- Set the maximum deceleration rate for an ax- Non-negative long reals 0 5
tion is operation command.
There will be no limit to the deceleration rate

5-2-4 Operation Settings

if 0 is set. (Unit: command units/s2)
Acceleration/Deceler- Set the operation for when the maximum ac- 0 to 2 0
ation Over celeration/deceleration rate would be ex-
ceeded after excessive acceleration/deceler-
ation during acceleration/deceleration control
of the axis because stopping at the target po-
sition is given priority.
0: Use rapid acceleration/deceleration.
(Blending is changed to Buffered.) *5
1: Use rapid acceleration/deceleration.
2: Minor fault stop *6
Operation Selection Specify the operation for reversing rotation 0 to 1 0
at Reversing for multi-execution of instructions, re-execu-
tion of instructions, and interrupt feeding. *7
0: Deceleration stop
1: Immediate stop
Velocity Warning Val- Set the percentage of the maximum velocity 0 to 100 0
ue at which to output a velocity warning for the
axis.
No velocity warning is output if 0 is set.
(Unit: %)
Acceleration Warning Set the percentage of the maximum acceler- 0 to 100 0
Value ation rate at which to output an acceleration
warning for the axis.
No acceleration warning is output if 0 is set.
(Unit: %)

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5 Motion Control Parameters

Parameter name Function Setting range Default

Deceleration Warning Set the percentage of the maximum deceler- 0 to 100 0
Value ation rate at which to output a deceleration
warning for the axis.
No deceleration warning is output if 0 is set.
(Unit: %)
Positive Torque Set the torque command value at which to 0 to 1,000 0
Warning Value*8 output a positive torque warning.
No positive torque warning is output if 0 is
set. (Unit: %)
Negative Torque Set the torque command value at which to 0 to 1,000 0
Warning Value*8 output a negative torque warning.
No negative torque warning is output if 0 is
set. (Unit: %)
Actual Velocity Filter Set the time period to calculate the average 0 to 100 0
Time Constant travel of the actual velocity in milliseconds.
The average travel is not calculated if 0 is
set.
(Unit: ms)
Use this to reduce variations in the actual
current velocity when axis velocity is slow.
In-position Range*9 Set the in-position width. Non-negative long reals 10
(Unit: command units)
In-position Check Set the in-position check time in millisec- 0 to 10,000 0
Time*9 onds.
Set 0 to check for the end of positioning only
when you define the home position during
homing and not check positioning at other
times. (Unit: ms)
Zero Position Range Set the home position detection width. Non-negative long reals 10
(Unit: command units)
*1. The maximum velocity is used as the command velocity if you specify a velocity command value that is
greater than the maximum velocity. This parameter also applies to interpolation control operation.
Do not set any value that exceeds the motor maximum velocity (maximum rotation speed) that can be out-
put by the Servomotor/Servo Drive connected to the axis. Check the specifications of the connected Servo-
motor/Servo Drive before you set this parameter.
*2. The maximum value that you can set is as follows when the value is converted to pulses:
For a CPU Unit with unit version 1.11 or later, the value is 2,147,483,647 [pulses/s]. For a CPU Unit with unit
version 1.03 or later and 1.10 or earlier, the value is 500,000,000 [pulses/s]. For a CPU Unit with unit ver-
sion 1.02 or earlier, the value is 400,000,000 [pulses/s].
*3. A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required to use this
parameter.
*4. The maximum jog velocity is used as the command velocity if you specify a velocity command value that is
greater than the maximum jog velocity.
*5. For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered.
Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 9-48 for details.
*6. For a CPU Unit with unit version 1.10 or later, the axis does not stop with an error when Blending is used for
operation.
Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 9-48 for details.
*7. Refer to 9-5-6 Re-executing Motion Control Instructions on page 9-43 and 9-5-7 Multi-execution of Motion
Control Instructions (Buffer Mode) on page 9-48 for details on the Operation Selection at Reversing param-
eter.
*8. This parameter is enabled only for torque control.
*9. The in-position check is processed by the MC Function Module. The function in the Servo Drive is not used.

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 5 Motion Control Parameters

Maximum Velocity
This section provides a setting example for the maximum velocity.

 Setting Example for the Maximum Velocity

The same machine as in When Not Using a Reducer on page 5-16 is described here for a Servo-
motor with a maximum speed of 6,000 r/min.

Workpiece

Servomotor encoder
resolution: 23 bits/rotation

5-2 Axis Parameters

(8,388,608 pulses per rotation) Reduction ratio: 1/5 Ball screw pitch: 10 mm

The Maximum Velocity is set to 200 based on a calculation for the conditions (maximum speed:
6,000 r/min, reduction ratio: 1/5, ball screw pitch: 10 mm; 6,000 r/min × 1/5 × 10 mm = 12,000
mm/min = 200 mm/s).
The default setting of 400,000,000 would exceed the maximum speed of the motor, so you must
change the setting.
5
Parameter name Setting
Unit of Display mm

5-2-4 Operation Settings

Command Pulse Count Per Mo- 8,388,608
tor Rotation
Work Travel Distance Per Motor 2
Rotation
Maximum Velocity 200

Start Velocity
Set the start velocity to 0 when you use a servomotor.
If you use a stepper motor, use 10% to 50% of the maximum self-start frequency to prevent loosing
the sync at startup. However, this depends on the load, so refer to the manual for the stepper motor.

Not Specifying Jerk Specifying Jerk

Velocity Velocity

Target velocity Target velocity

Start velocity Start velocity

0 Time 0 Time
Acceleration Deceleration Acceleration Deceleration

If the target velocity is less than or equal to the start velocity, acceleration/deceleration are not per-
formed and the axis moves at the target velocity.

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5 Motion Control Parameters

Velocity

Start velocity

Target velocity

0 Time

If the target velocity changes as the result of re-executing the motion control command or as the result
of performing multi-execution of instructions for it during motion, the start velocity is used. If the target
velocity is greater than the start velocity, acceleration/deceleration are performed at the specified ac-
celeration/deceleration rates. If the target velocity is less than or equal to the start velocity, accelera-
tion/deceleration are not performed and the axis moves.

Velocity Instruction Instruction Instruction

executed. executed. executed.

Start velocity

0 Time

The start velocity is also used if the velocity is changed by the MC_SetOverride instruction. If the tar-
get velocity is greater than the start velocity, acceleration/deceleration are performed at the specified
acceleration/deceleration rates. If the target velocity is less than or equal to the start velocity, accelera-
tion/deceleration are not performed and the axis moves.

Velocity
100%→180% 180%→50% Override factor

180%
Start velocity

100%

50%

0 Time

The start velocity is not used in the following cases.

• Torque Control Mode
• Cyclic synchronous velocity control
• Cyclic synchronous positioning
• Synchronized control
However, the start velocity is used for the MC_GearOut and MC_CamOut instructions.
• Multi-axes coordinated control
However, the start velocity for each axis is used to decelerate the axes to a stop.

5-2-5 Other Operation Settings

These parameters are used to set the stopping methods and torque limits to use when the input sig-
nals are enabled.

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 5 Motion Control Parameters

Parameter name Function Setting range Default

Immediate Stop In- Set the stopping method in the MC Function Module when 0, 2, or 3 0
put Stop Method the immediate stop input is enabled.
0: Immediate stop
2: Immediate stop and error reset
3: Immediate stop and Servo OFF
Limit Input Stop Set the stopping method in the MC Function Module when 0 to 3 0
Method the positive limit input or negative limit input is enabled.
0: Immediate stop
1: Deceleration stop
2: Immediate stop and error reset
3: Immediate stop and Servo OFF
Drive Error Reset Set the monitor time for a drive error reset. (Unit: ms) 1 to 1,000 200
Monitoring Time After the monitor time has elapsed, reset processing will

5-2 Axis Parameters

end even if the drive error is not yet reset.
Maximum Positive Set the maximum value of the positive torque limit. *1 0.0 to 1000.0 300.0
Torque Limit (Unit: %)
Maximum Nega- Set the maximum value of the negative torque limit. *1 0.0 to 1000.0 300.0
tive Torque Limit (Unit: %)
Immediate Stop In- Set whether to reverse the logic of the immediate stop input FALSE or FALSE*3
put Logic Inver- signal. TRUE
sion*2 FALSE: Do not reverse. 5
TRUE: Reverse.
Positive Limit Input Set whether to reverse the logic of the positive limit input FALSE or FALSE*3

5-2-6 Limit Settings

Logic Inversion*2 signal. TRUE
FALSE: Do not reverse.
TRUE: Reverse.
Negative Limit In- Set whether to reverse the logic of the negative limit input FALSE or FALSE*3
put Logic Inver- signal. TRUE
sion*2 FALSE: Do not reverse.
TRUE: Reverse.
Home Proximity In- Set whether to reverse the logic of the home proximity input FALSE or FALSE
put Logic Inver- signal. TRUE
sion*2 FALSE: Do not reverse.
TRUE: Reverse.
*1. If Positive Torque Limit Value (60E0 hex) and Negative Torque Limit Value (60E1 hex) are mapped as
PDOs, the set values of these parameters are sent with EtherCAT process data communications.
If a torque limit is enabled with the MC_SetTorqueLimit instruction, the value that is specified with the input
variable to the instruction is sent.
*2. A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required to use this
parameter. You cannot reverse the logic for a CPU Unit with a unit version of 1.04 or earlier.
This parameter is set for devices, such as NX-series Digital Input Units, for which the logic of the input sig-
nals cannot be set. For devices, such as OMRON 1S-series Servo Drives, for which you can set the input
signal logic, set this parameter to not reverse the signal.
*3. If you assign an NX-series Pulse Output Unit to an axis, the default is TRUE.

5-2-6 Limit Settings

Use the following parameters to select functions for limiting the following error and for software limits.

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5 Motion Control Parameters

Parameter name Function Setting range Default

Software Limits*1 Select the software limit function. 0 to 4 0
0: Disabled.
1: Deceleration stop for command position
2: Immediate stop for command position
3: Deceleration stop for actual position
4: Immediate stop for actual position
Positive Software Set the software limit in the positive direction. Long reals 2,147,483,647
Limit (Unit: command units)
Negative Software Set the software limit in the negative direction. Long reals -2,147,483,648
Limit (Unit: command units)
Following Error Over Set the excessive following error check value. Non-negative 0
Value Set 0 to disable the excessive following error long reals
check. (Unit: command units)
Following Error Set the following error warning check value. Non-negative 0
Warning Value Set 0 to disable the following error warning check. long reals that
(Unit: command units) are less than or
equal to the Fol-
lowing Error
Over Value
*1. This function is enabled only when the Count Mode is Linear Mode and the home is defined.
Refer to 9-8-5 Software Limits on page 9-78 for details on software limits.

5-2-7 Position Count Settings

Set the count mode for the position.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on us-
ing the NX-series Position Interface Units.

Parameter name Function Setting range Default

Count Mode Set the count mode for the position. 0 to 1 0
0: Linear Mode (finite length)
1: Rotary Mode (infinite length)
Modulo Maximum Set the modulo maximum position when the Count Long reals 2,147,483,647
Position Setting Val- Mode is set to Rotary Mode.
ue (Unit: command units)
Modulo Minimum Set the modulo minimum position when the Count Long reals -2,147,483,648
Position Setting Val- Mode is set to Rotary Mode.
ue (Unit: command units)
Encoder Type Set the encoder type. *1*2 0 to 1 0
0: Incremental encoder (INC)
1: Absolute encoder (ABS)
*1. Set the encoder type to 1 (absolute encoder (ABS)) when you use any of the following.
• When an OMRON 1S-series Servomotor/Servo Drive is used
• When an OMRON G5-series Servomotor with an absolute encoder is used
• When an OMRON G5-series Servomotor/Servo Drive with an absolute external scale for fully-closed con-
trol is used
• When an OMRON G5-series Linear Motor Type Servomotor/Servo Drive with built-in EtherCAT communi-
cations is used with an absolute external scale
*2. The settings are as follows when you use an OMRON G5-series Servomotor/Servo Drive with an external
scale for fully-closed control, or when you use an OMRON G5-series Linear Motor Type Servomotor/Servo
Drive with built-in EtherCAT communications.
0: Incremental external scale

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 5 Motion Control Parameters

1: Absolute external scale

Count Modes
The Count Mode is the feed mode for the axis.
Select the count mode for the command positions for each axis.
There are two Count Modes: Linear Mode, which has a finite axis feed range and Rotary Mode,
which has an infinite axis feed range.

 Linear Mode (Finite Length Axis)

• The linear mode is centered around 0.
This mode is used for devices with a mechanically limited range of motion, such as an XY stage.

5-2 Axis Parameters

• The setting range when the value is converted to pulses is 40 bits (signed integer:
0x8000000000 to 0x7FFFFFFFFF).
• You cannot specify a target position for relative or absolute positioning that exceeds this range.
• A command position overflow or underflow observation will occur if this range is exceeded for op-
erations that do not have a target position, such as velocity control, homing, or torque control.
Command position output will continue, but the actual position is not updated and will be fixed to
either the upper limit or the lower limit.
• While the value of the actual position is fixed, you can execute commands and stop the axis with
5
any operation that does not have a target position in the direction toward the linear range. Any

5-2-7 Position Count Settings

command that specifies a direction away from the range will cause an error on execution of the
instruction.
• The actual position does not update until the overflow or underflow status is cleared.

0x8000000000 0 0x7FFFFFFFFF

 Rotary Mode (Infinite Length Axis)

• This mode repeatedly counts with a ring counter for an infinite amount within the set range.
Use this mode for rotary tables or winding shafts.
• Use the Sysmac Studio to set the modulo maximum position and the modulo minimum position
to define the range of the ring counter.
• The setting range when the value is converted to pulses is 40 bits (signed integer:
0x8000000000 to 0x7FFFFFFFFF).

Count value
0x7FFFFFFFFF
Modulo maximum
position

Modulo minimum
position

0x8000000000

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5 Motion Control Parameters

• The number of pulses for one cycle of the ring counter may not be an expected integer because
of a calculation error for one cycle of the ring counter when converted to pulses. The unexpected
integer may cause the position offset.

Version Information

Set to use the reducer to cancel the cause of the above position offset when you use a CPU
Unit with unit version 1.11 or later.
Refer to 5-2-3 Unit Conversion Settings on page 5-13 on use of reducers.

Modulo Maximum Position and Modulo Minimum Position Setting

Values
The settings of these parameters are enabled when the Count Mode is set to Rotary Mode.
Set the upper and lower limits of the ring counter.

Precautions for Correct Use

• If 0 is not included between the upper and lower limits of the ring counter, an error occurs
when the MC_MoveZeroPosition (High-speed Home) instruction is executed.
• When you perform absolute positioning with a MC_MoveAbsolute or MC_Move instruction,
make sure that the target position is within the range of the ring counter. An error occurs if the
target position is not within the range of the ring counter.
If the Direction input variable to the instruction is set to No direction specified, you can set a
target position that is not within the range of the ring counter. If that occurs, relative position-
ing is performed using the difference between the target position and the command current
position as the target distance.
• When you make a change in the position count settings, there are some differences between
the physical position of the machine and the command current position of the MC Function
Module. Therefore, if you made a change in the position count settings, execute the Home
instruction to define the home again.

Encoder Type
Set the type of encoder to use for feedback input.
Set the encoder type to 1 (absolute encoder (ABS)) when you use any of the following.
• When an OMRON 1S-series Servomotor/Servo Drive is used
• When an OMRON G5-series Servomotor with an absolute encoder is used
• When an OMRON G5-series Servomotor/Servo Drive with an absolute external scale for fully-closed
control is used
• When an OMRON G5-series Linear Motor Type Servomotor/Servo Drive with built-in EtherCAT
communications is used with an absolute external scale

5-2-8 Servo Drive Settings

Set the value that is set on the Servo Drive or the Encoder Input Terminal that is connected.

Parameter name Function Setting range Default*1

Modulo Maximum Set the modulo maximum position that is set on the -263 to 263-1 2,147,483,647
Position Setting Val- Servo Drive or the Encoder Input Terminal. *2 (Unit: pulses)
ue

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 5 Motion Control Parameters

Parameter name Function Setting range Default*1

Modulo Minimum Set the modulo minimum position that is set on the -263 to 263-1 -2,147,483,648
Position Setting Val- Servo Drive or the Encoder Input Terminal. *2 (Unit: pulses)
ue
PDS State Control Set the state to which PDS state changes when Ser- 0 to 1 0
Method*3 vo is turned OFF by the MC_Power instruction. *4
0: Switched on by Servo OFF
1: Ready to switched on by Servo OFF
*1. The default range is all DINT integers. You can use the default range with OMRON 1S-series Servo Drives
or G5-series Servo Drives.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on using the
NX-series Position Interface Units.
*2. If you use an OMRON GX-series EtherCAT Slave Encoder Input Terminal, the maximum value of the ring
counter (index 0x4003) of the Encoder Input Terminal must agree with the Modulo Maximum Position Set-

5-2 Axis Parameters

ting Value. The modulo minimum position setting value must be set to 0.
*3. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this
parameter.
*4. If you set this parameter to 1, the Servo Ready (Switched on) status of OMRON G5-series Servo Drives
cannot be used. To use the Servo Ready (Switched on) status, set this parameter to 0. Refer to A-5 PDS
State Transition on page A-28 for details on the PDS state transition.

5-2-9 5
Homing Settings
Set the motor operation to use to determine home.

5-2-9 Homing Settings

Parameter name Function Setting range Default
Homing Method*1*2 Set the homing operation. 0, 1, 4, 5, 8, 9, 14
0: Proximity reverse turn/home proximity input OFF or 11 to 14
1: Proximity reverse turn/home proximity input ON
4: Home proximity input OFF
5: Home proximity input ON
8: Limit input OFF
9: Proximity reverse turn/home input mask distance
11: Limit inputs only
12: Proximity reverse turn/holding time
13: No home proximity input/holding home input
14: Zero position preset
Home Input Signal Select the input to use for the home input signal. 0 or 1 0
0: Use Z-phase input as home
1: Use external home input *3
Homing Start Direc- Set the start direction for when homing is started. 0 or 2 0
tion 0: Positive direction
2: Negative direction
Home Input Detection Set the home input detection direction for homing. 0 or 2 0
Direction 0: Positive direction
2: Negative direction
Operation Selection Set the stopping method when the positive limit input 0 to 2 1
at Positive Limit Input turns ON during homing.
0: No reverse turn/minor fault stop
(Stop according to Limit Input Stop Method parameter.)
1: Reverse turn/immediate stop
2: Reverse turn/deceleration stop

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5 Motion Control Parameters

Parameter name Function Setting range Default

Operation Selection Set the stopping method when the negative limit input 0 to 2 1
at Negative Limit In- turns ON during homing.
put 0: No reverse turn/minor fault stop
(Stop according to Limit Input Stop Method parameter.)
1: Reverse turn/immediate stop
2: Reverse turn/deceleration stop
Homing Velocity Set the homing velocity. Positive long re- 10,000
(Unit: command units/s) als
Homing Approach Ve- Set the velocity to use after the home proximity input turns Positive long re- 1,000
locity ON. als
(Unit: command units/s)
Homing Acceleration Set the acceleration rate for homing. Non-negative 0
If the homing acceleration is set to 0, the homing velocity long reals
or other target velocity is used without any acceleration.
(Unit: command units/s2)
Homing Deceleration Set the deceleration rate for homing. Non-negative 0
If the homing deceleration is set to 0, the homing ap- long reals
proach velocity or other target velocity is used without any
deceleration. (Unit: command units/s2)
Homing Jerk Set the jerk for homing. Non-negative 0
Set 0 for no jerk. long reals
(Unit: command units/s3)
Home Input Mask Set the home input mask distance when you set the Hom- Non-negative 10,000
Distance ing Operation Mode to a proximity reverse turn/home in- long reals
put mask distance.
(Unit: command units)
Home Offset Preset the actual position for the value that is set after Long reals 0
homing. (Unit: command units)
Homing Holding Time Set the holding time in milliseconds when you set the 0 to 10,000 100
Homing Operation Mode to a proximity reverse turn/hold-
ing time. (Unit: ms)
Homing Compensa- Set the homing compensation value that is applied after Long reals 0
tion Value the home is defined.
(Unit: command units)
Homing Compensa- Set the velocity to use for homing compensation. Positive long re- 1,000
tion Velocity (Unit: command units/s) als
*1. These parameters are for homing operation.
Refer to Section 8 Homing on page 8-1 for details.
*2. You cannot map the Z-phase input to a PDO for an OMRON G5-series Linear Motor Type Servo Drive.
Therefore, if you set the Homing Method to the No home proximity input/holding home input, which can
use a Z-phase input mapped to a PDO, do not select the Z-phase input for the home input signal.
*3. This setting can be used for an OMRON 1S-series Servo Drive or G5-series Servo Drive. The input allocat-
ed to latch 1 for the Servo Drive is used as the external home input. In the default setting of the OMRON 1S-
series Servo Drives or G5-series Servo Drives, the external latch input 1 is allocated to latch 1.
For details, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications
User’s Manual (Cat. No. I586), AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT
Communications and Safety Functionality User’s Manual (Cat. No. I621), AC Servomotors/Servo Drives G5-
series with Built-in EtherCAT Communications User’s Manual (Cat. No. I576), or AC Servomotors/Servo
Drives G5-series with Built-in EtherCAT Communications Linear Motor Type User’s Manual (Cat. No. I577).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on using the
NX-series Position Interface Units.

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 5 Motion Control Parameters

5-2-10 Axis Parameter Setting Example

This section provides examples of axis parameter settings related to positioning.

Single-axis Positioning
The following example is for a device that performs single-axis positioning separately for each of two
axes.

MC Function Module
Command position

Gear Axis 1 Servo-

Axis 1 Axis 1: Servo axis

5-2 Axis Parameters

ratio Servo motor
Drive
Actual position
Encoder

Command position

Gear Axis 2
Axis 2 Servo Servo- Axis 2: Servo axis
ratio
Drive motor

Actual position 5
Encoder

5-2-10 Axis Parameter Setting Example

Settings
Parameter name
Axis 1 Axis 2
Axis Variable Names Axis1 Axis2
Axis Number 1 2
Enabled Axes Used axis Used axis
Axis Type Servo axis Servo axis
Input Device/Output Device 1 2
Unit of Display μm*1 μm
Command Pulse Count Per Motor 1,048,576 1,048,576
Rotation
Work Travel Distance Per Motor 10,000 10,000
Rotation
Maximum Velocity 500,000*2 500,000*2
Maximum Jog Velocity 50,000*3 50,000*3
Maximum Acceleration 5,000,000*4 5,000,000*4
Maximum Deceleration 5,000,000*4 5,000,000*4
Software Limits Immediate stop for command posi- Immediate stop for command posi-
tion tion
Positive Software Limit 500,000*5 500,000*5
Negative Software Limit 0*5 0*5
Count Mode Linear Mode Linear Mode
*1. The position command unit will be 1 μm.
*2. The maximum velocity will be 3,000 r/min = 30 m/min = 0.5 m/s = 500,000 μm/s.
*3. The maximum jog velocity will be 10% of the maximum velocity, i.e., 0.05 m/s = 50,000 μm/s.
*4. The maximum acceleration and the maximum deceleration are 5 m/s2. The acceleration time to the maxi-
mum velocity (3,000 r/min) is 0.1 s.

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5 Motion Control Parameters

*5. Set a positioning that is within the movable range of the device.
The positive software limit is set to 50 cm = 500,000 μm.

Synchronized Control with Encoder as Master Axis

The following example is for a device that uses the actual position of axis 2 (an encoder), which is
attached to a conveyor, as the master axis. The Servo Drive on axis 1 is synchronized within a finite
range.

MC Function Module

Command position

Gear Axis 1
Axis 1 Servo- Axis 1: Servo axis (slave axis)
ratio Servo
motor
Drive
Actual position
Encoder
Axis 2
Gear ratio Axis 2: Encoder axis (master axis)
Actual position

Encoder

Settings
Parameter name
Axis 1 Axis 2
Axis Variable Name Axis1 Axis2
Axis Number 1 2
Enabled Axes Used axis Used axis
Axis Type Servo axis Encoder axis
Input Device/Output Device 1 2
Unit of Display μm*1 μm*1
Command Pulse Count Per Motor 1,048,576 1,048,576
Rotation
Work Travel Distance Per Motor 10,000 10,000
Rotation
Maximum Velocity 500,000*2 ---
Maximum Jog Velocity 50,000*3 ---
Maximum Acceleration 5,000,000*4 ---
Maximum Deceleration 5,000,000*4 ---
Software Limits Immediate stop for command posi- Disabled.
tion
Positive Software Limit 500,000*5 ---
Negative Software Limit 0*5 ---
Count Mode Linear Mode Rotary Mode
Modulo Maximum Position --- 1,000,000*6
Modulo Minimum Position --- 0*6
*1. The position command unit will be 1 μm.
*2. The maximum velocity will be 3,000 r/min = 30 m/min = 0.5 m/s = 500,000 μm/s.
*3. The maximum jog velocity will be 10% of the maximum velocity, i.e., 0.05 m/s = 50,000 μm/s.

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 5 Motion Control Parameters

*4. The maximum acceleration and the maximum deceleration are 5 m/s2. The acceleration time to the maxi-
mum velocity (3,000 r/min) is 0.1 s.
*5. Set a positioning that is within the movable range of the device.
The positive software limit is set to 50 cm = 500,000 μm.
*6. The periodic range of the position is 0 to 1 m (1,000,000 μm).

Additional Information

You can select the axis type for the master axis according to the configuration of the device.
There are four axis types: servo axes, virtual servo axes, encoder axes, and virtual encoder ax-
es.
In this example, the axis type of the master axis is an encoder axis. Specify the actual position
for the motion control instruction input variable ReferenceType (Position Type Selection).

5-2 Axis Parameters

5

5-2-10 Axis Parameter Setting Example

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5 Motion Control Parameters

5-3 Axes Group Parameters

Use the axes group parameters to set axes group operations related to axes groups that the MC
Function Module controls, such as the axis configuration, maximum interpolation velocity, and axes
group stopping method.
The axes group parameters are provided for each axes group. The number of axes groups depends
on the model.
Refer to 1-4-2 Performance Specifications on page 1-7 for details.
The same parameter settings are provided for each axes group. This section describes only the pa-
rameters for axes group 1.

5-3-1 Axes Group Parameters

Use the Sysmac Studio to set the axes group parameters for each axes group.

Temporary changes*1 Reading

Classifica-
Parameter name varia- Page
tion Support Applicable instruction
bles*2
Axes Group Axes Group Number OK page 5-35
Basic Set-
tings
Motion Control*3 OK*4
Axes Group Use OK
Composition OK
Composition Axes OK*5 MC_ChangeAxesInGroup OK
Axes Group Maximum Interpolation page 5-37
Operation Velocity
Settings Maximum Interpolation
Acceleration
Maximum Interpolation
Deceleration
Interpolation Accelera-
tion/Deceleration Over
Interpolation Velocity OK MC_Write
Warning Value
Interpolation Accelera-
tion Warning Value
Interpolation Decelera-
tion Warning Value
Axes Group Stop
Method
Correction Allowance
Ratio
*1. This column indicates if you can use instructions to temporarily change the settings.
*2. This column indicates whether you can access the parameter with a variable in the user program.
*3. Set this parameter when using the NX701 CPU Unit.
*4. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this
parameter.

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 5 Motion Control Parameters

*5. A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to use this
instruction.

Refer to 3-4 Setting Procedures for Axes Groups on page 3-26 for details on how to set axes group
parameters.
For details on the MC_Write (Write MC Setting) and MC_ChangeAxesInGroup instructions, refer to the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to 6-6 System-defined Variables for Motion Control on page 6-21 for information on system-
defined variables for motion control.

5-3-2 Axes Group Basic Settings

5-3 Axes Group Parameters

Set whether to use the axes group. If you are going to use the axes group, set the axis composition
and the axes to use.

Setting
Parameter name Function Default
range
Axes Group Set the logical number of the axes group. --- ---
Number This number indicates the axes group number of the corresponding
system-defined variable _MC_GRP[0-63], _MC1_GRP[0-63], or
_MC2_GRP[0-63].
5
Motion Control*1 Assign to either of the primary periodic task or priority-5 periodic 1 or 2 1
task.

5-3-2 Axes Group Basic Settings

1: Primary periodic task
2: Priority-5 periodic task
Axes Group Use Set whether to enable or disable the axes group. An error occurs if 0 to 2 0
you execute a motion control instruction for an undefined or unused
axes group. *2
0: Undefined axes group
1: Unused axes group
2: Used axes group
Composition Set the axis composition of the axes group. 0 to 2 0
0: 2 axes
1: 3 axes
2: 4 axes
Composition Ax- Sets the axis number to assign to the axes group. 2 to 4 ax- 0
es Set Axis Variable names from the Sysmac Studio to use for the A0 es
to A3 axes.
*1. Set this parameter when using the NX701 CPU Unit.
*2. An error occurs if you execute the MC_GroupEnable (Enable Axes Group) instruction for an axes group that
contains an unused axis.

Composition
The following table lists the axis compositions you can use with the MC Function Module.
Use the Sysmac Studio to set the axis composition according to the actual devices.

Composition Description
2 axes A two-axis configuration is used. For example, a machine with a two-axis Cartesian coordinate
system is used.

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5 Motion Control Parameters

Composition Description
3 axes A three-axis configuration is used. For example, a machine with a three-axis Cartesian coordi-
nate system is used.
4 axes A four-axis configuration is used. For example, a machine with a three-axis Cartesian coordi-
nate system is used with a rotary axis at the end tool.

Composition Axes
The axes that are in an axes group are called composition axes.
To make it easier to reuse programming with interpolation instructions for axes groups commands, log-
ical axes (axis A0 to axis A3) are used instead of axis numbers (axis 0 to axis 255).
For the Composition Axes parameter, set the axis numbers and logical axis numbers for the axes in
the axes group.
Servo axes or virtual servo axes can be selected for logical axes.
Use the Sysmac Studio to assign axes from axis A0 for the number of axes you selected in the axis
composition.
Set axis numbers from axis A0 for each axes group if you create more than one axes group.
You can also set the same axis number in more than one axes group.

Axis composition setting Settings in Composition Axes parameter

2 axes Set Axis Variable names (axis numbers) for axis A0 and axis A1.
3 axes Set Axis Variable names (axis numbers) for axis A0, axis A1, and axis A2.
4 axes Set Axis Variable names (axis numbers) for axis A0, axis A1, axis A2, and axis A3.

Precautions for Correct Use

• Assign all of the composition axes to the same task.

• If you set the same axis number for multiple axes groups, you cannot enable these axes
groups simultaneously.
• An axis for which Control Function is set to Single-axis position control only cannot be
allocated as an axis in an axes group.

Version Information

With a CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher, you
can set any servo axis or virtual servo axis that is set to a Used axis or an Unused axis
(changeable to used axis) in an axes group.

 Composition Axes Setting Examples

• Example 1: Assigning Four Axes with Axis Numbers 1, 2, 5, and 8 to an Axes Group

Logical axis Axis number

Axis A0 Axis 1
Axis A1 Axis 2
Axis A2 Axis 5
Axis A3 Axis 8

• Example 2: Assigning Three Axes with Axis Numbers 1, 8, and 2 to an Axes Group

Logical axis Axis number

Axis A0 Axis 1

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 5 Motion Control Parameters

Logical axis Axis number

Axis A1 Axis 8
Axis A2 Axis 2
Axis A3 None

5-3-3 Axes Group Operation Settings

These parameters set items for axes group operation, such as the maximum interpolation velocity and
axes group stopping method. Set them according to the specifications of the device you are control-
ling.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on us-

5-3 Axes Group Parameters

ing the NX-series Position Interface Units.

Parameter name Function Setting range Default

Maximum Interpola- Set the maximum interpolation velocity for the path. Non-negative 800,000,000
tion Velocity Set 0 for no interpolation velocity limit. long reals
If a target velocity that exceeds the maximum interpo-
lation velocity is specified for an axes group motion
instruction, the axis will move at the maximum inter-
polation velocity. (Unit: command units/s)
Maximum Interpola- Set the maximum interpolation acceleration for the Non-negative 0 5
tion Acceleration path. long reals
Set 0 for no interpolation acceleration limit. (Unit:

5-3-3 Axes Group Operation Settings

command units/s2)
Maximum Interpola- Set the maximum interpolation deceleration for the Non-negative 0
tion Deceleration path. long reals
Set 0 for no interpolation deceleration limit. (Unit:
command units/s2)
Interpolation Acceler- Set the operation for when the maximum interpolation 0 to 2 0
ation/Deceleration acceleration/deceleration rate would be exceeded af-
Over ter excessive acceleration/deceleration during accel-
eration/deceleration control of the axes group be-
cause stopping at the target position is given priority.
0: Use rapid acceleration/deceleration. (Blending is
changed to Buffered.) *1
1: Use rapid acceleration/deceleration.
2: Minor fault stop *2
Interpolation Velocity Set the percentage of the maximum interpolation ve- 0 to 100 0
Warning Value locity at which to output an interpolation velocity
warning.
No interpolation velocity warning is output if 0 is set.
(Unit: %)
Interpolation Acceler- Set the percentage of the maximum interpolation ac- 0 to 100 0
ation Warning Value celeration rate at which to output an interpolation ac-
celeration warning.
No interpolation acceleration warning is output if 0 is
set. (Unit: %)
Interpolation Deceler- Set the percentage of the maximum interpolation de- 0 to 100 0
ation Warning Value celeration rate at which to output an interpolation de-
celeration warning.
No interpolation deceleration warning is output if 0 is
set. (Unit: %)

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 5-37

5 Motion Control Parameters

Parameter name Function Setting range Default

Axes Group Stop Set the stop method of the composition axes for 0, 1, or 3 0
Method which an error did not occur when an error occurs
that forces an immediate stop of an axis that is in a
multi-axes coordinated motion.
0: Immediate stop
1: Decelerate axes to a stop at maximum decelera-
tion rate of the axes
3: Immediate stop and Servo OFF
Correction Allowance This parameter applies when the center designation Single-precision 0
Ratio method is used for a circular interpolation instruction. floating-point
It compensates the distance when the distance be- number be-
tween the start point and the center point does not tween 0 and
equal the distance between the end point and the 100
center point. Set the allowable range for that correc-
tion as a percentage of the radius. Set the percent-
age to 0.1% or greater.
Error checking is not performed if 0 is set.
*1. For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered.
Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 9-48 for details.
*2. For a CPU Unit with unit version 1.10 or later, the axis does not stop with an error when Blending is used for
operation.
Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 9-48 for details.

5-3-4 Enabling an Axes Group

Specify the number of the axes group to enable in the MC_GroupEnable (Enable Axes Group) instruc-
tion to enable operation instructions for an axes group in the user program.
An instruction error occurs if you execute a motion control instruction for an axes group that is not ena-
bled.
You can enable more than one axes group at the same time, but if you enable more than one axes
group that include the same axis, an instruction error occurs.

If you want to operate the same axis in different axes groups for each work process, create multiple
axes groups that include that axis. You can then use the MC_GroupEnable (Enable Axes Group) and
MC_GroupDisable (Disable Axes Group) instructions to enable and disable these axes groups as you
need to use them.

If you execute the MC_GroupDisable (Disable Axes Group) instruction during multi-axes operation,
the axes in the group will decelerate to a stop.

5-38 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6
Motion Control Programming
This section provides the specifications of a motion control program and the operation
procedures that are required up through actual program development.

6-1 Introduction .................................................................................................... 6-2

6-2 Motion Control Instructions .......................................................................... 6-5
6-2-1 Function Blocks for PLCopen® Motion Control ............................................... 6-5
6-2-2 Motion Control Instructions of the MC Function Module ................................. 6-5
6
6-3 State Transitions ............................................................................................ 6-7
6-3-1 Status of the Motion Control Function Module ................................................ 6-7
6-3-2 Axis States ...................................................................................................... 6-7
6-3-3 Axes Group States .......................................................................................... 6-9
6-4 Execution and Status of Motion Control Instructions .............................. 6-12
6-4-1 Basic Rules for Execution of Instructions ...................................................... 6-12
6-4-2 Execution Timing Charts ............................................................................... 6-14
6-4-3 Timing Chart for Re-execution of Motion Control Instructions....................... 6-17
6-4-4 Timing Chart for Multi-execution of Motion Control Instructions.................... 6-17
6-5 Positions ....................................................................................................... 6-19
6-5-1 Types of Positions ......................................................................................... 6-19
6-5-2 Valid Positions for Each Axis Type ................................................................ 6-20
6-6 System-defined Variables for Motion Control ........................................... 6-21
6-6-1 Overview of System-defined Variables for Motion Control ............................ 6-21
6-6-2 System for System-defined Variables for Motion Control .............................. 6-23
6-6-3 Tables of System-defined Variables for Motion Control................................. 6-24
6-7 Cam Tables and Cam Data Variables.......................................................... 6-37
6-8 Programming Motion Controls ................................................................... 6-41
6-9 Creating Cam Tables.................................................................................... 6-43

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-1

6 Motion Control Programming

6-1 Introduction
The NJ/NX-series CPU Unit can perform both sequence control and motion control.
Write motion control instructions into the user program to perform motion control with EtherCAT slave
Servo Drives, NX-series Position Interface Units, and other devices.
Programs that contain motion control instructions are called motion control programs.
You must assign Axis Variables to EtherCAT slave Servo Drives and NX-series Position Interface
Units. If you do not assign Axis Variables, assign I/O device variables in the same way as for a gener-
al-purpose slave.
Motion control instructions can be used in the primary periodic task, in a priority-5 periodic task, and in
a priority-16 periodic task.

Version Information

With the Sysmac Studio version 1.09 or higher, you can assign device variables to the I/O ports
of slaves and Units that are assigned to the Axis Variables.
Refer to 2-4-2 Relationship between EtherCAT Master Function Module and MC Function Mod-
ule on page 2-19 for details.

 NX701 CPU Unit

User program in PLC CPU Unit

Function Module
Device variables

Instructions Executed. EtherCAT

other than EtherCAT
Sequence slaves
motion control
control instructions
EtherCAT
Master
Function EtherCAT EtherCAT
MC Function Module Task period
variables
Axis

Motion control Module

instructions slaves,
•Profile processing
•Synchronization Servo Drives,
Motion control processing encoder input
Executed. terminals,
Other processing
Position
Interface Units

6-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

 NX102 CPU Unit

User program in PLC CPU Unit

Function Module
Executed.

I/O ports
Device variables
Instructions
other than NX Bus NX Units
motion control Function
Sequence instructions
control Module

EtherCAT EtherCAT
slaves

MC Function Module EtherCAT NX Units,

Master Position
• Profile processing Function Interface Units
Task Module
• Synchronization
Executed. period
processing
Other processing EtherCAT EtherCAT
variables
Axis

Motion control
Motion control instructions slaves,
Servo Drives,
encoder input
terminals,
Position
Interface Units

6-1 Introduction
 NX1P2 CPU Unit
CPU Unit
User program in PLC
Function Module 6
Instructions Executed.
other than Built-in I/O
I/O ports
Device variables

motion control Option Boards

instructions
Sequence NX Bus NX Units
control Function
Module
EtherCAT EtherCAT
slaves

MC Function Module EtherCAT NX Units,

Master Position
•Profile processing
Function Interface Units
•Synchronization Task
processing Module
period
Other processing
variables
Axis

Motion control EtherCAT EtherCAT

Motion control instructions slaves,
Servo Drives,
Executed. encoder input
terminals,
Position
Interface Units

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-3

6 Motion Control Programming

 NJ-series CPU Unit

User program in PLC CPU Unit

Function Module
Instructions CJ-series Units
other than Executed.

I/O ports
Device variables
motion control Basic I/O Units,
instructions Special Units
Sequence
control EtherCAT EtherCAT
slaves

Motion control variables

EtherCAT EtherCAT EtherCAT
Axis
MC Function Module Task period
instructions Master slaves,
•Profile processing Function
•Synchronization Servo Drives,
Module encoder input
Motion control processing
Executed. terminals,
Other processing
Position
Interface Units

6-4 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

6-2 Motion Control Instructions

Motion control instructions are used in the user program to execute motion controls for an NJ/NX-ser-
ies CPU Unit. These instructions are defined as function blocks (FBs).
The motion control instructions of the MC Function Module are based on the technical specifications of
function blocks for PLCopen® motion control. There are two types of motion control instructions:
PLCopen®-defined instructions and instructions that are unique to the MC Function Module.
This section provides an overview of the PLCopen® motion control function blocks and gives the spec-
ifications of the MC Function Module.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for basic information on
the NJ/NX-series CPU Unit function blocks (FBs).

6-2 Motion Control Instructions

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on us-
ing the NX-series Position Interface Units.

Version Information

A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are re-
quired to use NX-series Position Interface Units.

6-2-1 Function Blocks for PLCopen® Motion Control

6
PLCopen® standardizes motion control function blocks to define a program interface for the languages
specified in IEC 61131-3 (JIS B 3503).

6-2-1 Function Blocks for PLCopen® Motion Control

Single-axis positioning, electronic cams, and multi-axes coordinated control are defined along with ba-
sic procedures for executing instructions.
By using PLCopen® motion control function blocks, the user program can be more easily reused with-
out hardware dependence.
Costs for training and support are also reduced.

Additional Information

PLCopen®
PLCopen® is an association that promotes IEC 61131-3. It has its headquarters in Europe and
a world-wide membership.
IEC 61131-3 is an international standard for PLC programming.
• The website of headquarters of PLCopen® in Europe is http://www.plcopen.org/.

6-2-2 Motion Control Instructions of the MC Function Module

There are three types of motion control instructions. They are given in the following table.

Type Outline
Common commands Common instructions for the MC Function Module
Axis commands Instructions for MC Function Module to perform single-axis control
Axes group commands Instructions for MC Function Module to perform multi-axes coordinated control

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-5

6 Motion Control Programming

For a list of the instructions that you can use with the MC Function Module, refer to the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

6-6 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

6-3 State Transitions

The states of axes and axes groups of the MC Function Module and state transitions caused by the
execution of instructions are based on the technical specifications of function blocks for PLCopen®
motion control.
This section provides an overall description of the MC Function Module, states, and state transitions.

6-3-1 Status of the Motion Control Function Module

The overall states of the MC Function Module are described in the following table.

State name Definition

MC Run Mode*1 Motion control instructions are enabled.
The motion control instructions in the user program are interpreted and
motion control is performed.

6-3 State Transitions

You can set the MC Run Mode state regardless of the operating mode of
the CPU Unit.
MC Test Mode*2 In this state, you can execute a test run from the Sysmac Studio.

Saving Cam Table File*3 This state exists while the system performs save or wait processing for a
cam table file.
Generating Cam Table*4 This state exists while the system is generating the came table. *5
*1. This state can be monitored with the MC Common Variable _MC_COM.Status.RunMode.
*2. This state can be monitored with the MC Common Variable _MC_COM.Status.TestMode.
6
*3. This state can be monitored with the MC Common Variable _MC_COM.Status.CamTableBusy.
*4. This state can be monitored with the MC Common Variable _MC_COM.Status.GenerateCamBusy.

6-3-1 Status of the Motion Control Function Module

*5. When you turn OFF the power supply for the CPU Unit, make sure that generation of the cam table is not in
progress. If you turn OFF the power supply for the CPU Unit while generation of the cam table is in prog-
ress, the cam table will not be generated correctly.

6-3-2 Axis States

The operation of an axis when motion control instructions are executed for it is shown in the following
figure.
Motion control instructions are executed in sequence and axes enter one of the states listed in the fol-
lowing table.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-7

6 Motion Control Programming

MC_GearIn (slave axis)

MC_Move MC_GearInPos (slave axis)
MC_MoveAbsolute MC_CamIn (slave axis)
MC_MoveRelative MC_CombineAxes (slave axis)
MC_MoveFeed *8 MC_MoveLink (slave axis) MC_SyncMoveVelocity
MC_MoveZeroPosition MC_MoveVelocity
MC_GearOut Synchronized Motion MC_TorqueControl
MC_CamOut Synchronized MC_MoveJog
Discrete Motion Continuous Motion
Discrete Continuous
*7
MC_Stop

Deceleration Stopping
Stopping MC_ImmediateStop
Error Deceleration Stopping *1
*6 ErrorStop
MC_Home *4
MC_HomeWithParameter *3

Homing Standstill *5 Axis Disabled *2

Homing Standstill Disabled

Coordinated Motion
Coordinated *7: MC_ResetFollowingError

*1. Transition into this state occurs when there is an axis error in any state except for Coordinated Motion state.
*2. Transition into this state occurs when there are no axis errors and the Status output to the MC_Power instruc-
tion is FALSE. (The Servo is OFF.)
*3. Transition into this state occurs if an error is reset with the MC_Reset or ResetMCError instruction when the
Servo is OFF.
*4. Transition into this state occurs if an error is reset with the MC_Reset or ResetMCError instruction when the
Servo is ON.
*5. Transition into this state occurs when the Enable input to the MC_Power instruction changes to TRUE and the
Status (Servo ON) output from the MC_Power instruction changes to TRUE. (The Servo is ON.)
*6. Transition into this state occurs when the Done output from the MC_Stop instruction is TRUE and the Execute
input to the MC_Stop instruction changes to FALSE.
*7. Transition into the Deceleration Stopping state occurs when the MC_ResetFollowingError instruction is exe-
cuted.
*8. The Continuous Motion state exists from when 2: _mcVelocity (velocity control) is set for the MoveMode in-
put variable of the MC_MoveFeed instruction until a trigger input is detected.

State name Definition

Servo OFF In this state, the Servo is OFF for the axis.
When this state is moved to, the buffered status for multi-execution of instructions is
cleared.
Axis Disabled In this state, the Servo is OFF for the axis, the axis is stopped, and execution prepa-
rations are completed.
Error Deceleration In this state, the Servo is OFF for the axis, the axis is stopped, and an axis error has
Stopping*1 occurred.
Servo ON In this state, the Servo is ON for the axis.
Stopped In this state, the Servo is ON for the axis and the axis is stopped.
Discrete Motion In this state, positioning is performed for the specified target position.
This includes when waiting the in-position status and when the velocity is 0 because
the override factor was set to 0 during a discrete motion.

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 6 Motion Control Programming

State name Definition

Continuous Motion In this state, continuous motion control is executed with no specified target position.
This state exists during velocity control or torque control.
This includes when the velocity is 0 because the target velocity is set to 0 and when
the velocity is 0 due to an override factor set to 0 during continuous motion.
Synchronized Motion In this state, the synchronized control is performed for the axis with synchronized
control commands.
This includes waiting for synchronization after changing to synchronized control in-
structions.
Deceleration Stop- In this state, the axis is stopping due to a MC_Stop or MC_TouchProbe (Enable Ex-
ping ternal Latch) instruction.
This includes when Execute is TRUE after stopping for the MC_Stop instruction.
In this state, it is not possible to execute axis operation commands.
If an attempt is made to execute one, CommandAborted for the instruction changes
to TRUE.
Error Deceleration In this state, the Servo is ON for the axis and an axis error has occurred.
Stopping*1 This includes during execution of the MC_ImmediateStop (Immediate Stop) instruc-
tion and during a deceleration stop for an axis error.

6-3 State Transitions

It is not possible to execute axis operation commands in this state. The instruction
will enter the aborted (CommandAborted = TRUE) status if executed.
Homing In this state, home is being searched for by the MC_Home or MC_HomeWithPara-
meter instruction.
Coordinated Motion In this state, the axes group was enabled by an instruction for an axes group com-
mand.
In this state, the axis is in motion for an axes group state of GroupMoving,
GroupStopping, or GroupErrorStop. 6
*1. The Error Deceleration Stopping state occurs both when the Servo is ON and when the Servo is OFF for the
axis.

6-3-3 Axes Group States

Note You can monitor the axis status in the member variables of the Axis Variables _MC_AX[0-255].Status.

Version Information

For the NX701 CPU Unit, the variable names that start with _MC_AX[*] may apply to those with
_MC1_AX[*] and _MC2_AX[*].

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on us-
ing the NX-series Position Interface Units.

6-3-3 Axes Group States

The following figure shows how an axes group operates when motion control instructions are execut-
ed.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-9

6 Motion Control Programming

Moving
Moving MC_GroupStop
Deceleration Stopping
Stopping

*1

MC_GroupImmediateStop
*6 Error Deceleration Stopping *2

ErrorStop
*3
MC_GroupEnable
Axes Group Disabled Standby *7

Disabled Standby
MC_GroupDisable *4
*5

*1. The axes group enters the Moving state whenever any axes group motion control instruction is executed.
*2. The axes group can move to the ErrorStop state from any other states. When an error occurs, the axes group
enters this state even if it is disabled.
*3. The axes group moves to the Standby state if the MC_GroupReset or ResetMCError instruction is executed
while it is enabled.
*4. The axes group moves to the Disabled state if the MC_GroupReset or ResetMCError instruction is executed
while it is disabled.
*5. If the MC_GroupDisable instruction is executed while the axes group is in the ErrorStop state, the axes group
will remain in the same state.
*6. The axes group moves from the Stopping state to the Standby state when the MC_GroupStop instruction has
the output variable Done set to TRUE and the input variable Execute set to FALSE.
*7. The axes group is ready to execute if the following conditions are all met while it is in the Standby state.
The Servo is ON for all composition axes.
Execution of the MC_Stop instruction is not in progress for any composition axis.
Home is defined for all composition axes.

State name Definition

Axes Group Disabled The axes group is disabled in this state.
When the axes group enters this state, the buffered status for multi-execution of
instructions is cleared.
Error Deceleration In this state, an error occurred in an axes group that is disabled.
Stopping*1
Axes Group Enabled The axes group is enabled in this state.
Standby In this state, no instructions for axes group commands are executing.
This is independent of the Servo ON/OFF status of the composition axes in the
axes group.
Moving In this state, positioning is performed for the specified target position due to a mo-
tion instruction for an axes group command.
This includes during the in-position check and when the velocity is 0 because the
override factor was set to 0 while the group was in motion.
Deceleration Stopping In this state, the MC_GroupStop instruction is executing.
This includes when Execute is TRUE after stopping for the MC_GroupStop in-
struction.
In this state, it is not possible to execute a motion for an axes group command.
If one is executed, CommandAborted for the instruction will change to TRUE.

6-10 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

State name Definition

Error Deceleration In this state, an axes group error has occurred.
Stopping*1 This includes during execution of the MC_GroupImmediateStop (Axes Group Im-
mediate Stop) instruction and during a deceleration stop for an axes group error.
It is not possible to execute multi-axes coordinated control commands in this
state.
If an attempt is made to execute one of them, CommandAborted for the instruc-
tion will change to TRUE.
*1. The Error Deceleration Stopping state occurs both when the axes group is enabled and when it is disabled.

Note You can monitor the axes group status in the member variables of the Axes Group Variables
_MC_GRP[0-63].Status, _MC1_GRP[0-63].Status, and _MC2_GRP[0-63].Status.

6-3 State Transitions

6

6-3-3 Axes Group States

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6 Motion Control Programming

6-4 Execution and Status of Motion Con-

trol Instructions
Variables that represent the execution status of instructions and variables that are used to execute
motion control instructions are defined in the MC Function Module.
There are two input variables that you use to execute motion control instruction functions Execute and
Enable. The following output variables indicate the execution status of an instruction Busy, Done,
CommandAborted, and Error.

6-4-1 Basic Rules for Execution of Instructions

The basic rules for the MC Function Module are listed in the following table.
You can find execution examples in 6-4-2 Execution Timing Charts on page 6-14.
Refer to these examples as well.

Item Rule
Exclusiveness of outputs The following output variables are mutually exclusive, and only one of them can be TRUE at
one time: Busy, Done, Error, and CommandAborted.
Similarly, only one of the following output variables can be TRUE at the same time: Active,
Done, Error, and CommandAborted.
Busy and Active may be TRUE at the same time in some cases.
Output status The output variables Done, InGear (Gear Ratio Achieved), InSync, InVelocity (Target Velocity
Reached), and CommandAborted change to FALSE when the input variable Execute
changes to FALSE.
The actual execution of a motion control instruction is not stopped when Execute changes to
FALSE.
Even if Execute changes to FALSE before the instruction finishes execution, the correspond-
ing output variable will be TRUE for at least one period if the status of the instruction instance
changes.
The output variable Error will not reset to FALSE and the output variable ErrorID (Error Code)
will not reset to 0 until you execute one of the following instructions: MC_Reset, MC_Group-
Reset, or ResetMCError. *1
If the Execute variable of the same instruction instance changes to TRUE again (i.e., if the
instruction is restarted) during the execution of a motion control instruction, the
CommandAborted variable will not change to TRUE.
Input parameters For motion control instructions that are started with the input variable Execute, the values of
the input parameters when Execute changes to TRUE are used.
For motion control instructions that start for the input variable Enable, the current values of
the input parameters during each period when Enable is TRUE are used.
Omitting input parameters The default value applies if you omit an input parameter for an instruction instance. *2
Position (Target Position) The input variable Position is defined as a value in the coordinate system.
and Distance (Travel The input variable Distance is the relative length, i.e., it is the difference between two posi-
Distance) tions.
Sign rules The input variables Acceleration, Deceleration, and Jerk are non-negative values.
Position (Target Position), Distance (Travel Distance), and Velocity (Target Velocity) can be
positive, negative, or 0.

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 6 Motion Control Programming

Item Rule
Error processing There are two output variables that represent an error when a problem occurs during the exe-
cution of an instruction instance.
These outputs are defined as follows:
• Error: The output variable Error changes to TRUE to indicate that an error occurred during
the execution of the instruction instance.
• ErrorID (Error Code): This is an error code that represents the cause of the error.
The output variables Done, InVelocity (Target Velocity Reached), InGear (Gear Ratio Ach-

6-4 Execution and Status of Motion Control Instructions

ieved), and InSync all represent normal completion or normal operation and therefore will
never be TRUE when the output variable Error is TRUE.
Types of errors:
• Instruction instance errors (e.g., parameter out of range and illegal condition for state tran-
sition)
• Axis errors (e.g., Following Error Limit Exceeded and Servo Drive errors)
Some instruction instance errors may not cause an axis error but will cause the axis to stop.
Operation of output varia- The output variable Done, InGear (Gear Ratio Achieved), or InSync will change to TRUE
ble Done when the instruction ends operation normally or when the commanded condition is reached.
For movement instructions for which a target position is specified, the timing of when the out-
put variable Done changes to TRUE depends on the setting of the In-position Check Time
axis parameter.
• If the In-position Check Time axis parameter is set to any value but 0, output variable Done
changes to TRUE in the next period after the period in which positioning is completed.
• If the In-position Check Time axis parameter is set to 0, output variable Done changes to
TRUE in the next period after the period in which pulse distribution is completed.
When working with multiple instructions that operate on the same axis, the output variable
Done from the first instruction will not change to TRUE if another operation instruction takes 6
over before the axis operation for the first instruction reaches the target position.
Operation of output varia- The output variable CommandAborted will change to TRUE when another operation instruc-

6-4-1 Basic Rules for Execution of Instructions

ble CommandAborted tion interrupts the commanded operation.
For the MC Function Module, this variable will change to TRUE when a motion control in-
struction is executed and the target axis or axes group causes an error or is decelerating to a
stop.
All other output variables change to FALSE when CommandAborted changes to TRUE.
Input variables outside of The instruction instance will output an error when it is executed with an input variable that is
valid range outside of the valid range.
Operation of output varia- The output variable Busy is TRUE when the instruction instance is executing.
ble Busy Busy will change to TRUE when the input variable Execute changes to TRUE, and will
change to FALSE when the output variable Done, CommandAborted, or Error changes to
TRUE.
It is impossible to know when the above output variables will change. Write your programs so
that the instruction instance executes every period*3 while Busy is TRUE so that you can
monitor for changes in the output variables.
For a single axis or single axes group, the Busy variable of more than one instruction instance
can be TRUE at the same time. However, the output variable Active of only one instruction
instance can be TRUE at one time.
However, the MC_Phasing (Shift Master Axis Phase) instruction is an exception to this rule.
Output variable Active The output variable Active changes to TRUE when the instruction instance obtains permis-
sion to control the applicable axis.
The output variable Active may change slower than the Busy variable. *4
*1. This behavior is different from the PLCopen® specifications. Under the PLCopen® specifications, Error changes to
FALSE and ErrorID changes to 0 when Execute changes to FALSE.
When Error is TRUE, the motion control instruction is not executed. Instructions are not executed after an error is
cleared even if Execute is TRUE. Execute must change from FALSE to TRUE to execute the instruction. Enable-type
motion control instructions are executed if their Enable variable is TRUE when an error is reset.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-13

6 Motion Control Programming

*2. When you program the instruction in a ladder diagram, insert an input between the input variable Execute or Enable
and the left bus bar. If the instruction is connected directly to the left bus bar without an input, an error occurs when the
program is built.
Set the initial value for or omit any input variable that is reserved.
*3. If the condition expressions or set values for ST Structure instructions do not match, the instructions in that statement
are not executed. For details, refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No.
W508).
*4. Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for an output variable timing
chart.

Precautions for Correct Use

• Confirm that EtherCAT process data communications are active and normal before you exe-
cute motion control instructions.
Refer to 10-2-1 Monitoring EtherCAT Communications and Turning ON Servos on page
10-3 for details.
• Write the user program so that Execute is FALSE during the first period in which the instruc-
tion is executed.

6-4-2 Execution Timing Charts

The motion control instructions in the MC Function Module are function blocks that are unconditionally
executed.
This section calls instructions that are executed according to the Execute input variable "execute-type
instructions" and instructions that are executed according to the Enable input variable "enable-type in-
structions."

Execution
Description
condition
Execute-type These motion control instructions are executed when the input variable Execute to the instruc-
instructions tion changes to TRUE.
These instructions will continue execution until one of the following status occurs.
• The specified operation is completed.
• Another motion control instruction is executed and interrupts operation.
• The instruction is restarted when Execute changes from FALSE to TRUE again.
Values for the other input variables are input when Execute changes to TRUE.
Enable-type These motion control instructions are executed every period while the input variable Enable to
instructions the motion control instruction is TRUE.
As long as Enable is TRUE, the other input variables are also input every period.
However, MC_MoveJog input variables Velocity, Acceleration, and Deceleration are an excep-
tion to this rule. The values when PositiveEnable or NegativeEnable changes to TRUE are
used for these input variables.

Precautions for Correct Use

The timing in the timing charts that are given in this manual may not necessarily be the same as
the timing displayed for data traces on the Sysmac Studio.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on da-
ta tracing.

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 6 Motion Control Programming

Timing Charts for Execute-type Instructions

• The following timing chart shows the operation of the instruction is completed while the input varia-
ble Execute is TRUE.
In this example, no error occurs after the completion of the instruction, and then Execute is changed
to FALSE.

6-4 Execution and Status of Motion Control Instructions

Execute

Busy

Done

CommandAborted

Error

• The following timing chart shows an example where an error occurs while the input variable Execute
is TRUE.
The output variable Error remains TRUE even after Execute changes to FALSE.

Execute

Busy

Done 6
CommandAborted

6-4-2 Execution Timing Charts

Error

• The following timing chart shows an example where the instruction is interrupted during execution
while the input variable Execute is true.

Execute

Busy

Done

CommandAborted

Error

• The following timing chart shows an example where the input variable Execute is TRUE for only one
period and an error does not occur for the instruction.
The output variable Done changes to TRUE for only one period after the instruction operation is
completed.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-15

6 Motion Control Programming

Execute

Busy

Done

CommandAborted

Error

• The following timing chart shows an example where the input variable Execute is TRUE for only one
period and an error occurs for the instruction.
The output variable Error remains TRUE.

Execute

Busy

Done

CommandAborted

Error

Timing Charts for Enable-type Instructions

• The following timing chart shows an example where the input variable Enable changes to TRUE and
an error does not occur for the instruction.

Enable

Enabled

Busy

Error

• The following timing chart shows an example where the input variable Enable changes to TRUE and
an error occurs for the instruction.

Enable

Enabled

Busy

Error

Additional Information

Enable and Enabled change at the same time for instructions such as MC_ZoneSwitch (Zone
Monitor) and MC_AxesObserve (Monitor Axis Following Error). For details on the timing of indi-
vidual instructions, refer to the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

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 6 Motion Control Programming

6-4-3 Timing Chart for Re-execution of Motion Control Instructions

If the values of the input variables to the same instance are changed while the motion control instruc-
tion is under execution and Execute is changed to TRUE, FALSE, and then back to TRUE again, oper-
ation will follow the new values.

The following timing chart shows an example where the velocity is changed for MC_MoveAbsolute
(Absolute Positioning) instruction.

6-4 Execution and Status of Motion Control Instructions

Execute

Busy

Active

Done

Error

Velocity
Target
velocity 2
Target
velocity 1

Time
6
For details on re-executing instructions for the MC Function Module, refer to 9-5-6 Re-executing Mo-
tion Control Instructions on page 9-43 and 9-7-4 Re-executing Motion Control Instructions for Multi-

6-4-3 Timing Chart for Re-execution of Motion Control Instructions

axes Coordinated Control on page 9-66.

6-4-4 Timing Chart for Multi-execution of Motion Control Instructions

Another instance can be executed for an axis during axis motion.
Set the input variable BufferMode to specify when to start operation.

The following figure shows an example in which BufferMode (Buffer Mode Selection) is set to aborting
when MC_MoveAbsolute (Absolute Positioning) instructions are executed with multi-execution of in-
structions.
“FB1” and “FB2” in the following figure are the instance names of the instructions.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-17

6 Motion Control Programming

FB1
Execute

Busy

Active

Done

CommandAborted

Error

ErrorID 16#0000

FB2
Execute

Busy

Active

Done

CommandAborted

Error

ErrorID 16#0000
Velocity
FB2 target velocity

FB2 travel
FB1 target velocity distance
FB1 travel
distance
Time

For details on multi-execution of instructions for the MC Function Module, refer to 9-5-7 Multi-execu-
tion of Motion Control Instructions (Buffer Mode) on page 9-48 and 9-7-5 Multi-execution of Motion
Control Instructions (Buffer Mode) for Multi-axes Coordinated Control on page 9-67.

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 6 Motion Control Programming

6-5 Positions
This section describes the positions that are used in motion control programming.

6-5-1 Types of Positions

The MC Function Module uses the following two types of positions.

Type of position Definition

Command position This is the position that the MC Function Module outputs to control an axis.
Actual position The actual position as input from the Servo Drive or encoder input.

The following figure shows the relationship between the command position and the actual position for
an EtherCAT slave Servo Drive.

User program MC Function Module Command position Servo Drive

(pulses)
Motion Motion Command Electronic Command Following
control control position gear position error
Position loop M
instruction processing (command units) In-position check counter counter Velocity loop
Remainder Actual position Current loop

6-5 Positions
(pulses)
Actual position Electronic
(command units) gear
Feedback E
counter
Remainder

The command position and actual position share the following items.

Item Command position Actual position 6

Count Mode You can set Linear Mode or Rotary Mode. The same Count Mode is used as for
the command position.

6-5-1 Types of Positions

Position increment You can set one of the following: mm, μm, The unit is the same as the unit of the
nm, inch, degree, or pulse. command position.
Software limits You can set the range of operation of the The range is the same as the range
software. for the command position.
Changing the current You can change the actual position to any This value will be set to the same posi-
position desired position. tion as the command position. *1
Defining home Home is either defined or undefined. The status of home is the same as the
command position.
*1. If there is any following error before the change, the following error value is maintained in the actual posi-
tion.

Additional Information

• For a virtual servo axis, the command current value is converted to pulses and then that value
is converted to the unit of display. The resulting value is used as the actual current value.

User program MC Function Module Command position

(pulses)
Motion control Motion control Command position Electronic gear
instruction processing (command units) Actual
In-position check Remainder position Return
Actual position (pulses)
Electronic gear
(command units)
Remainder

• Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information
on the NX-series Position Interface Units.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-19

6 Motion Control Programming

6-5-2 Valid Positions for Each Axis Type

The following table lists the valid positions for each axis type.

Types of positions
Axis type
Command position Actual position
Servo axis Applicable Applicable
Virtual servo axis Applicable Applicable*1
Encoder axis Cannot be used. Applicable
Virtual encoder axis Cannot be used. Applicable*2
*1. For a virtual servo axis, the actual position is the same as the command position.
However, there is sometimes calculation error because processing is performed with long reals in the MC
Function Module.
*2. This is used when there is no actual encoder.

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 6 Motion Control Programming

6-6 System-defined Variables for Motion

Control
This section describes the variables of the MC Function Module.

6-6-1 Overview of System-defined Variables for Motion Control

6-6 System-defined Variables for Motion Control

The NJ/NX-series CPU Unit is compliant with the IEC 61131-3 standard.
Parameter settings, status information, and other data are handled as variables in the user program in
the NJ/NX-series CPU Unit.
Of these, system-defined variables that belong to the MC Function Module are called system-defined
variables for motion control.

Types of System-defined Variables for Motion Control

The following table lists all of the types of system-defined variables for motion control.

Level 1 Level 2 Level 3 Description

System-defined System-defined MC Common You can monitor the overall status of the MC Func-
variables variables for Variable tion Module.
motion control Axis Variables You can monitor axis status and the settings of part 6
of the axis parameters.
Axes Group You can monitor axes group status and the settings

6-6-1 Overview of System-defined Variables for Motion Control

Variables of part of the axes group parameters.

 MC Common Variable
You can monitor the overall status of the MC Function Module with the MC Common Variable. The
variable name is _MC_COM.

 Axis Variables
Use these variables to handle EtherCAT slaves, Servo Drives, encoder input terminals, NX-series
Position Interface Units, virtual Servo Drives, and virtual encoder input terminals.
You can use either the system-defined variables or the variables that are set on the Sysmac Studio
to specify the Axis Variables in the user program.
You can change any of the Axis Variables that you create on the Sysmac Studio.
a. Axis Variables in the system-defined variables
• _MC_AX[0] to _MC_AX[255]
• _MC1_AX[0] to _MC1_AX[255]
• _MC2_AX[0] to _MC2_AX[255]
b. Default Axes Group Variables when axes groups are created on the Sysmac Studio
• MC_Axis000 to MC_Axis255 (default)

 Axes Group Variables

Use these variables to handle multiple axes as a single group.
You can use either the system-defined variables or the variables that are set on the Sysmac Studio
to specify the Axes Group Variables in the user program.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-21

6 Motion Control Programming

You can change any of the Axes Group Variables that you create on the Sysmac Studio.
a. Axes Group Variables in the system-defined variables
• _MC_GRP[0] to _MC_GRP[63]
• _MC1_GRP[0] to _MC1_GRP[63]
• _MC2_GRP[0] to _MC2_GRP[63]
b. Default Axes Group Variables when axes groups are created on the Sysmac Studio
• MC_Group000 to MC_Group063 (default)

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the var-
iables that are used by an NJ/NX-series CPU Unit.

Data Types Used for System-defined Variables for Motion Control

System-defined variables for motion control use both basic data types and derivative data types.

 Basic Data Types

Data
Category Size Range of values Notation
type
Boolean BOOL 2*1 TRUE or FALSE TRUE or FALSE
Integer UINT 2 0 to +65,535 Binary notation: "2#" is added to the front of the
UDINT 4 0 to +4,294,967,295 number *2
Octal notation: "8#" is added to the front of the
number *3
Decimal notation: "10#" is added to the front of
the number *4
Hexadecimal notation: "16#" is added to the front
of the number *5
If you do not add any notation to the beginning of
a number, that number is treated as a decimal
number.
Floating- LREAL 8 -1.79769313486231e+308 to Written as (sign) + integer_part + (decimal_point)
point num- -2.22507385850721e-308, + (decimal_part) + (exponent). *6
bers 0, You can omit items in parentheses.
2.22507385850721e−308 to
1.79769313486231e+308,
positive infinity, or negative infinity
*1. BOOL data is only 1 bit in size but it takes up 2 bytes of memory.
*2. Binary notation examples: 2#1111_1111, 2#1110_0000
*3. Octal notation examples: 8#377, 8#340
*4. Decimal notation examples: −12, 0, 123_456, +986, 10#1234
*5. Hexadecimal notation examples: 16#FF, 16#ff, 16#E0, 16#e0
*6. Examples: 2, -12.0, 0.0, 0.4560, 3.14159_26, -1.34E-12, -1.34e-12, 1.0E+6, 1.0e+6, 1.234E6, 1.234e6

 Derivative Data Types

Type Description
Enumerated data This data type uses one item from a prepared name list as its value.
type Variables with this data type start with “_e.”

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 6 Motion Control Programming

Type Description
Structure data type This data type consists of multiple data types placed together into a single layered
structure.
Variables with this data type start with “_s.”

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the oth-
er data types that are used by an NJ/NX-series CPU Unit.

Attributes of System-defined Variables for Motion Control

6-6 System-defined Variables for Motion Control

The attributes that are shown in the following table are the same for all system-defined variables for
motion control.

Attribute Attribute of system-defined variables for motion control

Global/Local Global variable
R/W access Read only
Retain Non-retain
Network Publish Publish*1
*1. Variables are published on the network with the variable names of the system-defined variables. The varia-
ble names that are created when the axes or axes groups are created on the Sysmac Studio are not pub-
lished to the network.

6-6-2 System for System-defined Variables for Motion Control

6
System-defined variables for motion control consist of information representing the status of the MC
Function Module, status information for slave devices connected via EtherCAT communications and

6-6-2 System for System-defined Variables for Motion Control

NX Units mounted on the CPU Unit, and the portion of the MC parameter settings used to perform
motion control.
You can access system-defined variables for motion control as variables in the user program and
monitor them from the Sysmac Studio.

Sysmac Studio

CPU Unit

ID211
0 1 2 3 4 5 6 7
AD042
RUN
8 9 10 11 12 13 14 15 ERC
ERH
B1 A1
0
1
2
3 MACH 78
9 01
456

No.
4 x10 1
23

5
78
6
9 01
456

x10 0
23
7

EtherCAT
8
9
10
11
12

14
13

15
COM
communi-
DC24V
7mA
cations Servo Drives
etc. and other devices
Main memory
System-defined
User program variables for
motion control
Accessed. MC Function
Data movement instructions MC Common Variable Module processing Status
Axis Variables
Axes Group Variables
Monitor display

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-23

6 Motion Control Programming

Update Timing of System-defined Variables for Motion Control

The update timings of the system-defined variables for motion control are different in the NX701 CPU
Unit, NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit as follows.

 NX701 CPU Unit

When the primary periodic task and priority-5 periodic task are assigned to axes, the motion control
variables are updated as follows:

• Only the task area that is assigned to the primary periodic task and the basic setting area of the
priority-5 periodic task are updated every primary task period.
• The other area of the priority-5 periodic task is not updated from the default settings and will be
updated in the task period of priority-5 periodic task.

Variable area to update Primary periodic task Priority-5 periodic task

_MC_AX[0-255] ¡
_MC1_AX[0-255] ¡
_MC2_AX[0-255] ¡
_MC_GRP[0-63] ¡
_MC1_GRP[0-63] ¡
_MC2_GRP[0-63] ¡

 NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit
The system-defined variables for motion control are updated every primary task period.

6-6-3 Tables of System-defined Variables for Motion Control

This section provides tables that describe the system-defined variables for motion control.

MC Common Variable
The variable name _MC_COM is used for the MC Common Variable. The data type is _sCOM-
MON_REF, which is a structure variable.
This section describes the configuration of the MC Common Variable and provides details on the
members.

Variable name Data type Meaning Function

_MC_COM _sCOMMON_REF MC Common Variable
Status _sCOMMON_REF_STA MC Common Status
RunMode BOOL MC Run TRUE during MC Function Module opera-
tion.
TestMode BOOL MC Test Run TRUE during test mode operation from the
Sysmac Studio.
CamTa- BOOL Cam Table File Save TRUE while the Cam Table is being saved
bleBusy Busy or on standby.
Generate- BOOL Generating Cam Table TRUE while the cam table is being generat-
CamBusy*1 ed.
PFaultLvl _sMC_REF_EVENT MC Common Partial
Fault

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 6 Motion Control Programming

Variable name Data type Meaning Function

Active BOOL MC Common Partial TRUE while there is an MC common partial
Fault Occurrence fault.
Code WORD MC Common Partial Contains the code for an MC common parti-
Fault Code al fault.
The upper four digits of the event code have
the same value.
MFaultLvl _sMC_REF_EVENT MC Common Minor
Fault

6-6 System-defined Variables for Motion Control

Active BOOL MC Common Minor TRUE while there is an MC common minor
Fault Occurrence fault.
Code WORD MC Common Minor Contains the code for an MC common minor
Fault Code fault.
The upper four digits of the event code have
the same value.
Obsr _sMC_REF_EVENT MC Common Obser-
vation
Active BOOL MC Common Obser- TRUE while there is an MC common obser-
vation Occurrence vation.
Code WORD MC Common Obser- Contains the code for an MC common ob-
vation Code servation.
The upper four digits of the event code have
the same value.
*1. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required.
6

Axis Variables

6-6-3 Tables of System-defined Variables for Motion Control

_MC_AX[0-255], _MC1_AX[0-255], and _MC2_AX[0-255] are the Axis Variables in the system-defined
variables. The data type is _sAXIS_REF, which is a structure variable.
This section describes the configuration of the Axis Variables and provides details on the members us-
ing _MC_AX[0-255] as an example.
The same information applies to _MC1_AX[0-255] and _MC2_AX[0-255].

Variable name Data type Meaning Function

_MC_AX[0-255] _sAXIS_REF Axis Variable
Status _sAXIS_REF_STA Axis Status
Ready BOOL Axis Ready-to-exe- TRUE when preparations for axis execu-
cute tion are finished and the axis is stopped.
This variable indicates the same status
as when _MC_AX[*].Status.Standstill is
TRUE (Standstill).
Disabled BOOL Axis Disabled TRUE while the Servo is OFF for the ax-
is.
The following axis states are mutually ex-
clusive. Only one can be TRUE at the
same time.
Disabled, Standstill, Discrete, Continu-
ous, Synchronized, Homing, Stopping,
ErrorStop, or Coordinated
Standstill BOOL Standstill TRUE while the Servo is ON for the axis.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-25

6 Motion Control Programming

Variable name Data type Meaning Function

Discrete BOOL Discrete Motion TRUE while position control is executed
toward the target position.
This includes when the velocity is 0 be-
cause the override factor was set to 0
during a discrete motion.
Continuous BOOL Continuous Motion TRUE during continuous motion without
a target position.
This state exists during velocity control or
torque control.
This includes when the velocity is 0 be-
cause the target velocity is set to 0 and
when the velocity is 0 due to an override
factor set to 0 during continuous motion.
Synchronized BOOL Synchronized Motion TRUE during execution of synchronized
control.
This includes waiting for synchronization
after changing to synchronized control in-
structions.
Homing BOOL Homing TRUE when homing for the MC_Home or
MC_HomeWithParameter instruction.
Stopping BOOL Deceleration Stop- TRUE until the axis stops for a MC_Stop
ping or MC_TouchProbe instruction.
This includes when Execute is TRUE af-
ter the axis stops for an MC_Stop in-
struction.
Axis motion instructions are not executed
while decelerating to a stop. (Comman-
dAborted is TRUE.)
ErrorStop BOOL Error Deceleration This status exists when the axis is stop-
Stopping ping or stopped for execution of the
MC_ImmdediateStop instruction or a mi-
nor fault (_MC_AX[*].MFaultLvl.Active) is
TRUE (Axis Minor Fault Occurrence).
Axis motion instructions are not executed
in this state. (CommandAborted is
TRUE.)
Coordinated BOOL Coordinated Motion TRUE when an axes group is enabled by
a multi-axes coordinated control instruc-
tion.
Details _sAXIS_REF_DET Axis Control Status Gives the control status of the command.
Idle BOOL Idle TRUE when processing is not currently
performed for the command value, ex-
cept when waiting for in-position state. *1
Idle and InPosWaiting are mutually exclu-
sive. They cannot both be TRUE at the
same time.
InPosWaiting BOOL In-position Waiting TRUE when waiting for in-position state.
The in-position check performed when
positioning for the in-position check.
Homed BOOL Home Defined TRUE when home is defined. *2
FALSE: Home not defined
TRUE: Home is defined

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 6 Motion Control Programming

Variable name Data type Meaning Function

InHome BOOL In Home Position TRUE when the axis is in the range for
home.
It gives an AND of the following condi-
tions.
• Home defined
• The actual current position is in the
zero position range with home as the
center.
TRUE also when the zero position is

6-6 System-defined Variables for Motion Control

passed by while the axis is moving in
command status.
VelLimit*3 BOOL Command Velocity TRUE while the command velocity is lim-
Saturation ited to the maximum velocity during
synchronized control.
Dir _sAXIS_REF_DIR Command Direction Gives the command travel direction.
Posi BOOL Positive Direction TRUE when there is a command in the
positive direction.
Nega BOOL Negative Direction TRUE when there is a command in the
negative direction.
DrvStatus _sAXIS_REF_STA_DRV Servo Drive Status Gives the status of the Servo Drive.
ServoOn BOOL Servo ON TRUE when the Servomotor is powered.
Ready BOOL Servo Ready TRUE when the Servo is ready.*4
MainPower BOOL Main Power TRUE when the Servo Drive main power
is ON. 6
P_OT BOOL Positive Limit Input TRUE when the positive limit input is en-
abled.

6-6-3 Tables of System-defined Variables for Motion Control

N_OT BOOL Negative Limit Input TRUE when the negative limit input is en-
abled.
HomeSw BOOL Home Proximity Input TRUE when the home proximity input is
enabled.
Home BOOL Home Input TRUE when the home input is enabled.
*5*6

ImdStop BOOL Immediate Stop Input TRUE when the immediate stop input is
enabled.
Latch1 BOOL External Latch Input 1 TRUE when latch input 1 is enabled.
Latch2 BOOL External Latch Input 2 TRUE when latch input 2 is enabled.
DrvAlarm BOOL Drive Error Input TRUE while there is a Servo Drive error.
DrvWarning BOOL Drive Warning Input TRUE while there is a Servo Drive warn-
ing.
ILA BOOL Drive Internal Limiting TRUE when the Servo Drive limiting
function actually limits the axis. *7
CSP BOOL Cyclic Synchronous TRUE when the Servo is ON at the Ser-
Position (CSP) Con- vo Drive and the current mode is CSP
trol Mode Mode. *8
CSV BOOL Cyclic Synchronous TRUE when the Servo is ON at the Ser-
Velocity (CSV) Con- vo Drive and the current mode is CSV
trol Mode Mode. *8
CST BOOL Cyclic Synchronous TRUE when the Servo is ON at the Ser-
Torque (CST) Control vo Drive and the current mode is CST
Mode Mode. *8

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-27

6 Motion Control Programming

Variable name Data type Meaning Function

Cmd _sAXIS_REF_CMD_DATA Axis Command Val-
ues
Pos LREAL Command Current Contains the current value of the com-
Position mand position. (Unit: command units)
When the Servo is OFF and the mode is
not position control mode, this variable
contains the actual current position. *9
Vel LREAL Command Current Contains the current value of the com-
Velocity mand velocity. (Unit: command units/s)
A plus sign is added during travel in the
positive direction, and a minus sign dur-
ing travel in the negative direction.
The velocity is calculated from the differ-
ence with the command current position.
When the Servo is OFF and the mode is
not the position control mode, the veloci-
ty is calculated based on the actual cur-
rent position.
AccDec LREAL Command Current Contains the current value of the com-
Acceleration/Deceler- mand acceleration/deceleration rate.
ation (Unit: command units/s2)
The acceleration/deceleration rate is cal-
culated from the difference with the com-
mand current velocity. A plus sign is add-
ed for acceleration, and a minus sign is
added for deceleration.
The value is 0 when the command accel-
eration/deceleration rate of the instruc-
tion under execution is 0.
Jerk LREAL Command Current Contains the current value of the com-
Jerk mand jerk. (Unit: command units/s3)
A plus sign is added when the absolute
value of acceleration/deceleration is in-
creasing, and a minus sign is added
when it is decreasing.
The value is 0 when the command accel-
eration/deceleration rate and command
jerk of the instruction under execution is
0.
Trq LREAL Command Current Contains the current value of the com-
Torque mand torque. (Unit: %)
A plus sign is added during travel in the
positive direction, and a minus sign dur-
ing travel in the negative direction.
Contains the same value as the actual
current torque except in torque control
mode. *10
Act _sAXIS_REF_ACT_DATA Axis Current Value
Pos LREAL Actual Current Posi- Contains the actual current position.
tion (Unit: command units)*9

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 6 Motion Control Programming

Variable name Data type Meaning Function

Vel LREAL Actual Current Veloci- Contains the actual current velocity.
ty (Unit: command units/s)
A plus sign is added during travel in the
positive direction, and a minus sign dur-
ing travel in the negative direction.
Trq LREAL Actual Current Torque Contains the current value of the actual
torque. (Unit: %)
A plus sign is added during travel in the
positive direction, and a minus sign dur-

6-6 System-defined Variables for Motion Control

ing travel in the negative direction.
TimeStamp*11 ULINT Time Stamp Contains the time when the current posi-
tion of the axis was updated. This varia-
ble is valid for an axis for which time
stamping is operating. (Unit: ns)
MFaultLvl _sMC_REF_EVENT Axis Minor Fault
Active BOOL Axis Minor Fault Oc- TRUE while there is an axis minor fault.
currence
Code WORD Axis Minor Fault Contains the code for an axis minor fault.
Code The upper four digits of the event code
have the same value.
Obsr _sMC_REF_EVENT Axis Observation
Active BOOL Axis Observation Oc- TRUE while there is an axis observation.
currence
Code WORD Axis Observation Contains the code for an axis observa- 6
Code tion.
The upper four digits of the event code

6-6-3 Tables of System-defined Variables for Motion Control

have the same value.
Cfg _sAXIS_REF_CFG Axis Basic Settings Gives the settings of the Axis Basic Set-
tings parameters.
AxNo UINT Axis Number Contains the logical number of the axis.
AxEnable _eMC_AXIS_USE Axis Use Shows if the axis is enabled or disabled.
0: _mcNoneAxis (Undefined Axis)
1: _mcUnusedAxis (Unused Axis)
2: _mcUsedAxis (Used Axis)
AxType _eMC_AXIS_TYPE Axis Type Contains the axis type.
I/O wiring is not required for virtual axes.
0: _mcServo (Servo Axis)
1: _mcEncdr (Encoder Axis)
2: _mcVirServo (Virtual Servo Axis)
3: _mcVirEncdr (Virtual Encoder Axis)
NodeAddress UINT Node Address Contains the EtherCAT slave address.
*12

A value of 16#FFFF indicates that there

is no address.
ExecID*13 UINT Execution ID Contains the task execution ID.
0: Not assigned to task (undefined axis)
1: Assigned to primary periodic task
2: Assigned to priority-5 periodic task

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-29

6 Motion Control Programming

Variable name Data type Meaning Function

Scale _sAXIS_REF_SCALE Unit Conversions Gives settings of the electronic gear ra-
tio.
Num UDINT Command Pulse Contains the number of pulses per motor
Count Per Motor Ro- rotation for command positions.
tation The command value is converted to a
number of pulses based on the electronic
gear ratio.
Den LREAL Work Travel Distance Contains the workpiece travel distance
Per Motor Rotation per motor rotation for command posi-
tions. *14
Units _eMC_UNITS Unit of Display Contains the display unit for command
positions.
0: _mcPls (pulse)
1: _mcMm (mm)
2: _mcUm (μm)
3: _mcNm (nm)
4: _mcDeg (degree)
5: _mcInch (inch)
CountMode*13 _eMC_COUNT_MODE Count Mode Contains the count mode.
0: _mcCountModeLinear (linear mode)
1: _mcCountModeRotary (rotary mode)
MaxPos*13 LREAL Maximum Current Contains the maximum value of the cur-
Position rent position indication. *15
MinPos*13 LREAL Minimum Current Po- Contains the minimum value of the cur-
sition rent position indication. *16
*1. This also includes states where processing is performed while in motion at velocity 0, during following error counter
resets, during synchronized control, and during coordinated motion.
*2. Even if the variable is TRUE, the home must be defined again in the following cases.
When you make a change in the position count settings or the unit conversion settings.
If an error or erroneous operation occurs on the Servo Drive, which leads to loss of absolute position data. Examples
of errors and erroneous operations include breaks of encoder cables and clear of absolute encoder data.
*3. Use VelLimit only for a slave axis that is currently in synchronized control.
*4. This variable is TRUE when the PDS state of the Servo Drive is either Ready to switch on, Switched on or Operation
enabled and the main circuit power supply (voltage enabled) is ON. However, if Main circuit power supply OFF
detection is set to Do not detect, ON/OFF status of the main circuit power supply is ignored.
For details on the PDS state and the Main circuit power supply OFF detection, refer to A-5 PDS State Transition on
page A-28.
*5. The Detailed Settings Area on the Axis Basic Settings Display of the Sysmac Studio gives the signal that is set for
encoder Z-phase detection digital input. You may not be able to map this signal to a PDO for servo drives from
other manufacturers. Refer to the manual for the connected servo drive for details.
*6. You cannot map this signal to a PDO for an OMRON G5-series Linear Motor Type Servo Drive with built-in EtherCAT
communications.
*7. This variable gives the status of bit 11 (internal limit enabled) in the Status Word (6041 hex) that is mapped to a PDO.
The conditions for this variable changing to TRUE depend on the specifications of the Servo Drive. Refer to the manual
for the connected servo drive for details.
For an OMRON 1S-series Servo Drive or G5-series Servo Drive, this variable gives an OR of the following four: torque
limits, velocity limits, drive prohibit inputs, and software limits.
*8. This variable gives the value of the Modes of Operation Display (6061 hex) that is mapped to a PDO. The conditions
for CSP, CSV, and CST changing to TRUE depend on the specifications of the Servo Drive. Refer to the manual for the
connected servo drive for details.
If the Modes of Operation Display (6061 hex) is not mapped to a PDO, the values of these variables depend on the
unit version of the CPU Unit as follows:

6-30 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

For a CPU Unit with unit version 1.10 or later, they are TRUE when the status of the Statusword (6041 hex) that was
mapped to a PDO is Operation Enabled.
For a CPU Unit with unit version 1.09 or earlier, they are always FALSE.
*9. If the process data communications between the CPU Unit and an EtherCAT slave or NX Unit that is assigned to an
axis changed to a non-established state, the variables contain different values as follows depending on the unit version
of the CPU Unit.
For a CPU Unit with unit version 1.10 or later, the actual current position and the command current position axis varia-
bles will contain the actual current position output that is just before process data communications change to a non-
established state.
For a CPU Unit with unit version 1.09 or earlier, the actual current position and the command current position axis vari-

6-6 System-defined Variables for Motion Control

ables will contain 0 or the lower limit. The lower limit is contained when the Count Mode is set to Rotary Mode and 0 is
not included in the range of position.
*10. If you display a data trace that compares the command current torque and the actual current torque in any mode other
than Torque Control Mode, the command current torque will change after one task period. This is caused by the timing
of processing the data trace. Refer to Data Tracing in the NJ/NX-series CPU Unit Software User’s Manual (Cat. No.
W501) for information on the timing of processing data tracing.

Data Trace Display Example

Torque Actual current torque

Command current torque

Time
Changes in the display of the command current torque
are delayed in respect to the actual current torque.

*11. A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to use this variable. 6
*12. For an NX-series Position Interface Unit, this is the node address of the EtherCAT Coupler Unit under which the Posi-
tion Interface Unit is mounted.

6-6-3 Tables of System-defined Variables for Motion Control

*13. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.
*14. The parameter is disabled if you set to use a reducer in the unit conversion settings, which is the function added for
CPU Units with unit version 1.11 or later.
To confirm alternatively enabled parameters, i.e. Work Travel Distance Per Rotation, Work Gear Ratio, and Motor
Gear Ratio, use the MC_ReadAxisParameter (Read Axis Parameters) instruction.
*15. If the Count Mode is set to Linear Mode, the position just before an overflow is given. In Rotary Mode, the modulo
maximum position is given.
*16. If the Count Mode is set to Linear Mode, the position just before an underflow is given. In Rotary Mode, the modulo
minimum position is given.

 Relationship between Axis Variables and Axis Types

Axis Variables are enabled or disabled according to the axis type. Disabled members are FALSE or
0.

In the descriptions, _MC_AX[0-255] is used as an example. The same information applies to

_MC1_AX[0-255] and _MC2_AX[0-255].
Also, the following table shows which members are enabled for each axis type.
¡: Enabled, ---: Disabled

Virtual Virtual
Servo Encod-
Variable name Data type Meaning servo encoder
axis er axis
axis axis
_MC_AX[0-255] _sAXIS_REF Axis Variable
Status _sAXIS_REF_STA Axis Status
Ready BOOL Axis Ready-to-execute ¡ ¡ --- ---

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-31

6 Motion Control Programming

Virtual Virtual
Servo Encod-
Variable name Data type Meaning servo encoder
axis er axis
axis axis
Disabled BOOL Axis Disabled ¡ ¡ ¡ ¡
Standstill BOOL Standstill ¡ ¡ --- ---
Discrete BOOL Discrete Motion ¡ ¡ --- ---
Continuous BOOL Continuous Motion ¡ ¡ --- ---
Synchronized BOOL Synchronized Motion ¡ ¡ --- ---
Homing BOOL Homing ¡ ¡ --- ---
Stopping BOOL Deceleration Stopping ¡ ¡ --- ---
ErrorStop BOOL Error Deceleration Stop- ¡ ¡ --- ---
ping
Coordinated BOOL Coordinated Motion ¡ ¡ --- ---
Details _sAXIS_REF_DET Axis Control Status
Idle BOOL Idle ¡ ¡ ¡ ¡
InPosWaiting BOOL In-position Waiting ¡ ¡ --- ---
Homed BOOL Home Defined ¡ ¡ --- ---
InHome BOOL In Home Position ¡ ¡ --- ---
VelLimit BOOL Command Velocity Satu- ¡ ¡ --- ---
ration
Dir _sAXIS_REF_DIR Command Direction
Posi BOOL Positive Direction ¡ ¡ --- ---
Nega BOOL Negative Direction ¡ ¡ --- ---
DrvStatus _sAXIS_REF_STA_DRV Servo Drive Status
ServoOn BOOL Servo ON ¡ --- --- ---
Ready BOOL Servo Ready ¡ --- --- ---
MainPower BOOL Main Power ¡ --- --- ---
P_OT BOOL Positive Limit Input ¡ --- --- ---
N_OT BOOL Negative Limit Input ¡ --- --- ---
HomeSw BOOL Home Proximity Input ¡ --- --- ---
Home BOOL Home Input ¡ --- --- ---
ImdStop BOOL Immediate Stop Input ¡ --- --- ---
Latch1 BOOL External Latch Input 1 ¡ --- --- ---
Latch2 BOOL External Latch Input 2 ¡ --- --- ---
DrvAlarm BOOL Drive Error Input ¡ --- --- ---
DrvWarning BOOL Drive Warning Input ¡ --- --- ---
ILA BOOL Drive Internal Limiting ¡ --- --- ---
CSP BOOL Cyclic Synchronous Posi- ¡ --- --- ---
tion (CSP) Control Mode
CSV BOOL Cyclic Synchronous Ve- ¡ --- --- ---
locity (CSV) Control
Mode
CST BOOL Cyclic Synchronous Tor- ¡ --- --- ---
que (CST) Control Mode
Cmd _sAXIS_REF_CMD_DA- Axis Command Values
TA
Pos LREAL Command Current Posi- ¡ ¡ --- ---
tion

6-32 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

Virtual Virtual
Servo Encod-
Variable name Data type Meaning servo encoder
axis er axis
axis axis
Vel LREAL Command Current Veloci- ¡ ¡ --- ---
ty
AccDec LREAL Command Current Accel- ¡ ¡ --- ---
eration/Deceleration
Jerk LREAL Command Current Jerk ¡ ¡ --- ---
Trq LREAL Command Current Tor- ¡ ¡ --- ---

6-6 System-defined Variables for Motion Control

que
Act _sAXIS_REF_ACT_DA- Axis Current Value
TA
Pos LREAL Actual Current Position ¡ ¡ ¡ ¡
Vel LREAL Actual Current Velocity ¡ ¡ ¡ ¡
Trq LREAL Actual Current Torque ¡ ¡ --- ---
TimeStamp ULINT Time Stamp ¡ --- ¡ ---
MFaultLvl _sMC_REF_EVENT Axis Minor Fault
Active BOOL Axis Minor Fault Occur- ¡ ¡ ¡ ¡
rence
Code WORD Axis Minor Fault Code ¡ ¡ ¡ ¡
Obsr _sMC_REF_EVENT Axis Observation
Active BOOL Axis Observation Occur- ¡ ¡ ¡ ¡
rence
Code WORD Axis Observation Code ¡ ¡ ¡ ¡ 6
Cfg _sAXIS_REF_CFG Axis Basic Settings
AxNo UINT Axis Number ¡ ¡ ¡ ¡

6-6-3 Tables of System-defined Variables for Motion Control

AxEnable _eMC_AXIS_USE Axis Use ¡ ¡ ¡ ¡
AxType _eMC_AXIS_TYPE Axis Type ¡ ¡ ¡ ¡
NodeAddress UINT Node Address ¡ --- ¡ ---
ExecID*1 UINT Execution ID ¡ ¡ ¡ ¡
Scale _sAXIS_REF_SCALE Unit Conversions
Num UDINT Command Pulse Count ¡ ¡ ¡ ¡
per Motor Rotation
Den*2 LREAL Work Travel Distance per ¡ ¡ ¡ ¡
Motor Rotation
Units _eMC_UNITS Unit of Display ¡ ¡ ¡ ¡
CountMode*1 _eMC_COUNT_MODE Count Mode ¡ ¡ ¡ ¡

MaxPos*1 LREAL Maximum Current Posi- ¡ ¡ ¡ ¡

tion
MinPos*1 LREAL Minimum Current Position ¡ ¡ ¡ ¡
*1. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.
*2. The parameter is disabled if you set to use a reducer in the unit conversion settings, which is the function added for
CPU Units with unit version 1.11 or later.

Axes Group Variables

_MC_GRP[0-63], _MC1_GRP[0-63], and _MC2_GRP[0-63] are the system-defined Axes Group Varia-
bles. The data type is _sGROUP_REF, which is a structure variable.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-33

6 Motion Control Programming

This section describes the configuration of the Axes Group Variables and provides details on the mem-
bers using _MC_GRP[0-63] as an example.
The same information applies to _MC1_GRP[0-63] and _MC2_GRP[0-63].
Also, in the descriptions of functions, _MC_AX[*] is used as an example, but the same information ap-
plies to _MC1_AX[*] and _MC2_AX[*].

Variable name Data type Meaning Function

_MC_GRP[0-63] _sGROUP_REF Axes Group Variable
Status _sGROUP_REF_STA Axes Group Status
Ready BOOL Ready-to-execute TRUE when the axes group is stopped and is
ready to execute.
The condition for being ready to execute is an
AND of the following conditions.
• Execution of the MC_Stop instruction is not
in progress for any composition axis.
• _MC_GRP[*].Status.Standby (standby) is
TRUE.
• The Servo is ON for the composition axes.
• _MC_AX[*].Details.Homed is TRUE (home
defined) for the composition axes.
Disabled BOOL Axes Group Disabled TRUE when the axes group is disabled and
stopped.
The following axes group status are mutually
exclusive. Only one of them can be TRUE at
a time.
Disabled, Standby, Moving, Stopping, or Er-
rorStop
Standby BOOL Standby TRUE when the axes group motion instruction
is stopped.
This is independent of the Servo ON/OFF sta-
tus of the composition axes in the axes group.
Moving BOOL Moving TRUE while an axes group motion instruction
is executed toward the target position.
This includes in-position waiting status and
when the velocity is 0 for an override.
Stopping BOOL Deceleration Stopping TRUE until the axes group stops for an
MC_GroupStop instruction.
This includes when Execute is TRUE after the
axes stop for an MC_GroupStop instruction.
Axes group motion instructions are not exe-
cuted in this state. (CommandAborted is
TRUE.)
ErrorStop BOOL Error Deceleration TRUE while the axes group is stopping or
Stopping stopped for the MC_GroupImmediateStop in-
struction or for an axes group minor fault
(when _MC_GRP[*].MFaultLvl.Active is
TRUE). Axes group motion instructions are
not executed in this state. (CommandAborted
is TRUE.)
Details _sGROUP_REF_DET Axes Group Control Gives the control status of the instruction.
Status

6-34 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

Variable name Data type Meaning Function

Idle BOOL Idle TRUE when processing is not currently per-
formed for the command value, except when
waiting for in-position state. *1
Idle and InPosWaiting are mutually exclusive.
They cannot both be TRUE at the same time.
InPosWaiting BOOL In-position Waiting TRUE when waiting for in-position state for
any composition axis.
The in-position check performed when posi-

6-6 System-defined Variables for Motion Control

tioning for the in-position check. *2
Cmd _sGROUP_REF_CMD_D Axes Group Com-
ATA mand Values
Vel LREAL Command Interpola- Contains the current value of the command
tion Velocity interpolation velocity.
The interpolation velocity is calculated from
the difference with the interpolation command
current position. A plus sign is added during
travel in the positive direction, and a minus
sign is added during travel in the negative di-
rection.
The value is 0 when the axes group is disa-
bled.
AccDec LREAL Command Interpola- Contains the current value of the command
tion Acceleration/ interpolation acceleration/deceleration.
Deceleration The interpolation acceleration/deceleration
rate is calculated from the difference with the
6
command interpolation velocity. A plus sign is
added for acceleration, and a minus sign is

6-6-3 Tables of System-defined Variables for Motion Control

added for deceleration.
The value is 0 when the axes group is disa-
bled, or when the command acceleration/
deceleration rate of the current axes group
motion instruction is 0.
MFaultLvl _sMC_REF_EVENT Axes Group Minor
Fault
Active BOOL Axes Group Minor TRUE while there is an axes group minor
Fault Occurrence fault.
Code WORD Axes Group Minor Contains the error code for an axes group mi-
Fault Code nor fault.
The upper four digits of the event code have
the same value.
Obsr _sMC_REF_EVENT Axes Group Observa-
tion
Active BOOL Axes Group Observa- TRUE while there is an axes group observa-
tion Occurrence tion.
Code WORD Axes Group Observa- Contains the code for an axes group observa-
tion Code tion.
The upper four digits of the event code have
the same value.
Cfg _sGROUP_REF_CFG Axes Group Basic Gives the settings of the Axes Group Basic
Settings Settings parameters.
GrpNo UINT Axes Group Number Contains the logical number of the axes
group.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-35

6 Motion Control Programming

Variable name Data type Meaning Function

GrpEnable _eMC_GROUP_USE Axes Group Use Shows if the axes group is enabled or disa-
bled.
0: _mcNoneGroup (Undefined Axes Group)
1: _mcUnusedGroup (Unused Axes Group)
2: _mcUsedGroup (Used Axes Group)
ExecID*3 UINT Execution ID Contains the assigned task execution ID.
0: Not assigned to task (undefined axes
group)
1: Assigned to primary periodic task
2: Assigned to priority-5 periodic task
Kinematics _sGROUP_REF_KIM Kinematics Transfor- Contains the definition of the kinematic con-
mation Settings versions for the axes group.
GrpType _eMC_TYPE Composition Gives the axis composition of multi-axes coor-
dinated control.
0: _mcXY (two axes)
1: _mcXYZ (three axes)
2: _mcXYZU (four axes)
Axis[0] UINT Composition Axis for Contains the axis number that is assigned to
Axis A0 axis A0.
Axis[1] UINT Composition Axis for Contains the axis number that is assigned to
Axis A1 axis A1.
Axis[2] UINT Composition Axis for Contains the axis number that is assigned to
Axis A2 axis A2.
Axis[3] UINT Composition Axis for Contains the axis number that is assigned to
Axis A3 axis A3.
*1. This also includes states where processing is performed while in motion at a velocity of 0.
*2. This variable is FALSE when all composition axes in the axes group are within the in-position ranges set in the axis
parameters.
*3. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.

6-36 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

6-7 Cam Tables and Cam Data Variables

The MC Function Module uses the cam profile curves that you create on the Cam Editor of the Sys-
mac Studio as cam tables.
The cam table data is handled as cam data variables in the user program in the NJ/NX-series CPU
Unit.

Creating and Saving Cam Tables

6-7 Cam Tables and Cam Data Variables

Sysmac Studio: Used to create cam profile curves and cam definition variables.
Spreadsheet software: Used to edit cam tables in CSV format.

CPU Unit
AD042
RUN
ERC
ERH
B1 A1
0
1
2
3 MACH 78

9 01
456
No.
4 x10 1
23

5
78
6

9 01
456
x10 0
23
7
8
9
10
11
12
13
14
15
COM

Downloaded.*1 DC24V
7mA

• After cam data is

downloaded Main memory User program
Non-volatile memory • When power is
turned ON Modified.
Cam Table Cam data variables Data movement instructions
Saved. Overwritten. MC_GenerateCam

Uploaded. Cam definition variables*4

Table instruction*3
6
*1 *2 MC_SaveCamTable
instruction

*1. Use the Synchronization menu command of the Sysmac Studio to upload and download the project.
*2. The cam data variables that are uploaded cannot be changed on the Cam Editor. Refer to the Editing a Cam
Data Variable on the Computer after Editing It from the User Program on page 6-38 for the procedure to edit
a cam data variable on the computer after editing it from the user program.
Also, if the project is rebuilt or the cam profile curve is changed from the Sysmac Studio, the cam data varia-
ble that was uploaded is overwritten with the cam profile curve data.
*3. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use the
MC_GenerateCamTable (Generate Cam Table) instruction.
*4. “Cam definition variable” is the generic term for cam property variables and cam node variables.

 Cam Table Data Flow

• Use the Sysmac Studio to download the cam profile curves that you created in the Sysmac Stu-
dio to the CPU Unit to save them as cam tables in the non-volatile memory in the CPU Unit.
When you upload a cam table to the Sysmac Studio, the cam table that was saved in the non-
volatile memory is uploaded.
• The cam tables that were saved in non-volatile memory are implemented as cam data variables
in the main memory after you download them or when the power is turned ON.
• You can use the user program to edit cam data variables and cam definition variables in the main
memory. Refer to 9-2-5 Cam Tables on page 9-16 for information on cam data variables and
cam definition variables.
• The MC_GenerateCamTable (Generate Cam Table) instruction in the user program can over-
write the cam data variable in main memory according to the value of the cam definition variable.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-37

6 Motion Control Programming

• The motion control instruction MC_SaveCamTable saves the cam data variables in the main
memory to non-volatile memory.
• You can upload the cam definition variable that were created in the Cam Data Settings of the
Sysmac Studio even after the variable is changed in the user program. If the cam definition varia-
ble was created as a user-defined variable, you cannot upload it after it is changed in the user
program.
• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on cre-
ating and transferring the cam definition variable in the Sysmac Studio.
• For details on the MC_GenerateCamTable (Generate Cam Table) instruction and MC_Save-
CamTable instruction, refer to the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
• You can upload and download cam tables regardless of the operating mode of the NJ/NX-series
CPU Unit mode or the status of the MC Function Module. You cannot upload cam data, down-
load cam data, start online operation, perform online editing, or start data traces during a cam
table save operation. The MC_SaveCamTable instruction is not executed during online editing.
• All axes in motion will decelerate at the maximum deceleration rate when you start the download
process.

Precautions for Correct Use

If you change any cam data in the user program, those changes are lost and the cam table in
non-volatile memory is restored if you restart the power or download cam data from the Sysmac
Studio. Also, you cannot upload the data in the main memory from the Sysmac Studio.

Version Information

If a CPU Unit with unit version 1.13 or later and Sysmac Studio version 1.17 or higher are com-
bined, commands to the I/O devices can continuously be sent even when the download process
is in progress.
For the CPU Unit with unit version 1.12 or earlier, sending commands to the I/O devices is stop-
ped when the download process is executed.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for how to set to
stop or continue sending commands to the I/O devices when the download process starts.
Stopping sending commands to I/O devices
Servo is turned OFF during the download, and the axis status will be Disable (Axis Disa-
bled).
Continuing sending commands to I/O devices
The MC_Power (Power Servo) and MC_SetTorqueLimit instructions can run even when the
download process is in progress.
The following status immediately before downloading is maintained during the download: the
Servo ON state for the MC_Power instruction and the output torque limit for the MC_SetTor-
queLimit instruction.
The Servo ON state and torque limit are maintained even if the MC_Power and MC_SetTor-
queLimit instructions are deleted from the user program after the program is updated by
downloading.

Editing a Cam Data Variable on the Computer after Editing It from

the User Program
If you edit or overwrite a cam data variable from the user program and then use the MC_SaveCamTa-
ble instruction to save the cam table to non-volatile memory, you cannot edit the data with the Cam

6-38 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

Editor of the Sysmac Studio. This section describes how to use spreadsheet software to edit the data
and then use it as a cam table.

Transfer Cam Table [Controller to File]:

Uploads the cam table from the Controller and saves it in a CSV file.
Transfer Cam Table [File to Controller]:
Downloads the cam table from a CSV file to the Controller.

Save/Export
Edit
Sysmac Studio Spreadsheet
Read/Import CSV file software

6-7 Cam Tables and Cam Data Variables

Upload Download *1

ID211
0 1 2 3 4 5 6 7
AD042
RUN
8 9 10 11 12 13 14 15 ERC
ERH
B1 A1
0
1
2
3 MACH 78
456
9 01

No.
4 x10 1
23

5
78
6
9 01
456

x10 0
23
7
8
9
10
11
12
13
14
15
COM

DC24V
7mA

*1. Use the Synchronization menu command of the Sysmac Studio to upload and download the project.

 Saving a Cam Table from Non-volatile Memory to a CSV File

• Right-click a cam profile that you edited in the Cam Data Settings of the Sysmac Studio and
select Transfer Cam Table [Controller to File] from the menu.
• The Save Dialog Box is displayed. Enter the file save location and file name, and then click the
6
Save Button.

 Editing CSV Files

• Use spreadsheet software or other CSV-compatible software to edit the CSV file.

 Transferring the CSV File to the CPU Unit

• Right-click the cam profile to download and select Transfer Cam Table [File to Controller] from
the menu.
• The Open File Dialog Box is displayed. Specify the file to transfer, and then click the OK Button.
• To enable the cam table that you transferred, reset the Controller or cycle the power supply to
the Controller after the cam table is transferred.

Precautions for Correct Use

• Synchronize the data with the Controller before executing Transfer Cam Table [File to
Controller].
• If you transfer the Cam Data Settings to the Controller through the synchronization after exe-
cuting Transfer Cam Table [File to Controller], the cam table in the Controller is replaced
with the data in the Cam Data Settings.
In this case, you need to execute Transfer Cam Table [File to Controller] again, or do not
include the Cam Data Settings in the synchronization data.

You can also export the Cam Data Settings that were entered from the Cam Editor to a CSV file.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the
Cam Data Settings and the export procedure.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 6-39

6 Motion Control Programming

Cam Profile Curve Names

When a cam profile is created in the Sysmac Studio, CamProfile0 is used as the default name. Each
time you create another cam profile, the number on the end of the name is incremented.
You can change the name of any cam profile as required from the Sysmac Studio.

The cam profile names that are set on the Sysmac Studio are used as the cam table names.

Specifying Cam Tables in the User Program

In the user program, the cam table name is specified for the in-out variable CamTable in motion con-
trol instructions.

In-out variable CamTable

MCCI1
Specify a variable name. MC_CamIn
MC_Axis000 Master Master MC_Axis000
MC_Axis001 Slave Slave MC_Axis001
CamTable1 CamProfile0 CamTable CamTable CamProfile0 MCCI1_InCam
Execute InCam
MCCI1_Pd Periodic InSync MCCI1_InSync
MCCI1_StMode StartMode EndOfProfile MCCI1_EOP
MCCI1_StPos StartPosition Index MCCI1_Index
MCCI1_MStDis MasterStartDistance Busy MCCI1_B
MCCI1_MSc MasterScaling Active MCCI1_A
MCCI1_SSc SlaveScaling Command Aborted MCCI1_CA
MCCI1_MO MasterOffset Error MCCI1_E
MCCI1_SO SlaveOffset ErrorID MCCI1_EID
MCCI1_RT ReferenceType
MCCI1_Dir Direction
MCCI1_CT CamTransition
MCCI1_BM BufferMode

6-40 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 6 Motion Control Programming

6-8 Programming Motion Controls

Place motion control instructions in the user program of the NJ/NX-series CPU Unit to perform motion
control. Programs that contain motion control instructions are called motion control programs.

Precautions for Correct Use

• You can set and program up to 256 axes on the Sysmac Studio for any model of CPU Unit.
You cannot download a project to the CPU Unit if the project contains more than the maxi-
mum number of controlled axes for that CPU Unit.
• When you reuse a project, make sure that the maximum number of controlled axes for the
CPU Unit model is not exceeded.
• Even axes that are set as unused axes are included in the number of controlled axes.

6-8 Programming Motion Controls

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on program-
ming.

This section gives the procedure to create a program in an existing project on the Sysmac Studio.

1 Starting the Sysmac Studio

Start the Sysmac Studio and open the project.

2 Adding a Program
Right-click Programs in the Multiview Explorer and select Multipart Ladder or Structured
6
Text from the Add Menu.

A program is added to the Multiview Explorer.

3 Editing the Program

Right-click a section in the new program and select Edit from the menu. The Program Edit Tab
Page is displayed.

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6 Motion Control Programming

Select the required instructions from the Toolbox and enter the program.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on program-
ming.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

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 6 Motion Control Programming

6-9 Creating Cam Tables

This section will explain how to use the Cam Editor of the Sysmac Studio to create a cam table.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on the Cam Edi-
tor.

1 Adding a Cam Profile

Right-click Cam Data Settings in the Multiview Explorer and select CamProfile from the Add
Menu.

6-9 Creating Cam Tables

6

A cam profile is added to the Multiview Explorer. You can change the name of the cam profile
as required from the default name of CamProfile0.

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6 Motion Control Programming

2 Editing the Cam Profile

Right-click the cam profile in the Multiview Explorer and select Edit from the menu.

The Cam Profile Edit Tab Page is displayed.

Make the settings and enter the cam profile.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

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 7
Manual Operation
This section describes manual operation when the MC Function Module is used to-
gether with an OMRON 1S-series Servo Drive.

7-1 Outline ............................................................................................................. 7-2

7-2 Turning ON the Servo .................................................................................... 7-3
7-2-1 Turning ON the Servo...................................................................................... 7-3
7-2-2 Setting Axis Parameters.................................................................................. 7-4
7-2-3 Programming Example.................................................................................... 7-4
7-3 Jogging ........................................................................................................... 7-6
7-3-1 Jogging Procedure .......................................................................................... 7-6
7-3-2 Setting Axis Parameters.................................................................................. 7-7 7
7-3-3 Setting Example for Input Variables ................................................................ 7-7
7-3-4 Programming Example.................................................................................... 7-8

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 7-1

7 Manual Operation

7-1 Outline
This section describes how to combine the MC Function Module and OMRON 1S-series Servo Drives
together and use motion control instructions from the user program to perform manual operations.

The motion control instructions for manual operation are MC_Power and MC_MoveJog. MC_Power
changes the Servo Drive to the Servo ON state and MC_MoveJog performs jogging.

Precautions for Correct Use

You must set the axes to perform manual operation.

Refer to Section 3 Configuring Axes and Axes Groups on page 3-1 for details on how to set
axes.

Additional Information

• Use the MC Test Run function of the Sysmac Studio if you perform manual operation without
programming.
Refer to 4-3 Checking Motor Operation on page 4-8 for information on how to use the Sys-
mac Studio to perform manual operation.
• Refer to Section 6 Motion Control Programming on page 6-1 for information on how to cre-
ate user programs.
• The same procedures and operations are applicable to an OMRON G5-series Servo Drive.

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 7 Manual Operation

7-2 Turning ON the Servo

You can turn the Servo ON or OFF to enable or disable sending operation commands to the Servo
Drive.
The MC_Power (Power Servo) motion control instruction is used.

Instance name
Body name
In-out variable MC_Power_instance
Input parameter MC_Power
A Axis1 Axis Axis Status1
Enable Status
Input variable Busy Busy1
Error Error1
ErrorID ErrorID1

Output parameter

Output variables

7-2 Turning ON the Servo

Specify the axis to move with the Axis in-out variable.
Change the Enable input variable for MC_Power to TRUE to turn ON the Servo. Change Enable to
FALSE to turn OFF the Servo.

Precautions for Correct Use

• If you change Enable to FALSE while the axis is moving, the command stops immediately
and all motion control instructions for that axis are disabled.
• If you use an NX-series Pulse Output Unit, you must provide a separate means to turn the 7
power supply to the motor drive ON and OFF. Refer to the NX-series Position Interface Units
User’s Manual (Cat. No. W524) for details.

7-2-1 Turning ON the Servo

Additional Information

If an OMRON 1S-series Servomotor or G5-series Servomotor with an absolute encoder is used,

or if an OMRON G5-series Linear Motor Type Servomotor/Servo Drive with built-in EtherCAT
communications is used with an absolute external scale, home is defined when the Enable in-
put variable to the MC_Power instruction changes to TRUE.

Version Information

For a CPU Unit with unit version 1.10 or later, if an OMRON 1S-series Servomotor or G5-series
Servomotor with an absolute encoder is used, or if an OMRON G5-series Linear Motor Type
Servomotor/Servo Drive with built-in EtherCAT communications is used with an absolute exter-
nal scale, home is also defined when EtherCAT process data communications change from a
non-established to an established state, in addition to the step shown in the above Additional
Information.

7-2-1 Turning ON the Servo

1 Adding and Setting an Axis

Add and set an axis from the Sysmac Studio.

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7 Manual Operation

For details, refer to 3-2-2 Setting Procedure on page 3-10.

2 Setting Axis Parameters

Set the axis parameters from the Sysmac Studio.
For details, refer to 3-2-2 Setting Procedure on page 3-10.

3 Writing the User Program

Create the user program from the Sysmac Studio.
For details, refer to 6-8 Programming Motion Controls on page 6-41.

4 Downloading Axis Parameters and the User Program

Download the axis parameters and user program to the CPU Unit.
Use the Synchronization menu command of the Sysmac Studio to download the project to the
CPU Unit.
For details, refer to 3-2-2 Setting Procedure on page 3-10.

5 Executing the User Program

Execute the user program and change the Enable input variable for MC_Power to TRUE.
The Servo Drive will change to the Servo ON state.

7-2-2 Setting Axis Parameters

Only the following axis parameter settings are required if you want only to change to the Servo ON
state.
The following table provides examples of the settings.

Parameter name Setting

Axis Variable Name Axis1*1
Axis Number 1*2
Axis Use Used axis
Axis Type Servo axis
Input Device/Output Device 1*3
*1. If there is more than one axis, a different variable name is set for each axis.
*2. If there is more than one axis, a different value is set for each axis.
*3. Set the node address to the same value as the node address that is set on the Servo Drive. If there is more
than one axis, a different value is set for each axis.

7-2-3 Programming Example

The following sample programming turns the Servo ON and OFF for an axis named Axis1 based on
the value of bit A.

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 7 Manual Operation

MC_Power_instance
MC_Power
A Axis1 Axis Axis
Enable Status
Busy
Error
ErrorID

For details on the MC_Power (Power Servo) instruction, refer to the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508).

7-2 Turning ON the Servo

7

7-2-3 Programming Example

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7 Manual Operation

7-3 Jogging
Use the motion control instruction MC_MoveJog for jogging.

Body name Instance name

In-out variable MC_MoveJog_instance
MC_MoveJog
Axis1 Axis Axis Axis1
A
PositiveEnable Busy
B
NegativeEnable CommandAborted
Velocity Error
Acceleration ErrorID
Deceleration

Input variables Output variables

Specify the axis to jog with the Axis in-out variable.

Change the PositiveEnable input variable to TRUE to start the axis with the specified positive Velocity
(Target Velocity) and Acceleration (Acceleration Rate). Change PositiveEnable to FALSE to decelerate
and stop the axis at the specified Deceleration (Deceleration Rate).
Similarly, if you change the NegativeEnable input variable to TRUE, the axis will start in the negative
direction. Change the variable to FALSE to stop the axis.
You can perform jogging even if the home has not yet been defined.

7-3-1 Jogging Procedure

1 Adding and Setting an Axis

Add and set an axis from the Sysmac Studio.
For details, refer to 3-2-2 Setting Procedure on page 3-10.

2 Setting Axis Parameters

Set the axis parameters from the Sysmac Studio.
For details, refer to 3-2-2 Setting Procedure on page 3-10.

3 Writing the User Program

Create the user program from the Sysmac Studio.
For details, refer to 6-8 Programming Motion Controls on page 6-41.

4 Downloading Axis Parameters and the User Program

Download the axis parameters and user program to the CPU Unit.
Use the Synchronization menu command of the Sysmac Studio to download the project to the
CPU Unit.
For details, refer to 3-2-2 Setting Procedure on page 3-10.

5 Executing the User Program

Execute the user program and change the Enable input variable for MC_Power to TRUE to
change the Servo Drive to the Servo ON state.

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 7 Manual Operation

Change either the PositiveEnable or NegativeEnable input variable for the MC_MoveJog in-
struction to TRUE to jog.

7-3-2 Setting Axis Parameters

Set the following axis parameters if you want to jog when home is not defined.
The following setting example is for a one-axis device.

Servomotor
Encoder resolution: 23 bits/rotation 1 rotation
10 mm Ball screw
Ball screw pitch: 10 mm

Encoder output pulses per motor rotation

23 bits = 8,388,608

Parameter name Setting

Axis Variable Name Axis1*1
Axis Number 1*2
Axis Use Used axis
Axis Type Servo axis

7-3 Jogging
Input Device/Output Device 1*3
Command Pulse Count Per Motor Rotation 8,388,608*4
Work Travel Distance Per Motor Rotation 10,000*4
Software Limits Enabled for actual position
7
Unit of Display μm
Count Mode Linear Mode

7-3-2 Setting Axis Parameters

Maximum Velocity 500,000*5
Maximum Jog Velocity 50,000*6
Maximum Acceleration 5,000,000*7
Maximum Deceleration 5,000,000*7
*1. If there is more than one axis, a different variable name is set for each axis.
*2. If there is more than one axis, a different value is set for each axis.
*3. Set the node address to the same value as the node address that is set on the Servo Drive. If there is more
than one axis, a different value is set for each axis.
*4. The position command unit will be 1 μm.
*5. The maximum velocity will be 3,000 r/min = 30 m/min = 0.5 m/s = 500,000 μm/s.
*6. The maximum jog velocity will be 10% of the maximum velocity, i.e., 0.05 m/s = 50,000 μm/s.
*7. The maximum acceleration and the maximum deceleration are 5 m/s2. The acceleration time to the maxi-
mum velocity (3,000 r/min) is 0.1 s.

7-3-3 Setting Example for Input Variables

This section describes the settings for the MC_MoveJog input variables Velocity (Target Velocity),
Acceleration (Acceleration Rate), and Deceleration (Deceleration Rate).

• For example, set Velocity to 30,000 to jog at a velocity of 0.03 m/s (30,000 μm/s).

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7 Manual Operation

• Set Acceleration and Deceleration to 3,000,000 to accelerate and decelerate at 3 m/s2 (3,000,000
μm/s2).

7-3-4 Programming Example

The following programming example jogs an axis named Axis1 in the positive direction for the value of
bit A and in the negative direction for the value of bit B.

MC_MoveJog_instance
MC_MoveJog
Axis1 Axis Axis
A
PositiveEnable Busy
B
NegativeEnable CommandAborted
Velo1 Velocity Error
Acce1 Acceleration ErrorID
Dece1 Deceleration

In this example, Velocity (Target Velocity) is Velo1, Acceleration is Acce1, and Deceleration is Dece1.

Set the values for each variable in the user program in advance to operate the axis with the example
input variable settings.
• Velo1 = 30,000
• Acce1 = 3,000,000
• Dece1 = 3,000,000

For details on the MC_MoveJog (Jog) instruction, refer to the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).

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 8
Homing
This section describes homing.

8-1 Outline of Homing .......................................................................................... 8-2

8-2 Homing Procedure ......................................................................................... 8-5
8-2-1 Setting Homing Parameters ............................................................................ 8-5
8-2-2 Monitoring the Homing Operation ..................................................................8-11
8-3 Homing Operation ........................................................................................ 8-13
8-4 Homing with an Absolute Encoder............................................................. 8-14
8-4-1 Outline of Function ........................................................................................ 8-15
8-4-2 Setting Procedure.......................................................................................... 8-17
8-5 High-speed Homing ..................................................................................... 8-19

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8 Homing

8-1 Outline of Homing

To perform positioning to absolute positions in a positioning system, you must first perform homing.

For example, if you want to perform positioning to the position (axis 1, axis 2) = (100 mm, 200 mm) in
the XY plane shown below, you must define the position of home (0,0).
The process of defining home is called homing.

Axis 2

(100,200)

Axis 1
(0,0)

In the MC Function Module, use the motion control instruction MC_Home or MC_HomeWithParameter
to define home.

Name Description
Homing Home is defined by actually moving the motor and using the limit sensors, home proximity
sensor, and home input signal to determine the position of home.
Use a proximity sensor or the encoder's Z phase signal as the home input signal.

Precautions for Correct Use

• The defined home is lost in the following cases.

When MC_SetPosition is executed.
When an overflow or underflow occurs in Linear Mode.
When homing is started.
The control state of EtherCAT communications is not Operational state.
• Some of the homing functions are restricted for the NX-series Position Interface Units. Refer
to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for details.

Additional Information

If an OMRON 1S-series Servomotor or G5-series Servomotor with an absolute encoder is used,

or if an OMRON G5-series Linear Motor Type Servomotor/Servo Drive with built-in EtherCAT
communications is used with an absolute external scale, home is defined when the Enable in-
put variable to the MC_Power instruction changes to TRUE.
Refer to 8-4 Homing with an Absolute Encoder on page 8-14 for details on the home with ab-
solute encoder.

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 8 Homing

Version Information

For a CPU Unit with unit version 1.10 or later, if an OMRON 1S-series Servomotor or G5-series
Servomotor with an absolute encoder is used, or if an OMRON G5-series Linear Motor Type
Servomotor/Servo Drive with built-in EtherCAT communications is used with an absolute exter-
nal scale, home is also defined when EtherCAT process data communications change from a
non-established to an established state, in addition to the step shown in the above Additional
Information.

The MC_MoveZeroPosition (High-speed Home) instruction is also provided to perform positioning to

home as defined for the previously described method.

Name Description
High-speed Hom- The axis returns to home using an absolute position of 0 as the target position.
ing

The MC Function Module can operate the motor even when home is undefined (excluding MC_Move-
ZeroPosition).

Function Operation
Jogging and velocity control If home is not defined, the position at startup is defined as 0 to control
movement.
High-speed homing High-speed homing cannot be used.
If it is used, an instruction error will occur.

8-1 Outline of Homing

Positioning If home is not defined, the position at startup is defined as 0 to control
Interrupt feeding movement.
Starting cam operation
Starting gear operation
Synchronous positioning
Combining axes
Torque control
Zone monitoring 8
Linear interpolation Interpolation cannot be used.
Circular interpolation If it is used, an instruction error will occur.

Additional Information

Software limits are not valid when home is not defined.

Changes in the home definition status for operations and events are listed in the following table.

Home definition status

Operation or event Condition for change
change
Servo turned ON Incremental encoder No change
or axis enabled When absolute data is read normally from the Home is defined.
absolute encoder
When absolute data cannot be read from the Home is undefined.
absolute encoder
Changing the current position When starting Home is undefined.
Homing When starting Home is undefined.
When ending Home is defined.
Overflows and underflows When overflow or underflow occurs Home is undefined.

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8 Homing

Precautions for Correct Use

• For a virtual axis, home is always defined with a zero position preset. The setting of the
Homing Method axis parameter is ignored.
• The positive drive prohibit input (POT), negative drive prohibit input (NOT), and home proxim-
ity input (DEC) of the Servo Drive are used by the MC Function Module as the positive limit
input, negative limit input, and home proximity input.
Make sure that the signal widths for all of these input signals are long enough for the Servo
Drive to detect them and longer than the control period of the MC Function Module.
If the input signal widths are shorter than the control period, the MC Function Module may not
be able to detect the input signals, resulting in incorrect operation.
• You must set the Servo Drive parameters for each Servo Drive input signal. Refer to the man-
ual for your Servo Drive and the appendices and make the proper settings.

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 8 Homing

8-2 Homing Procedure

This section describes the procedure to perform homing.

1 Adding and Setting an Axis

Add and set an axis from the Sysmac Studio.

2 Setting Axis Parameters

Set the homing method with the homing parameters.

3 Writing the User Program

Create the user program from the Sysmac Studio.
For details, refer to 6-8 Programming Motion Controls on page 6-41.

4 Downloading Axis Parameters and the User Program

Download the axis parameters and user program to the CPU Unit.
Use the Synchronization menu command of the Sysmac Studio to download the project to the
CPU Unit.
For details, refer to 3-2-2 Setting Procedure on page 3-10.

8-2 Homing Procedure

Executing the User Program
Execute the user program and change the Enable input variable for MC_Power to TRUE to
change the Servo Drive to the Servo ON state.
Homing is performed when the Execute input variable to the MC_Home or MC_HomeWith-
Parameter instruction changes to TRUE.

8-2-1 Setting Homing Parameters

8
Set the homing parameters to specify the homing procedure.
Set the homing parameters from the Sysmac Studio.

8-2-1 Setting Homing Parameters

Parameter name Description
Homing Method Set the homing operation.
Home Input Signal Select the input to use for the home input signal.
Homing Start Direction Set the start direction for when homing is started.
Home Input Detection Direc- Set the home input detection direction for homing.
tion
Operation Selection at Posi- Set the stopping method when the positive limit input turns ON during homing.
tive Limit Input
Operation Selection at Neg- Set the stopping method when the negative limit input turns ON during homing.
ative Limit Input
Homing Velocity Set the homing velocity. (Unit: command units/s)
Homing Approach Velocity Set the velocity to use after the home proximity input turns ON. (Unit: command
units/s)
Homing Acceleration Set the acceleration rate for homing.
If this parameter is set to 0, the homing velocity is used without any acceleration.
(Unit: command units/s2)

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8 Homing

Parameter name Description

Homing Deceleration Set the deceleration rate for homing.
If this parameter is set to 0, the zero velocity is used without any deceleration.
(Unit: command units/s2)
Homing Jerk Set the jerk for homing.
Set 0 for no jerk. (Unit: command units/s3)
Home Input Mask Distance Set the home input mask distance when you set the Homing Operation Mode to
the proximity reverse turn/home input mask distance. (Unit: command units)
Home Offset Preset the actual position for the value that is set after homing.
(Unit: command units)
Homing Holding Time Set the holding time in milliseconds when you set the Homing Operation Mode to
the proximity reverse turn/holding time. (Unit: ms)
Homing Compensation Val- Set the homing compensation value that is applied after the home is defined.
ue (Unit: command units)
Homing Compensation Ve- Set the velocity to use for homing compensation. (Unit: command units/s)
locity

Home proximity ON
input signal OFF
ON
Home input signal
OFF
Velocity
Homing velocity

Homing
compensation
Homing approach velocity velocity
Stops.

Start
Homing compensation
Absolute travel to position where value
home input signal was detected

Homing Method
You can select any of the ten operation modes to define home.
• Proximity reverse turn/home proximity input OFF
• Proximity reverse turn/home proximity input ON
• Home proximity input OFF
• Home proximity input ON
• Limit input OFF
• Proximity reverse turn/home input mask distance
• Limit inputs only
• Proximity reverse turn/holding time
• No home proximity input/holding home input
• Zero position preset

The following table shows the homing parameters that are used for each Homing Operation Mode.

(¡: Parameter is used, Í: Parameter is not used.)

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 8 Homing

Homing parameters

Home Input Signal

Homing Start Direction

Home Input Detection Direction

Operation Selection at Positive Limit Input

Operation Selection at Negative Limit Input

Homing Velocity

Homing Approach Velocity

Homing Acceleration

Homing Deceleration

Homing Jerk

Home Input Mask Distance

Home Offset

Homing Holding Time

Homing Compensation Value

Homing Compensation Velocity

Homing Operation Mode
Proximity reverse turn/home proximity in-
¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ Í ¡ ¡
put OFF
Proximity reverse turn/home proximity in-
¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ Í ¡ ¡
put ON
Home proximity input OFF ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ Í ¡ ¡
Home proximity input ON ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ Í ¡ ¡
Limit input OFF ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ Í ¡ ¡
Proximity reverse turn/home input mask
¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ ¡

8-2 Homing Procedure

distance
Limit inputs only Í ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ Í ¡ ¡
Proximity reverse turn/holding time Í ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ ¡ ¡ ¡
No home proximity input/holding home in-
¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ Í ¡ Í ¡ ¡
put
Zero position preset Í Í Í Í Í Í Í Í Í Í Í ¡ Í Í Í

For details on the Homing Operation Modes, refer to the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508). 8

Precautions for Correct Use

8-2-1 Setting Homing Parameters

You cannot map the Z-phase input to a PDO for an OMRON G5-series Linear Motor Type Ser-
vo Drive with built-in EtherCAT communications. Therefore, if you use the No Home Proximity
Input/Holding Home Input Homing Operation Mode, which can use a Z-phase input mapped
to a PDO, do not select the Z-phase input for the home input signal.

Home Input Signal

In a Homing Operation Mode that uses a home input signal, select either the Z phase signal of the
Servo Drive or an external home signal as the signal to define home.

Precautions for Correct Use

This parameter can be used to set a home input signal only when you are connected to an OM-
RON 1S-series Servo Drive or G5-series Servo Drive.

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8 Homing

Homing Start Direction

Select the direction (positive or negative) in which the axis starts moving when homing is started.
If homing starts while the home proximity signal is ON in a Homing Operation Mode that includes re-
versal operation for a proximity reverse turn, the axis starts motion in the direction opposite to the
home input detection direction (regardless of the setting of the homing start direction).

There are four Homing Operation Modes that include reversal operation for a proximity reverse turn.
These are listed below.
• 0: Proximity reverse turn/home proximity input OFF
• 1: Proximity reverse turn/home proximity input ON
• 9: Proximity reverse turn/home input mask distance
• 12: Proximity reverse turn/holding time

Homing start direction: Positive

Home input detection direction: Positive
Home proximity ON
input signal OFF

Operation command (1) Start (3)

Negative Positive
direction Start (2) Start direction

(1) and (3) : The home proximity signal is OFF, so the axis starts moving in the homing start direction.
(2) : The home proximity signal is ON, so the axis starts moving in the direction opposite to the home
input detection direction.

Homing start direction: Negative

Home input detection direction: Negative
Home proximity ON
input signal OFF

(2)
Operation command Start Start
Negative Positive
direction (1) Start (3) direction

(1) and (3) : The home proximity signal is OFF, so the axis starts moving in the homing start direction.
(2) : The home proximity signal is ON, so the axis starts moving in the direction opposite to the home
input detection direction.

Home Input Detection Direction

Select the direction (positive or negative) in which to detect home.
Refer to Homing Start Direction on page 8-8 for the relationship between the home detection method
and the initial direction when homing starts.

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 8 Homing

Operation Selection at Positive Limit Input and Operation Selection

at Negative Limit Input
• Select the operation when the axis reaches a limit input in the operating direction during homing:
reverse the axis and continue with homing, or do not reverse the axis, create an error, and stop the
axis. To reverse the axis, also select the stopping method.
• An error occurs and the axis stops if the axis is set to Reverse direction, and the limit signal in the
home input detection direction turns ON when traveling at the homing approach velocity. However, if
the Homing Operation Mode is 13 (no home proximity input/holding home input), which does not
use proximity signals, no error will occur and the axis will not stop.

ON
Home proximity input signal
OFF
Limit in direction opposite ON
to detection direction OFF
ON
Limit in detection direction
OFF
Home instruction Homing velocity
Homing approach velocity

Start Stops

• An error occurs and the axis stops if the axis is set to Reverse direction for the limit input operation
in both directions and home cannot be detected after moving from the limit input opposite to the

8-2 Homing Procedure

home input detection direction to the other limit input.

ON
Home proximity input signal
OFF
Limit in direction opposite ON
to detection direction OFF
ON
Limit in detection direction
OFF
Home instruction Homing velocity 8
Homing approach velocity

8-2-1 Setting Homing Parameters

Start Stops

Homing Velocity
Set the homing velocity in command units per second (command units/s).

Homing Approach Velocity

Set the velocity after the home proximity input turns ON in command units per second (command
units/s).

Homing Acceleration
Set the homing acceleration rate in command units per seconds squared (command units/s2).

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8 Homing

If the homing acceleration is set to 0, the homing velocity or other target velocity is used without any
acceleration.

Homing Deceleration
Set the homing deceleration rate in command units per seconds squared (command units/s2).
If the homing deceleration is set to 0, the homing approach velocity or other target velocity is used
without any deceleration.

Homing Jerk
Set the homing jerk in command units per seconds cubed (command units/s3).
If the homing jerk is set to 0, acceleration and deceleration are performed without jerk.

Home Input Mask Distance

Set the home input mask distance in command units when you set Homing Operation Mode 9
(proximity reverse turn/home input mask distance).
This is the distance that the axis travels after starting deceleration when the home proximity input sig-
nal changes from OFF to ON.

Home input detection direction

Home proximity ON
input signal OFF
ON
Home input signal
OFF
Homing velocity
Homing approach velocity
Negative
Command direction Positive direction
output Start Stops.
After the proximity input, movement is according to
the home input mask distance.

Home Offset
After home is defined, the operation for the homing compensation value is completed if a homing com-
pensation value is set, and then the actual value is preset to the set value.
This means that you can set home to any specified value rather than to 0.
For systems with absolute encoders, also the absolute encoder home offset value is calculated and
saved in the CPU Unit.

Homing Holding Time

Set the holding time in milliseconds when you set Homing Operation Mode 12 (proximity reverse
turn/holding time).

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 8 Homing

This is a period of time which elapses from when deceleration is started as the home proximity input
signal changes from OFF to ON.

Home input detection direction

Home proximity ON
input signal OFF
Home is defined when the set time elapses.

Homing velocity
Homing approach velocity
Negative
Command Positive direction
direction Start
output Stops.

Homing velocity
Homing approach velocity
Negative
direction Positive direction
Start Stops.

Homing velocity

Torque limit
Torque limit is continued even
Command torque from previous operation after the set time elapses.

Homing Compensation Value

8-2 Homing Procedure

After home is defined, relative positioning is performed at the set value to adjust the position of home.
This homing compensation is performed at the homing compensation velocity.
Adjusting the workpiece is sometimes difficult after home is defined. The homing compensation can be
used to fine-tune the position of home after it is determined.
This is useful when you cannot easily replace the home proximity sensor or when home has moved
after a motor replacement.
8

Homing Compensation Velocity

8-2-2 Monitoring the Homing Operation

If you set a homing compensation value, set the velocity to use for the compensation in command
units per second (command units/s).

8-2-2 Monitoring the Homing Operation

You can read Axis Variables in the user program to monitor the homing status and the input signal sta-
tus.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information ap-
plies to _MC1_AX[*] and _MC2_AX[*].

Data
Variable name Meaning Function
type
MC_AX[0-255].Status.Homing BOOL Homing TRUE when homing for the MC_Home or MC_Home-
WithParameter instruction.
_MC_AX[0-255].Dtails.Homed BOOL Home Defined TRUE when home is defined.
FALSE: Home not defined
TRUE: Home is defined

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8 Homing

Data
Variable name Meaning Function
type
_MC_AX[0-255].Dtails.InHome BOOL In Home Posi- TRUE when the axis is in the range for home.
tion It gives an AND of the following conditions.
• Home defined.
• Actual current position is within the zero position
range with home as the center.
This variable is also TRUE when the zero position is
passed by while the axis is moving for a command.
_MC_AX[0-255].DrvStatus.P_OT BOOL Positive Limit TRUE when the positive limit input is enabled.
Input
_MC_AX[0-255].DrvStatus.N_OT BOOL Negative Limit TRUE when the negative limit input is enabled.
Input
_MC_AX[0-255].DrvSta- BOOL Home Proximi- TRUE when the home proximity input is enabled.
tus.HomeSw ty Input
_MC_AX[0-255].DrvStatus.Home BOOL Home Input TRUE when the home input is enabled.

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 8 Homing

8-3 Homing Operation

Select the home definition method based on the configuration of the positioning system and its pur-
pose.
There are 10 Homing Operation Modes supported by the MC Function Module.
You can also fine-tune the home that is detected with a homing compensation value.

Additional Information

• The most suitable mode depends on the configuration of the positioning system and the ap-
plication.
In Linear Mode (finite length), Proximity Reverse Turn and Home Proximity Input OFF is
normally used if there is a home proximity sensor, positive limit input, and negative limit input.
• The override factors are ignored for homing.
• The in-position check will follow the in-position check settings only for the completion of the
home definition and homing compensation motions.
• Buffering and blending are not performed if you use multi-execution of other motion control
instructions during homing.

For details on homing, refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat.
No. W508).

8-3 Homing Operation

8

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8 Homing

8-4 Homing with an Absolute Encoder

This section describes how to use an OMRON 1S-series Servomotor or G5-series Servomotor with an
absolute encoder, or an OMRON G5-series Linear Motor Type Servomotor/Servo Drive with built-in
EtherCAT communications that is used with an absolute external scale.

If you use an absolute encoder, the absolute data can be retained even when the power supply to the
CPU Unit is turned OFF.
When you execute the MC_Power (Power Servo) instruction, the position is determined by reading the
actual position from the absolute encoder.
Unlike when using an incremental encoder, after home is defined, you do not need to perform the
homing operation again.

Motor (absolute encoder)

CPU Unit MC_Power executed.
Servo Drive
M
Battery-free backup
Absolute data

Battery

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 8 Homing

Precautions for Correct Use

• If you use an OMRON 1S-series Servo Drive with a CPU Unit which is not either NX102 or
NX1P2, connect the CPU Unit battery.
• If you use an absolute encoder for the OMRON G5-series Servo Drive with an NX102 or
NX1P2 CPU Unit, connect the absolute encoder backup battery of the Servo Drive.
• If you use an absolute encoder for the OMRON G5-series Servo Drive with a CPU Unit which
is not either NX102 or NX1P2, connect both the CPU Unit battery and the absolute encoder
backup battery of the Servo Drive.
• Always execute the MC_Home or MC_HomeWithParameter instruction to define home when
you use the absolute encoder for the first time, after you replace the motor, when you use an
OMRON G5-series Servo Drive, when the battery in the absolute encoder expires, or at any
other time when the absolute value data is lost.
After you complete these steps, home is defined when the Enable input variable to the
MC_Power instruction changes to TRUE.
For details on homing, refer to 8-1 Outline of Homing on page 8-2.
For a CPU Unit with unit version 1.10 or later, home is also defined when EtherCAT process
data communications change from a non-established to an established state, in addition to
the previously mentioned step.
• For an NX102 or NX1P2 CPU Unit, if an error occurs for the CPU Unit memory when the
power supply is turned OFF and then the absolute value data cannot be saved, an Absolute

8-4 Homing with an Absolute Encoder

Encoder Home Offset Read Error (event code: 14600000 hex) will occur when the power is
turned ON again.
If you turn ON the power supply to a CPU Unit which is not either NX102 or NX1P2 while an
error is occurring on the CPU Unit battery, an Absolute Encoder Home Offset Read Error
(event code: 14600000 hex) will occur.
You can use the ResetMCError instruction to reset the error and turn ON the Servo.
For a CPU Unit with unit version 1.10 or later, home will be left undefined until it is defined by
the MC_Home or MC_HomeWithParameter instruction executed after error reset.
In order to operate with correct positions, execute the MC_Home or MC_HomeWithParame-
ter instruction to define the correct home position.
For a CPU Unit with unit version 1.09 or earlier, when the error is reset and the Servo is
turned ON, home is defined with an absolute encoder home offset value of 0.
• If the power supply to the Controller is turned OFF, home will become undefined.

8
Additional Information

If you use an OMRON G5-series Linear Motor Type Servomotor/Servo Drive with built-in Ether-

8-4-1 Outline of Function

CAT communications, you can set the absolute encoder home position. If you use a Linear Mo-
tor Type, observe the following points when reading this section.
• A Linear Motor Type does not use an encoder. It uses an external scale, which functions in a
similar way.
• “Absolute encoder” in this section means “absolute external scale” for a Linear Motor Type.
• An absolute external scale does not have the rotation data of an absolute encoder. Any rota-
tion data setting procedures that are required for an absolute encoder are not required. A bat-
tery to back up the rotation data is also not required.
• Refer to the G5-series AC Servomotors/Servo Drives with Built-in EtherCAT Communications
Linear Motor Type User’s Manual (Cat. No. I577) for the specifications of Linear Motor Type.

8-4-1 Outline of Function

To define home with an absolute encoder system, the absolute encoder offset compensation is per-
formed when the MC_Power (Power Servo) instruction is executed.
For a CPU Unit with unit version 1.10 or later, home is also defined when EtherCAT process data com-
munications change from a non-established to an established state, in addition to the previously men-
tioned step.

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8 Homing

Home can also be defined by performing a homing operation in the same way as for an incremental
encoder.
After home is defined, the difference between the command position and the absolute value data read
from absolute encoder is saved in the CPU Unit as the absolute encoder home offset.
For details on homing, refer to 8-1 Outline of Homing on page 8-2.

The absolute encoder home offset is also set to the difference (i.e., the offset) between the com-
mand position after defining home and the absolute value when the MC_Home or MC_HomeWith-
Parameter instruction is executed.
The MC Function Module saves the absolute encoder home offset in the CPU Unit when the power
supply to the CPU Unit is turned OFF.

Precautions for Correct Use

• When absolute encoders are used, the absolute encoder home offset for each axis is
saved to the CPU Unit along with the axis number. The saved offset is lost if the axis number
is changed. If you change the axis number, set the Homing Settings again.
• If you replace the CPU Unit or the Battery for the CPU Unit, make sure home is defined and
back up the absolute encoder home offset before you start the replacement procedure.
• You can restore the backed up data after finishing the replacement procedure to use the
home that was previously defined.
• Use the Sysmac Studio to back up and restore the data.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific proce-
dures.

Applicable Servomotors
The following table lists the Servomotors that use the absolute encoder home setting.

Manufacturer Series Servo Drive Servomotor

OMRON 1S Series R88D-1SN£££-ECT R88M-1££££££S
R88D-1SAN£££-ECT R88M-1££££££T
R88M-1££££££C
G5 Series R88D-KN£££-ECT R88M-K£££££S
R88M-K£££££T
R88M-K£££££C
R88D-KN£££-ECT-L R88L-EC££££££££

Precautions for Correct Use

You cannot use this absolute encoder for an NX-series Pulse Output Unit.

Connecting the Servo Drive

Connect the Servo Drive correctly according to information in the NJ/NX-series CPU Unit Built-in
EtherCAT Port User’s Manual (Cat. No. W505).

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 8 Homing

Additional Information

• Refer to A-1 Connecting the 1S-series Servo Drive on page A-2 for setting examples for
connection to an OMRON 1S-series Servo Drive.
• Refer to A-2 Connecting the G5-series Servo Drive on page A-11 for setting examples for
connection to an OMRON G5-series Servo Drive.

8-4-2 Setting Procedure

This section describes the procedure to set the home of an absolute encoder system.

1 Absolute Encoder Setup

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the setup proce-
dures.

2 Setting Axis Parameters

Set the Encoder Type in the Position Count Settings of the axis parameters in the MC Func-
tion Module to 1 (absolute encoder (ABS)).

8-4 Homing with an Absolute Encoder

For details, refer to 5-2-7 Position Count Settings on page 5-26.

3 Execute Homing
Execute homing.
Set the Homing Method in the Homing Settings axis parameters of the MC Function Module.
After home is defined, the difference between the command position and the absolute value
data read from the absolute encoder is saved to the CPU Unit in the CPU Unit as the absolute
encoder home offset.

Absolute Encoder Setup

8
The absolute encoder must be set up the first time it is used, to initialize the rotation data to 0, when
the absolute encoder is stored for an extended period of time without a battery connected, etc.

8-4-2 Setting Procedure

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for detailed setup proce-
dures.

Precautions for Correct Use

After the absolute encoder is set up, the power supply to the OMRON 1S-series Servo Drive or
G5-series Servo Drive must be cycled.
When setup processing for the absolute encoder is completed, an Absolute Value Clear Error
(A27.1) will occur in the Servo Drive. Cycle the control power supply to the Servo Drive to clear
this error and complete the absolute encoder setup procedure.

Using an Absolute Encoder in Rotary Mode

If you set the Count Mode axis parameter to Rotary Mode, the actual position will be a ring-shaped
counter in the range between the modulo maximum position setting value and the modulo
minimum position setting value.

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8 Homing

When using an absolute encoder in Rotary Mode, the absolute encoder home offset is automatical-
ly calculated and updated in the MC Function Module each motion control period.
The updated absolute encoder home offset is saved in the CPU Unit when the power supply to the
CPU Unit is turned OFF.
This enables recovering the actual position of a rotating axis from the absolute encoder the next time
power is turned ON even if the power to the CPU Unit or Servo Drive is turned OFF.

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 8 Homing

8-5 High-speed Homing

This function performs quick positioning to the home. Home is defined in advance.
Use the MC_MoveZeroPosition (High-speed Homing) instruction and specify the target velocity, accel-
eration rate, deceleration rate, and jerk.
If you execute this instruction when home is not defined, an instruction error will occur.

Velocity

Target velocity
Acceleration Deceleration

Time
Command current position 0

Additional Information

For details on the MC_MoveZeroPosition (High-speed Homing) instruction, refer to the NJ/NX-
series Motion Control Instructions Reference Manual (Cat. No. W508).

8-5 High-speed Homing

8

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8 Homing

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 9
Motion Control Functions
This section describes the motion control functions that are used when connected to
OMRON 1S-series Servo Drives with built-in EtherCAT communications.

9-1 Single-axis Position Control ......................................................................... 9-3

9-1-1 Outline of Operation ........................................................................................ 9-3
9-1-2 Absolute Positioning........................................................................................ 9-4
9-1-3 Relative Positioning......................................................................................... 9-4
9-1-4 Interrupt Feeding ............................................................................................. 9-4
9-1-5 Cyclic Synchronous Positioning ...................................................................... 9-6
9-1-6 Stopping .......................................................................................................... 9-6
9-1-7 Override Factors.............................................................................................9-11
9-2 Single-axis Synchronized Control .............................................................. 9-13
9-2-1 Overview of Synchronized Control ................................................................ 9-13
9-2-2 Gear Operation.............................................................................................. 9-13
9-2-3 Positioning Gear Operation ........................................................................... 9-14
9-2-4 Cam Operation .............................................................................................. 9-15
9-2-5 Cam Tables ................................................................................................... 9-16
9-2-6 Synchronous Positioning............................................................................... 9-24
9-2-7 Combining Axes ............................................................................................ 9-25
9-2-8 Master Axis Phase Shift ................................................................................ 9-26 9
9-2-9 Slave Axis Position Compensation................................................................ 9-27
9-2-10 Achieving Synchronized Control in Multi-motion ........................................... 9-28
9-3 Single-axis Velocity Control ........................................................................ 9-30
9-3-1 Velocity Control ............................................................................................. 9-30
9-3-2 Cyclic Synchronous Velocity Control............................................................. 9-30
9-4 Single-axis Torque Control.......................................................................... 9-32
9-5 Common Functions for Single-axis Control .............................................. 9-33
9-5-1 Positions........................................................................................................ 9-33
9-5-2 Velocity .......................................................................................................... 9-35
9-5-3 Acceleration and Deceleration ...................................................................... 9-36
9-5-4 Jerk................................................................................................................ 9-38
9-5-5 Specifying the Operation Direction................................................................ 9-39
9-5-6 Re-executing Motion Control Instructions ..................................................... 9-43
9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ....................... 9-48
9-6 Multi-axes Coordinated Control.................................................................. 9-55
9-6-1 Outline of Operation ...................................................................................... 9-55
9-6-2 Linear Interpolation........................................................................................ 9-57
9-6-3 Circular Interpolation ..................................................................................... 9-58
9-6-4 Axes Group Cyclic Synchronous Positioning ................................................ 9-59

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9 Motion Control Functions

9-6-5 Stopping Under Multi-axes Coordinated Control........................................... 9-59

9-6-6 Overrides for Multi-axes Coordinated Control ............................................... 9-61
9-7 Common Functions for Multi-axes Coordinated Control ......................... 9-63
9-7-1 Velocity Under Multi-axes Coordinated Control............................................. 9-63
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control ......... 9-64
9-7-3 Jerk for Multi-axes Coordinated Control........................................................ 9-65
9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated
Control........................................................................................................... 9-66
9-7-5 Multi-execution of Motion Control Instructions (Buffer Mode) for Multi-
axes Coordinated Control.............................................................................. 9-67
9-8 Other Functions............................................................................................ 9-76
9-8-1 Changing the Current Position ...................................................................... 9-76
9-8-2 Torque Limit................................................................................................... 9-77
9-8-3 Latching......................................................................................................... 9-77
9-8-4 Zone Monitoring ............................................................................................ 9-78
9-8-5 Software Limits.............................................................................................. 9-78
9-8-6 Following Error Monitoring ............................................................................ 9-80
9-8-7 Following Error Counter Reset ...................................................................... 9-81
9-8-8 Axis Following Error Monitoring..................................................................... 9-82
9-8-9 In-position Check........................................................................................... 9-82
9-8-10 Changing Axis Use........................................................................................ 9-84
9-8-11 Enabling Digital Cam Switch ......................................................................... 9-85
9-8-12 Displaying 3D Motion Monitor for User Coordinate System .......................... 9-86

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 9 Motion Control Functions

9-1 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.

9-1-1 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 tor-
que control.
In synchronized control, the slave axis (i.e., the axis being controlled) operates in a synchronized rela-
tionship 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 EtherCAT

9-1 Single-axis Position Control

Feedback Commands
slave Synchronization slave
processing
+ Command
Actual Phasing position Output
Input Position processing
position

Velocity processing
Command
velocity

Torque processing
Command
torque

External I/O processing for EtherCAT slave External

9
input output
9-1-1 Outline of Operation

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.

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9 Motion Control Functions

9-1-2 Absolute Positioning

Absolute positioning specifies the absolute coordinates of the target position in relation to home.
You can perform positioning, such as shortest way positioning on a rotary table, by setting the Count
Mode to Rotary Mode and specifying the operation direction.

Velocity

Target
velocity
Deceleration
Acceleration

Time
0 Command Target position
current position

For details, refer to the MC_MoveAbsolute (Absolute Positioning) and MC_Move (Positioning) instruc-
tions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

9-1-3 Relative Positioning

Relative positioning specifies the distance from the actual position.
You can specify a travel distance that exceeds the ring counter range by setting the Count Mode to
Rotary Mode.

Velocity

Target
velocity
Deceleration
Acceleration

Time
0 Command current position
Target distance

For details, refer to the MC_MoveRelative (Relative Positioning) and MC_Move (Positioning) instruc-
tions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

9-1-4 Interrupt Feeding

Interrupt feeding feeds the axis at the specified velocity and for the specified distance from the actual
position when a trigger signal occurs.
You can also select to output an error if the trigger signal does not occur within the specified travel
distance when you specify either absolute or relative positioning.
Feeding is not affected by following error. This is achieved by using the latch function of the Servo
Drive to determine the actual position when the trigger signal occurs. You can also use the window
function to disable trigger signals that occur outside of a specified position range. For applications
such as wrapping machines, this enables feeding only on trigger signals for printed marks on films and
eliminates other influences.

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 9 Motion Control Functions

Motion Relative to the Actual Position

For details, refer to the MC_MoveFeed (Interrupt Feeding) 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.

 Feeding for a Specified Distance in the Moving Direction

Velocity
Interrupt input
Actual Position
Relative positioning, The figure on the left shows that there is a follow
absolute positioning, Specified travel delay in relation to the command position.
or velocity control distance

Command position
Relative positioning,
absolute positioning,
or velocity control

When the interrupt input occurs, the specified travel distance is

added to the actual position and used as the target position for
the command position.

9-1 Single-axis Position Control

 Feeding for a Specified Distance in the Direction Opposite to the Moving
Direction

Velocity

Interrupt input

Actual Position
Relative positioning, The figure on the left shows that there is a follow
absolute positioning, delay in relation to the command position.
or velocity control

Specified travel
distance
9
9-1-4 Interrupt Feeding

Relative positioning, Command position

absolute positioning,
or velocity control

If decelerating to a stop after a reverse turn is specified for the Operation Selection at Reversing
axis parameter, an acceleration/deceleration curve is used when reversing.

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9 Motion Control Functions

9-1-5 Cyclic Synchronous Positioning

Cyclic synchronous positioning is used to output a target position to a specified axis each control peri-
od in the primary periodic task or a periodic task. The target position is specified as an absolute
position.
You can use it to move in a specific path that you create.

Command position Command Servo

Position
position Drive
Target positions (black dots)
specified with the input M
parameters

Time
Task period

For details, refer to the MC_SyncMoveAbsolute (Cyclic Synchronous Absolute Positioning) instruction
in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

Version Information

A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are re-
quired to use cyclic synchronous positioning.

9-1-6 Stopping
Functions to stop axis operation include immediate stop input signal and limit input signals connected
to the Servo Drive, stop functions of motion control instructions in the user program, and stopping due
to errors.

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.

Stopping for Servo Drive Input Signals

Axis motion is stopped for the immediate stop input signal or a limit input signal from the Servo Drive.
You can select the stop method with the Sysmac Studio.

 Immediate Stop Input

Stop processing in the MC Function Module is executed according to the state of the Servo Drive
input signals.
You can select one of the following stopping methods for the MC Function Module.
• Immediate stop
• Immediate stop and error reset
• Immediate stop and Servo OFF

Precautions for Correct Use

The immediate stop input for the OMRON 1S-series Servo Drive or G5-series Servo Drive also
causes an error and executes stop processes in the Servo Drive itself.

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 9 Motion Control Functions

 Limit Inputs (Positive Limit Input or Negative Limit Input)

Stop processing in the MC Function Module is executed according to the state of the Servo Drive
input signals.
You can select one of the following stopping methods for the MC Function Module.
• Immediate stop
• Deceleration stop
• Immediate stop and error reset
• Immediate stop and Servo OFF

Precautions for Correct Use

• If a limit input signal turns ON, do not execute an instruction for an axis command of the axis
in the same direction as the limit input signal.
• If a limit input signal is ON for any axis in an axes group, do not execute an instruction for an
axes group command for that axes group.
• If the signal to decelerate to a stop is input during execution of a synchronous movement in-
struction that has a Deceleration input variable, the axis decelerates to a stop at the decelera-
tion rate given by Deceleration.
• If the signal to decelerate to a stop is input during execution of a synchronous movement in-
struction that does not have a Deceleration input variable, the axis decelerates to a stop at
the maximum deceleration rate that is set in the axis parameters.

Additional Information

• You must set up the Servo Drive in order to use the input signals from the Servo Drive. An

9-1 Single-axis Position Control

OMRON 1S-series Servo Drive with built-in EtherCAT communications or G5-series Servo
Drive with built-in EtherCAT communications has an immediate stop input and limit input as-
signed in its default settings.
• Refer to A-1 Connecting the 1S-series Servo Drive on page A-2 for setting examples for
connection to an OMRON 1S-series Servo Drive.
• Refer to A-2 Connecting the G5-series Servo Drive on page A-11 for setting examples for
connection to an OMRON G5-series Servo Drive.

Stopping with Motion Control Instructions

9
Use the MC_Stop or MC_ImmediateStop instruction to stop single-axis operation.
9-1-6 Stopping
For details, refer to the MC_Stop and MC_ImmediateStop instructions in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).

Additional Information

When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE,
the MC Function Module immediately stops the command value and turns OFF the Servo.
When the Servo is turned OFF, the Servo Drive will operate according to the settings in the Ser-
vo Drive.

 MC_Stop Instruction
You can specify the deceleration rate and jerk for single-axis control and synchronized control to
decelerate to a stop.
Specify a deceleration rate of 0 to send a command that immediately stops the Servo Drive.

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9 Motion Control Functions

Other operation commands are not acknowledged while decelerating to a stop for this instruction
and while the input variable Execute is TRUE.

 MC_ImmediateStop Instruction
You can perform an immediate stop for single-axis control or synchronized control functions.
You can also execute this instruction on axes that are enabled in an axes group.

Stopping Due to Errors or Other Problems

 Stopping for Errors during Single-axis Operation

When an error occurs during single-axis operation, the axis will stop immediately or decelerate to a
stop depending on the error.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for details on the stop method
for each error.

 Stopping for a Software Limit

To stop for a software limit, set the Software Limits axis parameter.
You can select from the following stop methods for the software limits.
• Enabled for command position. Decelerate to a stop.
• Enabled for command position. Immediate stop.
• Enabled for actual position. Decelerate to a stop.
• Enabled for actual position. Immediate stop.

Refer to 9-8-5 Software Limits on page 9-78 for details on software limits.

 Stopping Due to Motion Control Period Exceeded

If motion control processing does not end within two periods, a Motion Control Period Exceeded
occurs. All axes stop immediately.

Precautions for Correct Use

When you use an NX701 CPU Unit and operate in the multi-motion, all axes in both tasks will
stop immediately if a Motion Control Period Exceeded occurs in either of the tasks.
Refer to A-6-2 Motion Control on page A-31 for multi-motion.

 Errors That Cause the Servo to Turn OFF

An immediate stop is performed if an error occurs that causes the Servo to turn OFF.
When the Servo is turned OFF, the Servo Drive will operate according to the settings in the Servo
Drive.

 Stopping Due to Start of MC Test Run

All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.

 Stopping Due to End of MC Test Run

All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is stopped from
the Sysmac Studio.

9-8 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 9 Motion Control Functions

• Click the Stop MC Test Run Button on the MC Test Run Tab Page of the Sysmac Studio.
• Close the MC Test Run Tab Page on the Sysmac Studio.
• Exit the Sysmac Studio.

 Stopping Due to Change in CPU Unit Operating Mode

All axes will decelerate to a stop at their maximum deceleration if the NJ/NX-series CPU Unit oper-
ating mode changes.

Precautions for Correct Use

• If an error that results in deceleration to a stop occurs during execution of a synchronous

movement instruction that has a Deceleration input variable, the axis decelerates to a stop at
the deceleration rate given by Deceleration.
• If an error that results in deceleration to a stop occurs during execution of a synchronous
movement instruction that does not have a Deceleration input variable, the axis decelerates
to a stop at the maximum deceleration rate that is set in the axis parameters.

Additional Information

• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The CommandAborted output variable from the instructions remains
FALSE. The Servo ON/OFF status remains the same even after changing to PROGRAM
mode.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variables from motion

9-1 Single-axis Position Control

control instructions are cleared. The CommandAborted output variables from the motion con-
trol instructions therefore remain FALSE.
• The save process will continue during a save for the MC_SaveCamTable instruction.
• The generation process will continue when generation of the cam table is in progress for the
MC_GenerateCamTable (Generate Cam Table) instruction.

Stop Method

 Deceleration Stop
Velocity
9
9-1-6 Stopping

Axis stops at the deceleration rate that

is specified for the instruction or at the
maximum deceleration rate.

Time

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9 Motion Control Functions

 Immediate Stop
Velocity

The command is no longer updated. The

axis moves only for the pulses remaining in
the Servo Drive and then stops. The stop
position is the command position when the
cause of the immediate stop occurred.

Time

 Immediate Stop and Error Reset

Velocity

The actual position when the cause of the

immediate stop occurred is used as the
command position. Inertia will take the axis
past this position, but it will return to the
actual position when the cause of the
immediate stop occurred and stop there.

Time

 Immediate Stop and Servo OFF

Velocity

The command is no longer updated. When

the Servo is turned OFF, the axis stops using
the method that is specified by the Disable
Operation Option Code (object 605C hex)
that is set in the Servo Drive.

Time

Stop Priorities
The priorities for each stop method are listed in the following table. If a stop with a higher priority stop
method occurs while stopping, the stop method will switch to the higher priority method.

Priority
Stop method
(higher numbers mean higher priority)
Immediate stop and Servo OFF 4
Immediate stop and error reset 3
Immediate stop 2
Deceleration stop 1

 Example:
The following figure is an example of an immediate stop when the limit input signal is ON and the
immediate stop input changes to ON during a deceleration to a stop.

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 9 Motion Control Functions

Limit input

Immediate stop input

Command velocity

9-1-7 Override Factors

You can use the MC_SetOverride instruction to set override factors for the motion of the axes that are
currently in motion.
The velocity override factor is set as a percentage of the target velocity. It can be set between 0% and
500%.
If an override factor of 0% is set for the target velocity, operating status will continue with the axis stop-
ped as a velocity of 0.

The set override factor is read as long as the overrides are enabled.
If the overrides are disabled, the override factors return to 100%.
If the maximum velocity is exceeded when an override factor is changed, the maximum velocity for the
axis is used.

9-1 Single-axis Position Control

 Overriding the MC_MoveAbsolute Instruction
An example of a time chart for using the Set Override Factors instruction for the MC_MoveAbsolute
(Absolute Positioning) instruction is given below.

9
9-1-7 Override Factors

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 9-11

9 Motion Control Functions

Previous Instruction: MC_MoveAbsolute

Execute

Busy

Active

Done

CommandAborted

Current Instruction

Enable

Enabled

Busy

VelFactor 100 200 50

Velocity
Override factor: 200%

Override factor: 100%

Override factor: 50%

Time

For details, refer to the MC_SetOverride (Set Override Factors) instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

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 9 Motion Control Functions

9-2 Single-axis Synchronized Control

This section describes the operation of synchronized control for single axes.

9-2-1 Overview of Synchronized Control

Synchronous control synchronizes the position of a slave axis with the position of a master axis.
The command position or actual position of any axis can be specified for the master axis.
If the command velocity for the slave axis exceeds the maximum velocity that is set in the axis pa-
rameters, the command is performed at the maximum velocity of the axis. If this occurs, any insuffi-
cient travel distance is distributed and output in the following periods.

Precautions for Correct Use

• You cannot specify an encoder axis, virtual encoder axis or single-axis position control axis
for the slave axis.
• When you use an NX701 CPU Unit and operate in the multi-motion, assign the master axis
and slave axis to the same task.
If you specify the master axis in a different task from the slave axis by executing the
synchronized control instructions such as the MC_GearIn (Start Gear Operation) instruction
or the MC_Camin (Start Cam Operation) instruction, an Illegal Master Axis Specification

9-2 Single-axis Synchronized Control

(event code: 54620000 hex) occurs.
Refer to 9-2-10 Achieving Synchronized Control in Multi-motion on page 9-28 if you desire
to specify the master axis in a different task from the slave axis.

9-2-2 Gear Operation

This function specifies the gear ratio between the master axis and the slave axis and starts operation.
Start gear operation with the MC_GearIn (Start Gear Operation) instruction. End synchronization with
the MC_GearOut (End Gear Operation) instruction or the MC_Stop instruction.

Specify with
Master_Reference.
Gear Operation 9
Numerator
Actual position Command position
Denominator
9-2-1 Overview of Synchronized Control

Remainder
Command position

Most recent command

position

You can set the gear ratio numerator, gear ratio denominator, position type, acceleration rate, and de-
celeration rate for the slave axis to operate. For the master axis, you can specify the command posi-
tion, actual position, or most recent command position.

After operation starts, the slave axis uses the velocity of the master axis times the gear ratio for its
target velocity, and accelerates/decelerates accordingly.
The catching phase exists until the target velocity is reached. The InGear phase exists after that.

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9 Motion Control Functions

If the gear ratio is positive, the slave axis and master axis move in the same direction. If the gear ratio
is negative, the slave axis and master axis move in the opposite directions.

For details on gear operation, refer to the MC_GearIn (Start Gear Operation), MC_GearOut (End Gear
Operation), and MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference
Manual (Cat. No. W508).

9-2-3 Positioning Gear Operation

This function specifies the gear ratio between the master axis and the slave axis and starts operation.
Positioning gear operation allows you to set the positions of the master and slave axes at which to
start synchronization.
Start positioning gear operation with the MC_GearInPos instruction. End synchronization with the
MC_GearOut instruction or the MC_Stop instruction.

Specify with
ReferenceType.
Gear Operation
Numerator
Actual position Command position
Denominator

Remainder
Command position

Most recent command

position

You can set the gear ratio numerator, gear ratio denominator, position type, acceleration rate, and de-
celeration rate for the slave axis to operate. For the master axis, you can specify the command posi-
tion, actual position, or most recent command position.

After operation starts, the slave axis uses the velocity of the master axis times the gear ratio for its
target velocity, and accelerates/decelerates accordingly.
The slave axis is in the catching phase until it reaches the slave sync position. The slave axis enters
the InSync phase after it reaches the slave sync position. For either, the position of the slave axis is
synchronized with the master axis.
If the gear ratio is positive, the slave axis and master axis move in the same direction. If the gear ratio
is negative, the slave axis and master axis move in the opposite directions. The following figure shows
the operation when the gear ratio is positive.

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 9 Motion Control Functions

Position
Catching Phase InSync phase

Master

Travel distance of slave axis

RatioNumerator
= Travel distance of master axis ×
RatioDenominator

Slave

Execute Time

For details on positioning gear operation, refer to the MC_GearInPos (Positioning Gear Operation),
MC_GearOut (End Gear Operation), and MC_Stop instructions in the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508).

9-2 Single-axis Synchronized Control

9-2-4 Cam Operation
Cam operation synchronizes the position of the slave axis with the master axis according to a cam ta-
ble.
Start cam operation with the MC_CamIn (Start Cam Operation) instruction. End cam operation with
the MC_CamOut (End Cam Operation) instruction or the MC_Stop instruction.
Use the MC_CamMonitor (Cam Monitor) instruction to monitor information on cam operation.
Create a cam table using the Cam Editor in the Sysmac Studio and download it to the CPU Unit.
Use the Synchronization menu command of the Sysmac Studio to download the project to the CPU
Unit.
9
Specify with
ReferenceType.
9-2-4 Cam Operation
Cam Operation

Cam
Actual position processing Command position

Command position

Most recent command

position

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9 Motion Control Functions

Cam Operation
Master axis

Phase
Displacement

Slave
axis

Cam table
Phase Displacement
0.0 0.0 Cam
start point
Displacement 0.1 10.0
Cam Profile Curve 0.2 50.0

Number of valid cam data

359.8 100.0
359.9 50.0 Maximum number
360.0 0.0 Cam of cam data
end point
0.0 0.0
0.0 0.0
Phase
One period 0.0 0.0

In a combination of a CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or high-
er, the following operation is possible: if another MC_CamIn (Start Cam Operation) instruction is exe-
cuted by using multi-execution with the Buffer Mode set for blending while the current MC_CamIn
(Start Cam Operation) instruction is executed, the operation can continue using the switched cam ta-
ble and the slave axis does not stop.

For details on cam operation, refer to the MC_CamIn (Start Cam Operation), MC_CamOut (End Cam
Operation), and MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference
Manual (Cat. No. W508).
For details on the Cam Editor, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No.
W504).

9-2-5 Cam Tables

This section describes the cam tables that are used for cam operation.

Cam Table Terminology

Term Description
cam operation An operation that takes one master axis and one slave axis and follows the cam
profile curve to derive the displacement of the slave axis from the phase of the
master axis.

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 9 Motion Control Functions

Term Description
cam profile curve A curve that shows the relationship between phases and displacements in a cam
operation.
The cam profile curve is created on the Cam Editor of the Sysmac Studio. You can
use the cam profile curve with a cam data variable after the cam profile curve is
downloaded to the CPU Unit.
Use the Synchronization menu command of the Sysmac Studio to download the
project to the CPU Unit.
cam block You can select a cam curve in this block.
It represents the area between the end point of the previous cam block and the
end point of the current cam block.
cam curve A curve that represents the cam characteristics. You can select a cam curve for
each cam block.
The Sysmac Studio calculates the phase widths and displacement widths from the
specified points and creates the actual cam profile curve.
You can choose from different curves, such as straight line, parabolic, and trape-
cloid.
cam data Data made up of phases (master axis) and displacements (slave axis) for cam op-
eration.
cam data variable A variable that represents the cam data as a structure array.
cam table A data table that contains cam data.
If phase data is not in ascending order the cam table is treated as an illegal cam
table.

9-2 Single-axis Synchronized Control

cam start point The first point in the cam data.
cam end point The last point of valid cam data in the cam data.
If the cam end point is less than the number of cam data, all phases and displace-
ments after the cam end point will be 0.
cam block start point The start point for a cam block. It is the same as the cam start point at the start of
the cam operation. If the cam profile curve continues, this will be the same as the
cam block end point.
cam block end point The end point for a cam block. It is the same as the cam end point at the end of
the cam operation. If the cam profile curve continues, this will be the same as the
cam block start point.
The cam block end point is defined as (horizontal axis, vertical axis) = (phase end
point, displacement end point).
original cam data Cam data that is created by dividing up the cam profile curve in the Cam Editor.
9
program-modified cam da- The cam data changed by the user program while the CPU Unit is in operation. 9-2-5 Cam Tables
ta
master axis The axis that serves as the input to the cam operation. You can specify either
Linear Mode or Rotary Mode.
slave axis The axis that serves as the output from the cam operation. You can specify either
Linear Mode or Rotary Mode.
phase The relative distance on the master axis from the start point of the cam table.
displacement The relative distance on the slave axis from the master following distance.
valid cam data The cam data other than the cam start point and other than data where the phase
is 0.
invalid cam data The cam data other than the cam start point where the phase is 0.
number of valid cam data The number of sets of cam data.
maximum number of cam The maximum number of sets of cam data that the cam table can contain.
data
cam data index The number of the cam data that is executed.

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9 Motion Control Functions

Term Description
cam table start position The absolute position of the master axis that corresponds to the cam start point
(phase = 0).
master following distance The master start distance where the slave axis starts cam operation represented
as either an absolute position or relative position.
The relative position is based on the cam start point position.
start mode A specification of whether to represent the master following distance as an abso-
lute position or relative position.
null cam data Cam data that can be set after the end point where the phase and displacement
are 0.
connecting velocity The connecting velocity that is used to connect cam profile curves. The connecting
velocity cannot be specified for some curves.
connecting acceleration The acceleration rate that is used to connect cam profile curves. The connecting
acceleration cannot be specified for some curves.
phase pitch The width when dividing the cam profile curve by phases (horizontal axis). The
points after dividing the curve into the phase pitch correspond to the cam data in
the cam table. You must specify the phase pitch for each cam block.

Displacement

End point displacement

for block 1
End point for block 1
Start point for block 2

Block 1 Block 2
End point
Cam start point displacement
Cam end point for block 2
(block start point)
(block start point)

End phase for block 1 End phase for block 2

Phase

Cam Tables
The MC Function Module defines a single element of data consisting of the phase of the master axis
and the displacement of the slave axis as one cam data. A cam table is defined as the combination of
multiple sets of cam data.
The cam table is created with the Cam Editor in the Sysmac Studio. You can modify cam data in the
cam table from the user program.
The phases and displacements in the cam data that makes up the cam table are represented as rela-
tive distances from the start point 0.0.
During cam operation, the command position sent to the slave axis is the displacement determined by
interpolating linearly between the two cam data elements adjacent to the phase of the master axis.
The more cam data there is in the cam table, the more accurate the trajectory and the smoother the
cam profile curve will be.

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 9 Motion Control Functions

1 cycle Command position during

cam operation
Cam table
350 The phase is calculated from the master
Phase Displacement Cam data index axis position each cycle. The linear
300 interpolation of cam data is used to
Cam start point 0 0 0 calculate the displacement from the phase.
250 (These are the red dots on the line.)
Cam data 60 200 1
200
120 100 2 Displacement
150
180 300 3
100
240 100 4
50
300 200 5
0
Cam end point 360 0 6 0 60 120 180 240 300 360
Phase
Cam data (black dots on the line).

Precautions for Correct Use

• Make sure that the cam data is arranged in the cam table so that the phases are in ascending
order. An instruction error occurs if a cam operation instruction is executed when the phases
are not in ascending order.
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not

9-2 Single-axis Synchronized Control

use the cam data variable for motion control instructions in a task that does not control the
variable. An Incorrect Cam Table Specification (event code: 54390000 hex) will occur.

Cam Table Specifications

Item Description
Maximum number of cam data per cam 65,535 points
table
Maximum size of all cam data 1,048,560 points*1
Maximum number of cam tables 640 tables*2
Switching cam operation You can switch to a different cam operation by executing a motion 9
control instruction.
Changing cam data Cam data can be edited from the user program.
9-2-5 Cam Tables

Cam data can be overwritten with the Generate Cam Table instruc-
tion.*3
Saving cam data Cam data can be saved to non-volatile memory by using the Save
Cam Table instruction.
Information attached to the cam data Information can be downloaded or uploaded for display in the Cam
Editor*4
Timing to load cam data to main memory • When the data is downloaded from the Sysmac Studio
• When power is turned ON
*1. If 65,535 points are used for each cam table, there will be a maximum of 16 cams. A resolution of 0.1° al-
lows for a maximum of 3,600 points per cam table for a maximum of 291 cams.
*2. The total size is 10 MB max.
*3. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use the
Generate Cam Table instruction.
*4. Use the Synchronization menu command of the Sysmac Studio to upload and download the project.

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9 Motion Control Functions

Data Type of Cam Tables

A cam table is declared as an array of cam data structures. The type declaration for the cam data
structure is shown below.

TYPE
(*Cam data structure*)
_sMC_CAM_REF :
STRUCT
Phase : REAL; (*Phase*)
Distance : REAL; (*Displacement*)
END_STRUCT;
END_TYPE

You must create the cam data with the Cam Editor in the Sysmac Studio and then specify the name of
the cam table and the number of cam data (i.e., the size of the array).
For example, to make a cam table called MyCam1 with 1,000 points use the following declaration.

VAR
(*Cam table*)
MyCam1 : ARRAY [0..999] OF _sMC_CAM_REF;
END_VAR

The following notation is used to specify MyCam1 for a cam operation instruction. In this example, the
master axis is Axis1 and the slave axis is Axis2.

MC_CamIn_instance
MC_CamIn
Axis1 Master Master Axis1
Axis2 Slave Slave Axis2
MyCam1 CamTable CamTable MyCam1

An error will occur if the specified cam table does not exist in the Controller. You can also specify the
same cam table for more than one axis.

Switching Cam Tables

You can switch cam tables by re-executing the cam operation instruction during cam operation.
After switching, cam operation will be performed with the cam table you specified for re-execution of
the instruction.
The EndOfProfile and Index output variables from the MC_CamIn instruction are output according to
the new cam table.

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 9 Motion Control Functions

Slave Displacement Cam table 1 Cam table 2

(Slave axis)

Re-executed Master Phase

(Master axis)

Precautions for Correct Use

• The cam table you want to switch to must be saved to non-volatile memory before it can be
used.
• Switching cam tables during cam operation will cause discontinuous velocities. Adjust the
timing for switching the cam table to avoid excessive velocity discontinuity.

Loading/Saving Cam Data and Saving Cam Tables

9-2 Single-axis Synchronized Control

Cam data can be loaded and saved from the user program just like any other variables.
For example, you can use MyCam1[0].Phase to specify the phase and MyCam1[0].Distance to specify
the displacement in the first array elements of a cam table namedMyCam1.
Cam data overwritten from the user program can be saved to the non-volatile memory in the CPU Unit
as a cam table by executing the MC_SaveCamTable instruction.

Precautions for Correct Use

• Overwritten cam data will be lost if the CPU Unit is turned OFF or the cam data is download-
ed from the Sysmac Studio before the Save Cam Table instruction is executed or if the in-
struction fails to save the data for any reason.
• Be careful not to lose the overwritten data when overwriting cam data from the user program
in the CPU Unit. 9
• Cam data saved to non-volatile memory can be loaded by using the upload function of the
Sysmac Studio. 9-2-5 Cam Tables
• Use the Synchronization menu command of the Sysmac Studio to upload and download the
project.

For details on arrays, refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).

For details on the Save Cam Table instruction, refer to the MC_SaveCamTable instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

Updating Cam Table Properties

The MC Function Module must identify the cam end point of the cam table.
If an overwrite is performed from the user program during cam operation and the number of valid cam
data changes, you must update the number of valid cam data to the latest value.
Use the MC_SetCamTableProperty instruction for this.

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9 Motion Control Functions

The cam end point is the data located one cam data before the first cam data with a phase of 0 after
the start point in the cam table. All cam data after phase 0 is detected will be invalid.

For example, refer to the following cam table. The EndPointIndex (End Point Index) output variable is
999 and the MaxDataNumber (Maximum Number of Cam Data) output variable is 5,000 from the
MC_SetCamTableProperty instruction.

Cam data structure array Phase Displacement

MyCam1 [0] 0 0 Cam start point
. . .
. . .
. . . Valid data
MyCam1 [997] 359.8 2
MyCam1 [998] 359.9 1 Maximum number of data: 5,000
MyCam1 [999] 360.0 0 Cam end point
MyCam1 [1000] 0 0
. . .
. . . Invalid data
. . .
MyCam1 [4999] 0 0

Precautions for Correct Use

• You cannot change the maximum number of cam data from the user program.
• Execute this instruction after overwriting the cam data in any way that changes the number of
valid cam data.
If the number of valid cam data is not updated, the cam operation and the operation of the
EndOfProfile (End of Cam Cycle) of the MC_CamIn instruction may not be as expected.

For details on the Set Cam Table Properties instruction, refer to the MC_SetCamTableProperty (Set
Cam Table Properties) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

Generating Cam Table

With a CPU Unit with unit version of 1.08 or later and the Sysmac Studio version 1.09 or higher, you
can generate the cam table by executing the MC_GenerateCamTable (Generate Cam Table) instruc-
tion.

The MC_GenerateCamTable instruction calculates the cam data using the values specified for Cam-
Property (Cam Properties) and CamNodes (Cam Nodes), and rewrites the cam data variable specified
for the CamTable (Cam Table) in-out variable.

When rewriting is completed, the MC_GenerateCamTable instruction updates the end point index of
the cam table and outputs the element number of the cam end point to EndPointIndex (End Point In-
dex).
It is not necessary to execute the MC_SetCamTableProperty (Set Cam Table Properties) instruction
after the MC_GenerateCamTable instruction is completed.

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 9 Motion Control Functions

Cam table Cam table

before instruction execution after instruction execution
Element Phase Displacement The cam data is Element Phase Displacement
numbers numbers
calculated and written to
0 0.0 0.0 0 0.0 0.0
the table when the
1 0.0 0.0 instruction is executed. 1 1.0 1.0
... ... ... ... ... ...
179 0.0 0.0 179 179.0 199.0
180 0.0 0.0 Cam end point 180 180.0 200.0
181 0.0 0.0 181 0.0 0.0
... ... ... ... ... ...

MC_GenerateCamTable_instance
MC_GenerateCamTable
CamTable CamTable
Cam table property CamProperty CamProperty
Cam node (defining curves) CamNodes CamNodes
Execute Done
EndPointIndex Outputs "180" after instruction execution.
Busy
CommandAborted
Error
ErrorID
ErrorParameterCode
ErrorNodePointIndex

9-2 Single-axis Synchronized Control

The cam data variable is an array variable with the data type of cam data structure _sMC_CAM_REF.
You create the cam data variable on the Cam Editor of the Sysmac Studio.
For CamProperty, specify the cam property variable. The cam property variable is an array variable
with the data type of cam property structure _sMC_CAM_PROPERTY. You create the cam property
variable as a user-defined variable on the global variable table of the Sysmac Studio. Or, you create
the variable using the cam data settings on the Sysmac Studio.
For CamNodes, specify the cam node variable. The cam node variable is an array variable with the
data type of cam node structure _sMC_CAM_NODE. You create the cam node variable as a user-de-
fined variable on the global variable table of the Sysmac Studio. Or, you create the variable using the
cam data settings on the Sysmac Studio.
9
The cam property variable and the cam node variable are collectively called "cam definition variable". 9-2-5 Cam Tables

If the cam definition variable is created as a user-defined variable, the default of its Retain attribute is
Non-retain. You must set the Retain attribute of variable to Retain, if you want to reuse the variable
after changing its value and switching the operating mode to PROGRAM mode or cycling the power
supply. If you set the variable each time of use from the HMI, etc., the attribute can be left Non-retain.
If the cam definition variable is created with the cam data settings on the Sysmac Studio, the Retain
attribute of variable will be fixed to Retain.

By using the HMI, etc., to set the values for the MC_GenerateCamTable instruction, you can create
the cam data variable and adjust the cam operation without using the Sysmac Studio.
The following is the procedure used to adjust the cam operation.

1 Create a user program, in advance, that includes the following processing.

• Assigning the value of the cam definition variable that is set from the HMI to the Generate
Cam Table instruction.

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9 Motion Control Functions

• Displaying the cam variable that is created by the Generate Cam Table instruction graphical-
ly on the HMI.
• Displaying the value of EndPointIndex (End Point Index) on the HMI.

2 Set the value of the cam definition variable from the HMI.

3 Execute the Generate Cam Table instruction.

4 Verify the curve shape of the generated cam table and the value of the end point index dis-
played on the HMI.

5 If there is no problem with the curve shape of the cam table and the number of the cam data,
then execute the cam operation.

6 Verify the result of the cam operation and consider changing the value of the cam definition
variable.

7 Repeat steps 2 to 6.

For details on the cam definition variable and the Generate Cam Table instruction, refer to the MC_-
GenerateCamTable instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on creating
and transferring the cam definition variables using the Sysmac Studio.

9-2-6 Synchronous Positioning

This function performs positioning using a trapezoidal curve while synchronizing the specified slave
axis to the specified master axis.
This is a type of electronic cam, but it does not use cam tables created in the Cam Editor.
Operation starts when the MC_MoveLink (Synchronous Positioning) instruction is executed.
Use the MC_Stop instruction to stop the axes in motion.
Operation is performed for the Slave (Slave Axis) and the following are set: Master (Master Axis),
MasterDistance (Master Axis Travel Distance), MasterDistanceInACC (Master Distance In Accelera-
tion), MasterDistanceInDEC (Master Distance In Deceleration), SlaveDistance (Slave Axis Travel Dis-
tance), and MasterStartDistance (Master Following Distance).
The command position or actual position can be specified for the master axis.
You can specify one of the following as the start condition for synchronous operation: start of
instruction, when trigger is detected, or when master axis reaches the master following
distance.

The velocity and position of the slave axis are determined by the ratio of the travel distances of the
master axis and the slave axis as shown in the following figure.
The sync start position shown in the following figure represents the position where the sync start con-
dition is met.

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 9 Motion Control Functions

Master axis position

MasterDistanceInDEC

MasterDistance
Master
Following MasterDistanceInACC
Distance

Time
Slave axis position

SlaveDistance

Time
Slave axis velocity

Time

9-2 Single-axis Synchronized Control

For details on synchronous positioning, refer to the MC_MoveLink (Synchronous Positioning) and
MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No.
W508).

9-2-7 Combining Axes

The sum or difference of two positions can be used as the command position for the slave axis.
Operation starts when the MC_CombineAxes instruction is executed.
Use the MC_Stop instruction to stop the axes in motion.

The following figure is an example where the command position for the slave axis is determined based 9
on the operation of subtraction. 9-2-7 Combining Axes
Slave (Slave Axis) command current position = Master (Master Axis) command current position − Aux-
iliary (Auxiliary Axis) command current position

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9 Motion Control Functions

Master
(master axis)
Velocity Execute of MC_CombineAxes
changes to TRUE

Slave
(slave axis) Execute of MC_CombineAxes
Time Velocity changes to TRUE
Position: 200 Position: 600

-
Auxiliary
(auxiliary axis)
Velocity Execute of MC_CombineAxes Time
changes to TRUE Position: 0 Position: 390

Time
Position: 100 Position: 110

For details on combining axes, refer to the MC_CombineAxes and MC_Stop instructions in the NJ/NX-
series Motion Control Instructions Reference Manual (Cat. No. W508).

9-2-8 Master Axis Phase Shift

The phase of the master axis as viewed from the slave axis can be shifted for the current instruction.
The shift amount as viewed from the slave axis is a relative amount. During synchronization, the slave
axis will synchronize to the relative distance of the master axis.
You can execute the MC_Phasing (Shift Master Axis Phase) instruction to shift the phase for a
synchronized control instruction.

You can specify the phase shift amount, target velocity, acceleration rate, deceleration rate, and jerk
for the MC_Phasing (Shift Master Axis Phase) instruction.

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 9 Motion Control Functions

Execute

Busy

Active

Done

CommandAborted

Error

ErrorID 16#0000

Master axis position Actual master

as viewed from the axis position
slave axis

Master axis velocity Time

as viewed from the
slave axis

Slave axis position Time

Slave axis

9-2 Single-axis Synchronized Control

position when
phase offset is 0

Time

For details on the shift master axis phase function and the synchronized control instructions for which
a master axis phase shift can be applied, refer to the MC_Phasing (Shift Master Axis Phase) instruc-
tion in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

9-2-9 Slave Axis Position Compensation

This function compensates the position of the slave axis currently in synchronized control.
9
An offset calculated from the value of the input variable is added to the command current position. The 9-2-9 Slave Axis Position Compensation
result is output to the Servo Drive to compensate the position of the slave axis in synchronized control.
Even when the MC Function Module commands the same travel distance to two axes, their actual
travel distance may be different due to mechanical strain or other factors. This function can perform
compensation in such a case.
To perform position compensation cyclically for the slave axis in synchronized control, execute the
MC_SyncOffsetPosition (Cyclic Synchronous Position Offset Compensation) instruction.
Also, to perform position compensation with the acceleration/deceleration curve for the slave axis in
synchronized control, execute the MC_OffsetPosition (Position Offset Compensation) instruction.

For details on slave axis position compensation, refer to the MC_SyncOffsetPosition (Cyclic Synchro-
nous Position Offset Compensation) instruction and MC_OffsetPosition (Position Offset Compensa-
tion) instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

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9 Motion Control Functions

9-2-10 Achieving Synchronized Control in Multi-motion

When you use the standard functions of the MC Function Module, if the synchronized control instruc-
tions are executed between axes assigned to different tasks in the multi-motion, an Illegal Master Axis
Specification (event code: 54620000 hex) occurs.
However, you can perform synchronized control of the master axis that is controlled in the primary pe-
riodic task and the slave axis that is controlled in the priority-5 periodic task by using the MC_Periodic-
SyncVariables (Periodic Axis Variable Synchronization between Tasks) instruction.

The cam operation and gear operation synchronized with the master axis and slave axis are available
for the following combinations.

Slave axis task

Mster axis task
Primary periodic task Priority-5 periodic task
Primary periodic task Synchronized by motion con- Synchronized control is achieved by execut-
trol instructions ing the MC_PeriodicSyncVariables (Periodic
Axis Variable Synchronization between
Tasks) instruction and using the virtual
master axis in the priority-5 periodic task.
Priority-5 periodic task Not available. Synchronized by motion control instructions

Axis Composition in Operation Examples

In the following figure, axis 1 is the master axis. Axis 2 is a slave axis that requires high-speed and
high-precision control. It is assigned to the primary periodic task. Axis 3 is a slave axis that does not
require precision. It is assigned to a priority-5 periodic task. The master axis (axis 1) is assigned to the
primary periodic task.

 Physical Axis Composition

Axis 1

1:2 2:3

Axis 2 Axis 3

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 9 Motion Control Functions

 Logical Axis Composition

Axis 1
Master axis
1:2

Axis 2
Slave axis Primary periodic task
MC_PeriodicSyncVariables instruction Priority-5 periodic task

Target position
Calculations given to virtual Axis 4 2:3
Master axis position axis. Virtual axis
Master axis velocity
:

9-2 Single-axis Synchronized Control

Axis 3
Slave axis

Programming is placed in both the primary periodic task and priority-5 periodic task to achieve the
operation for the above application.

Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for de-
tails on the MC_PeriodicSyncVariables (Periodic Axis Variable Synchronization between Tasks) in-
struction.

9
9-2-10 Achieving Synchronized Control in Multi-motion

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9 Motion Control Functions

9-3 Single-axis Velocity Control

This section describes the operation of velocity control for single axes.

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.

9-3-1 Velocity Control

Velocity control is used to constantly move an axis at the specified velocity.
You can also specify the acceleration rate, deceleration rate, and jerk.
To stop an axis, use the MC_Stop instruction or execute another motion instruction.
If you specify a target velocity of 0, the axis will not move but the axis status will indicate that it is mov-
ing.
If any other motion control instruction is executed with multi-execution of instructions during velocity
control, the operation will switch only after reaching the target velocity.

Execute

Busy

Active

InVelocity

CommandAborted

Error

ErrorID 16#0000
Decelerates to a stop
Velocity when another instruction
causes an error.
Target velocity

Time

The MC Function Module uses Position Control Mode of the Servo Drive or other device and sends
target position commands to achieve the specified target velocity.
The position control loop is enabled in the Servo Drive or other device. Therefore, as the command
velocity slows down, e.g., due to disturbance, and the following error increases, the velocity will
change to eliminate this following error.

For details, refer to the MC_MoveVelocity (Velocity Control) instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).

9-3-2 Cyclic Synchronous Velocity Control

The control mode of the Servo Drive is set to Velocity Control Mode and a command speed is output
every control period.

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 9 Motion Control Functions

Precautions for Correct Use

You cannot use cyclic synchronous velocity control for an NX-series Pulse Output Unit.

To stop an axis, use the MC_Stop instruction or execute another motion instruction.
If you specify a target velocity of 0, the axis will not move but the axis status will indicate that it is mov-
ing.

MC_SyncMoveVelocity Instruction
Execute

InVelocity

Busy

Active

CommandAborted

Error

ErrorID 16#0000

MC_Stop Instruction
Execute

9-3 Single-axis Velocity Control

Done

Busy

Active

Velocity Deceleration stop

performed for the
MC_Stop instruction.
Target velocity

9
Time
Target velocity is changed Target velocity is not
9-3-2 Cyclic Synchronous Velocity Control

every primary period. changed.

Control Mode
CSP CSV CSP CSV

Changed. Changed. Changed.

The Servo Drive will receive commands in the velocity control loop. Therefore, if any disturbance caus-
es the velocity to decrease below the command velocity, no change in velocity will occur to remove the
following error.

For details, refer to the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

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9 Motion Control Functions

9-4 Single-axis Torque Control

Torque control continuously applies the specified amount of torque.
You can use TorqueRamp to specify the rate of change of the torque until the Torque (Target Torque)
is reached.

The MC Function Module uses the Torque Control Mode of the Servo Drive.
The Servo Drive receives the torque command value from the MC Function Module in the torque con-
trol loop and to control the torque.
You can specify the velocity limit value for the Servo Drive in the Velocity (Velocity Limit) input variable
to the motion control instruction. You can use this to limit high-speed revolution of the motor when the
load on the motor is low in Torque Control Mode.

For details, refer to the MC_TorqueControl instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).

Precautions for Correct Use

• To be safe, always set a velocity limit value for torque control.

• You cannot use single-axis torque control for an NX-series Pulse Output Unit.

To stop an axis, use the MC_Stop instruction or execute another motion instruction.
If you specify a Torque (Target Torque) of 0, the axis will not move but the axis status will indicate that
it is moving.

 Example 1: Direction Designation = Positive Direction

Torque

Torque

TorqueRamp

Time

 Example 2: Direction Designation = Negative Direction

Torque

Time

TorqueRamp

Torque

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 9 Motion Control Functions

9-5 Common Functions for Single-axis

Control
This section describes the common functions used for single-axis control.

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.

9-5-1 Positions

Types of Positions
The MC Function Module uses the following two types of positions.

Type of position Definition

Command position This is the position that the MC Function Module outputs to control an axis.

9-5 Common Functions for Single-axis Control

Actual position The actual position as input from the Servo Drive or encoder input.

The following figure shows the relationship between the command position and the actual position for
an EtherCAT slave Servo Drive.

User program MC Function Module Command position Servo Drive

Electronic (pulses)
Motion Motion Command Command Following M
gear Position loop
control control position position error
instruction processing (command units) In-position check counter counter Velocity loop
Remainder Actual position Current loop
Electronic (pulses)
Actual position
(command units) gear Feedback E
counter
Remainder

The command position and actual position share the following items.

Item Command position Actual position

Count Mode You can set Linear Mode or Rotary Mode. The same Count Mode is used as for
the command position. 9
Position increment You can set one of the following: mm, μm, nm, The unit is the same as the unit of
inch, degree, or pulse. the command position.
9-5-1 Positions

Software limits You can set the range of operation of the soft- The range is the same as the range
ware. for the command position.
Changing the current You can change the actual position to any de- This value will be set to the same po-
position sired position. sition as the command position. *1
Defining home Home is either defined or undefined. The status of home is the same as
the command position.
*1. If there is any following error before the change, the following error value is maintained in the actual posi-
tion.

Additional Information

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information
on the NX-series Position Interface Units.

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9 Motion Control Functions

Axis Parameters That Are Related to Positions

Parameter name Function Setting range Default
In-position Range Set the in-position width. Non-negative long reals 10
(Unit: command units)
In-position Check Time Set the in-position check time in millisec- 0 to 10,000 0
onds.
Set 0 to check for the end of positioning on-
ly when you define the home position during
homing and not check positioning at other
times.
(Unit: ms)
Software Limits Select the software limit function. 0 to 4 0
0: Disabled.
1: Deceleration stop for command position
2: Immediate stop for command position
3: Deceleration stop for actual position
4: Immediate stop for actual position
Positive Software Limit Set the software limit in the positive direc- Long reals 2,147,483,647
tion. (Unit: command units)
Negative Software Limit Set the software limit in the negative direc- Long reals -2,147,483,648
tion. (Unit: command units)
Following Error Over Val- Set the excessive following error check val- Non-negative long reals 0
ue ue.
Set 0 to disable the excessive following er-
ror check. (Unit: command units)
Following Error Warning Set the following error warning check value. Non-negative long reals 0
Value Set 0 to disable the following error warning that are less than or equal to
check. (Unit: command units) the Following Error Over
Value

Specifying Target Positions for Axis Operations

The actual position or distance for a positioning motion is specified with the Position (Target Position)
and Distance (Travel Distance) input variables to the motion control instruction.

Monitoring Positions
You can read Axis Variables in the user program to monitor positions.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information ap-
plies to _MC1_AX[*] and _MC2_AX[*].

Data
Variable name Meaning Function
type
_MC_AX[0-255].Cmd.Pos LREAL Command Cur- This is the current value of the command position.
rent Position When the Servo is OFF and the mode is not the
position control mode, the actual current position is
output.
_MC_AX[0-255].Act.Pos LREAL Actual Current This is the actual current position.
Position

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 9 Motion Control Functions

9-5-2 Velocity

Types of Velocities
The following two types of axis velocities are used in the MC Function Module.

Velocity type Definition

Command velocity This is the velocity that the MC Function Module outputs to control an axis.
Actual velocity This is the velocity calculated in the MC Function Module based on the actual position
input from the Servo Drive or encoder input. *1
*1. This value is given if the Velocity actual value (606C hex) is mapped in the PDOs and assigned to the
Actual Current Velocity.

Velocity Unit
A velocity is given in command units/s.
The command unit is the value obtained from unit conversion of the position display unit and the elec-
tronic gear.

9-5 Common Functions for Single-axis Control

Axis Parameters That Are Related to Velocities
Setting
Parameter name Function Default
range
Maximum Velocity Specify the maximum velocity for the axis. Positive long 400,000,000
If a target velocity that exceeds the maximum velocity is reals
specified for an axis motion instruction, the axis will move
at the maximum velocity.
Start Velocity*1 Set the start velocity for each axis. Positive long 0
Set a value that does not exceed the maximum velocity. reals
(Unit: command units/s)
Maximum Jog Ve- Set the maximum jog velocity for each axis. *2 Positive long 1,000,000
locity Set a value that does not exceed the maximum velocity. reals 9
(Unit: command units/s)
Velocity Warning Set the percentage of the maximum velocity at which to 0 to 100 0
9-5-2 Velocity

Value output a velocity warning for the axis.

No velocity warning is output if 0 is set. (Unit: %)
Actual Velocity Set the time period to calculate the average travel of the 0 to 100 0
Filter Time Con- actual velocity in milliseconds.
stant The average travel is not calculated if 0 is set. (Unit: ms)
Use this to reduce variations in the actual current velocity
when axis velocity is slow.
*1. A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required to use this
parameter.
*2. The maximum jog velocity is used as the command velocity if you specify a velocity command value that is
greater than the maximum jog velocity.

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9 Motion Control Functions

Specifying Target Velocities for Axis Operations

The velocity used in an actual positioning motion is specified by the Velocity (Target Velocity) input
variable to the motion control instruction.

Monitoring Velocities
You can read Axis Variables in the user program to monitor velocities.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information ap-
plies to _MC1_AX[*] and _MC2_AX[*].

Data
Variable name Meaning Function
type
_MC_AX[0-255].Cmd.Vel LREAL Command Cur- This is the current value of the command velocity.
rent Velocity A plus sign is added during travel in the positive
direction, and a minus sign is added during travel
in the negative direction.
_MC_AX[0-255].Act.Vel LREAL Actual Current This is the actual current velocity.
Velocity A plus sign is added during travel in the positive
direction, and a minus sign is added during travel
in the negative direction.

9-5-3 Acceleration and Deceleration

Unit of Acceleration and Deceleration Rates

Acceleration rates and deceleration rates are given in command units/s2.
The command unit is the value obtained from unit conversion of the position display unit and the elec-
tronic gear.

Axis Parameters That Are Related to Acceleration and Deceleration

Setting
Parameter name Function Default
range
Maximum Acceler- Set the maximum acceleration rate for an axis operation Non-nega- 0
ation command. tive long re-
There will be no limit to the acceleration rate if 0 is set. als
(Unit: command units/s2)
Maximum Decel- Set the maximum deceleration rate for an axis operation Non-nega- 0
eration command. tive long re-
There will be no limit to the deceleration rate if 0 is set. als
(Unit: command units/s2)

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 9 Motion Control Functions

Setting
Parameter name Function Default
range
Acceleration/ Set the operation for when the maximum acceleration/ 0 to 2 0
Deceleration Over deceleration rate would be exceeded after excessive ac-
celeration/deceleration during acceleration/deceleration
control of the axis because stopping at the target position
is given priority.
0: Use rapid acceleration/deceleration. (Blending is
changed to Buffered.)*1
1: Use rapid acceleration/deceleration.
2: Minor fault stop*2
Acceleration Set the percentage of the maximum acceleration rate at 0 to 100 0
Warning Value which to output an acceleration warning for the axis.
No acceleration warning is output if 0 is set. (Unit: %)
Deceleration Set the percentage of the maximum deceleration rate at 0 to 100 0
Warning Value which to output a deceleration warning for the axis.
No deceleration warning is output if 0 is set. (Unit: %)
*1. For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered. Refer to 9-5-7 Multi-
execution of Motion Control Instructions (Buffer Mode) on page 9-48 for details.
*2. For a CPU Unit with unit version 1.10 or later, the axis does not stop with an error when Blending is used for

9-5 Common Functions for Single-axis Control

operation. Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 9-48 for de-
tails.

Specifying Acceleration and Deceleration Rates for Axis Operation

The acceleration and deceleration rates used in an actual positioning motions are specified by the
Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input variables to the motion
control instruction.

Monitoring Acceleration and Deceleration Rates

You can read Axis Variables in the user program to monitor acceleration and deceleration rates.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information ap- 9
plies to _MC1_AX[*] and _MC2_AX[*].
9-5-3 Acceleration and Deceleration
Data
Variable name Meaning Function
type
_MC_AX[0-255].Cmd.AccDec LREAL Command This is the current value of the command acceler-
Current Ac- ation/deceleration rate.
celeration/ A plus sign is added for acceleration, and a mi-
Deceleration nus sign is added for deceleration.

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9 Motion Control Functions

Example of Acceleration/Deceleration Operation

Velocity
Maximum velocity
(2) Target velocity
after velocity
change

(1) Target velocity

at startup

A D
Time
A
Ta1 Ta2 Td

When Starting For Velocity Changes When Decelerating

Ta1: Actual acceleration time Ta2: Actual acceleration time Td: Actual deceleration time
A: Acceleration rate A: Acceleration rate D: Deceleration rate

If you specify a short travel distance or a low acceleration/deceleration rate, the target velocity may not
be reached.
If the target position is exceeded after re-execution of the motion control instruction with the newly up-
dated acceleration or deceleration rate, positioning is performed at an acceleration or deceleration rate
that will enable stopping at the target position.

9-5-4 Jerk
The jerk specifies the rate of change in the acceleration rate or deceleration rate. If the jerk is speci-
fied, the velocity waveform during acceleration will be an S-curve, which will reduce the shock and vi-
bration on the machine.

Additional Information

Jerk is also called jolt, surge and lurch.

Jerk Unit
Jerk is given in command units/s3.
The command unit is the value obtained from unit conversion of the position display unit and the elec-
tronic gear.

Specifying Jerk for Axis Motion

The jerk used in an actual positioning motion is specified with the Jerk input variable to the motion
control instruction.
The same value is used for acceleration and deceleration.

Use the following formula to calculate the value to set for the jerk.
Jerk = Acceleration rate/(Time of acceleration × Ratio of time to apply jerk during acceleration/2)

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 9 Motion Control Functions

Jerk is applied in two sections: at the start of acceleration and at the end of acceleration. The time that
jerk is applied is therefore divided by 2.

 Example of Velocity Control When Jerk Is Specified

The acceleration will change at a constant rate over the range where jerk is specified. The com-
mand velocity will form a smooth S curve. A fixed acceleration rate is used in areas where the jerk
is set to 0. This command velocity will form a straight line.

Example: Acceleration of 25,000 mm/s2, Acceleration Time of 0.1 s, and a Jerk Application Rate of
50%
Jerk = 25,000/(0.1 × 0.5/2) = 1,000,000 (mm/s3)

Velocity
Target velocity
at startup

9-5 Common Functions for Single-axis Control

Time
Acceleration
Acceleration rate rate
at startup

Time
Jerk
Jerk
at startup
Time

25% 25%

Monitoring Jerk
9
You can read Axis Variables in the user program to monitor jerk.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information ap- 9-5-5 Specifying the Operation Direction

plies to _MC1_AX[*] and _MC2_AX[*].

Data
Variable name Meaning Function
type
_MC_AX[0-255].Cmd.Jerk LREAL Command Current This is the current value of the command jerk.
Jerk

9-5-5 Specifying the Operation Direction

If you want to specify a rotation direction, such as shortest way, using an index table, set the Count
Mode to Rotary Mode. Next, set the operation direction with the Direction input variable to the motion
control instruction for an absolute position.

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9 Motion Control Functions

If you set the direction to the shortest way, positive direction, negative direction, or current
direction, you can specify a position that is greater than or equal to the modulo minimum position and
less than the modulo maximum position within one turn of the ring counter.
The Direction input variable will be ignored when the Count Mode is set to Linear Mode. Positioning
will be performed to the target position.

The following table lists the different directions you can specify in the MC Function Module.

Direction Operation
Shortest way Motion starts in the direction where the command current position and the target position
are closer to each other.
Positive direction Motion starts in the positive direction.
Negative direction Motion starts in the negative direction.
Current direction Motion starts in the same direction as the previous operation.
No direction Motion starts in the direction that does not pass through the upper and lower limits of the
specified ring counter.
With this direction specification, you can specify a target position that exceeds the upper or
lower limits of the ring counter. If that occurs, relative positioning is performed using the dif-
ference between the target position and the command current position as the target dis-
tance. This enables you to perform multi-turn positioning on the ring counter.

Example for Shortest Way

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.

Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70 Moves in negative direction.

Additional Information

Moves in the same direction as the Current Direction specification if the travel distance is the
same in the positive and negative directions.

Example for Positive Direction

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.

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 9 Motion Control Functions

Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70
Moves in positive direction.

Example for Negative Direction

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.

9-5 Common Functions for Single-axis Control

Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70
Moves in negative direction.

9
Example for Current Direction
The following example illustrates when positioning is performed towards a target position of −20 when
9-5-5 Specifying the Operation Direction

the command current position is 50.

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9 Motion Control Functions

Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70 If the previous operation was If the previous operation was in
in the negative direction, the positive direction, motion is in
motion is in the negative the positive direction.
direction.

The direction of the previous operation is given in the Command Direction in the Axis Variable.

Precautions for Correct Use

Attention should be paid to the direction of operation in the following cases.

• If the MC_Home or MC_HomeWithParameter instruction exceeds the point where the home
input was detected and reverses operation, the opposite direction of the home input detection
direction is used.
• If a homing compensation value is set for the MC_Home or MC_HomeWithParameter instruc-
tion, the axis will move in the direction of the compensation value.
• If an immediate stop is specified for the MC_TouchProbe (Enable External Latch) instruction,
the latch position may be exceeded and the direction may be reversed.
• The direction may be reversed for the MC_MoveFeed (Interrupt Feeding) instruction.
• When the MC_ResetFollowingError instruction is executed, the error is set to zero, so the
command direction is used.
• If an immediate stop is specified for an external input signal or resetting the error counter is
specified for stopping for a limit input, the operation may reverse direction toward the position
where the external input signal was received.

Example for No Direction Specification

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.

Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70 Moves towards the
ring counter range.

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 9 Motion Control Functions

Similarly, the following example illustrates when the ring counter upper limit is 100, the lower limit is
−70, the command current position is −20, and positioning is performed towards a target position of
290.

Modulo maximum
position setting
value: 100

Command current Position after

position: −20 positioning: −50
0

Modulo minimum
position setting
value: −70

190
Performs relative positioning with target distance of (290
(target position) − 100 (upper limit)) = 190.

9-5 Common Functions for Single-axis Control

9-5-6 Re-executing Motion Control Instructions
This section describes how to modify input variables of the same instance of a motion control instruc-
tion during operation of a single axis and re-execute that instruction.
The input variables Position (Target Position), Distance (Travel Distance), Velocity (Target Velocity),
Acceleration (Acceleration Rate), Deceleration (Deceleration Rate), and Torque (Target Torque) and
sometimes other input variables can be changed by re-execution.
An instruction error will occur if you change an input variable that cannot be changed and attempt to
re-execute the instruction.
If you re-execute an instruction that has been buffered due to multi-execution of instructions, the input
variables for the instruction in the buffer will change.

For details on input variables that can be changed, refer to the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508). 9
9-5-6 Re-executing Motion Control Instructions

Changing the Target Position

If you change the target position with re-execution, the operation may change depending on the timing
of the change and the new target position.
If the direction of motion reverses due to a change in the target position, you can choose to
Deceleration stop or Immediate stop with the Operation Selection at Reversing axis parameter.

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9 Motion Control Functions

 When a Reverse Turn Does Not Occur for the New Command Value
Re-executing Instruction during Re-executing Instruction during
Constant-velocity Motion Acceleration/deceleration
Velocity Velocity
↓Command re-executed. ↓Command re-executed.

↑Executed. ↑Initial ↑New ↑Executed. ↑Initial ↑New

command command command command
position position position position

If you re-execute an instruction during triangular

control or during deceleration, acceleration to
the target velocity will occur again. In some
cases, the axis will not reach the target velocity.

 When a Reverse Turn Occurs for the New Command Value

Decelerating to a Stop after Reverse Turn Stopping Immediately after Reverse Turn
Velocity Velocity
↓Command re-executed. ↓Command re-executed.
If the travel distance upon
reverse turn is small,
triangular control is
performed as it was for
the first execution of the
↓Initial command position instruction.
↑Executed. ↑New command ↑Executed. ↑Initial ↑New command
position command position
position

If the instruction is re-executed If the travel distance upon reversal If the instruction is re-executed during
during acceleration, the axis is small, triangular control is acceleration or deceleration, the axis
starts deceleration as soon as performed as it was for the first stops immediately upon re-execution.
the instruction is re-executed. execution of the instruction. This also occurs during deceleration.

 Triangular Control Patterns

The triangular control shown in the figure below may result if the travel distance is shortened due to
a change in the target position.

No Reverse Turn
Velocity

↓Command re-executed.

Executed.↑ ↑New command ↑Initial command

position position

 Excessive Deceleration Patterns

In the following cases, priority is given to stopping at the target position. Therefore, the deceleration
rate will exceed the specified deceleration rate.
If the deceleration rate exceeds the rate that is set in the Maximum Deceleration axis parameter,
the operation set in the Acceleration/Deceleration Over axis parameter setting is performed.

• If There Is No Reverse Turn and the Target Position Would Be Exceeded at the Specified Decel-
eration Rate

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 9 Motion Control Functions

No Reverse Turn
Velocity

↓Command re-executed.

↑Executed. ↑Initial command position

↑New command position

• If There Is a Reverse Turn and Decelerating to a Stop Would Result in an Excess over the Soft-
ware Limit

No Reverse Turn

Velocity

↓Command re-executed.

↑Executed. Reverse
operation
↑Software limit

9-5 Common Functions for Single-axis Control

• If There Is a Reverse Turn and Decelerating to a Stop Would Result in Command Current Posi-
tion Overflow or Underflow

No Reverse Turn

Velocity

↓Command re-executed.

↑Executed. Reverse
operation
↑Counter upper limit

9
Changing the Travel Distance 9-5-6 Re-executing Motion Control Instructions

Even if you change the travel distance and re-execute the MC_MoveRelative (Relative Positioning) in-
struction, positioning is performed for the new travel distance in reference to the position where the
motion first started.
However, if the instruction is executed again just before positioning is completed, it may be executed
as a new instruction rather than as a re-execution of the same instruction.

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9 Motion Control Functions

Re-execution Instruction during Motion Re-execution Just Before End of Positioning

Velocity Velocity
↓Command re-executed. ↓Command re-executed.

↑Executed. ↑Initial ↑Travel distance ↑Executed. ↑Initial Travel distance ↑

travel specified when travel specified when
distance instruction was distance instruction was
re-executed re-executed
If the instruction is re-executed just before the end of positioning,
positioning for the travel distance that is specified when the instruction
is re-executed is sometimes based on the position to which the axis
was moved for the initial travel distance.

Precautions for Correct Use

Do not change the travel distance and re-execute the instruction just before the end of position-
ing.

Changing the Target Velocity

The operation is changed only during acceleration (including acceleration for triangular control) and
constant-velocity motion.
Changes are also accepted when the axis is decelerating, but operation is not affected.

Changing the Acceleration Rate

The operation is changed only during acceleration and acceleration during triangular control.
If it is changed when moving at a constant speed, the changed rate applies to acceleration for an over-
ride.
Changes are also accepted when the axis is decelerating, but operation is not affected.

Changing the Deceleration Rate

The deceleration rate is changed only during acceleration, constant-velocity motion, deceleration, tri-
angular control, or during deceleration-exceed control.
If the new deceleration rate causes the axis to exceed the target position, stopping at the target posi-
tion is given the highest priority. Therefore, in this case, the actual deceleration rate will exceed the
specified deceleration rate.

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 9 Motion Control Functions

 Patterns Where Deceleration Rate Increases

Trapezoidal Control Triangular Control Followed by Trapezoidal Control
Velocity Instruction Instruction Increased deceleration rate allows
Velocity
↓re-executed ↓re-executed operation to reach target velocity
There is an area of for trapezoidal control.
acceleration due to There is an area of
the increased acceleration due to the
deceleration rate increased deceleration
during deceleration rate during deceleration

↑Executed. ↑Command position ↑Executed. ↑Command position

 Patterns Where Deceleration Rate Decreases

Trapezoidal Control or Triangular Control Deceleration-exceed Control
Velocity Velocity If the command position is exceeded
at the reduced deceleration rate, a
↓Instruction re-executed
switch is made to deceleration-
Decreased deceleration exceed control.
rate makes it impossible
to reach target velocity
so a change is made to No change for re-execution
triangular control. during deceleration

↑Executed. ↑Command position ↑Executed. ↑Command position

9-5 Common Functions for Single-axis Control

Changing the Torque Command
The torque command value will change based on the torque ramp specification when you re-execute a
motion control instruction.

Programming Example for Re-execution

This example demonstrates changing the target position from 1000 to 2000 for absolute positioning.
In this example, the variable Axis1Pos is used as the input parameter to the target position.
Specify the target position to 1000 with the MOV instruction and change Axis1Execute to TRUE to be-
gin positioning.
Specify the target position to 2000 during operation and change Axis1Execute to TRUE again to 9
switch to a positioning operation for the new target position of 2000.
9-5-6 Re-executing Motion Control Instructions

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9 Motion Control Functions

Axis1PosSet1
Move Axis1pos 1000

Axis1PosSet2
Move Axis1pos 2000

Axis1MoveAbsolute
MC_MoveAbsolute
Axis1Execute _MC_AX[0] Axis Axis _MC_AX[0]
Execute Done Axis1Done
Axis1Pos Position Busy Axis1Busy
Axis1Velo Velocity Active Axis1Active
Axis1Acc Acceleration CommandAborted Axis1CA
Axis1Dec Deceleration Error Axis1Error
Axis1Jerk Jerk ErrorID Axis1ErrorID
0 Direction
0 BufferMode

 Timing Charts
Variables
Axis1PosSet1

Axis1PosSet2

Axis1Pos 1000 2000

Input Parameter
Axis1Execute

Output Parameters
Axis1Done

Axis1Busy

Axis1Active

Precautions for Correct Use

For input variables that are not changed, always use the same values as before re-execution of
the instruction.

9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)

You can trigger another motion control instruction while an axis is moving.
In the PLCopen® technical specifications, this functionality is defined as Buffer Mode, but in the MC
Function Module this is sometimes referred to as multi-execution of instructions.
You can use multi-execution of instructions to execute multiple motion control instructions in sequence
without stopping the overall motion.

The following terms are used in relation to multi-execution of instructions in the MC Function Module.

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 9 Motion Control Functions

Term
Meaning
This manual PLCopen®
Current instruction Previous function The motion control instruction that is in execution just before multi-ex-
block ecution is triggered.
Buffered instruc- Next function A motion control instruction that is triggered while the axis is in mo-
tion block tion, and is waiting to be executed.
Transit velocity Blending When blending is specified, it specifies the command velocity for the
current instruction to move to the specified target position.

You can set the BufferMode (Buffer Mode Selection) input variable to motion control instruction to se-
lect one of the following Buffer Modes.
The main difference between these modes is the timing at which the buffered instructions are execut-
ed and the transit velocity.

Buffer Mode Description of operation

Aborting The current instruction is aborted and the next motion control instruction is
executed.
Buffered The buffered instruction is executed after the operation for the current in-
struction is normally finished.

9-5 Common Functions for Single-axis Control

Blending The buffered instruction is executed after the target position of the current
instruction is reached.
In this mode, no stop is performed between the current instruction and the
buffered instruction.
You can select one of the following transit velocities for when the current in-
struction reaches the target position.
Blending Low (low velocity) The transit velocity is set to the target velocity of the current instruction or
the buffered instruction, whichever is lower.
Blending Previous The target velocity of the current instruction is used as the transit velocity.
(previous velocity)
Blending Next The target velocity of the buffered instruction is used as the transit velocity.
(next velocity)
Blending High (high velocity) The transit velocity is set to the target velocity of the current instruction or
the buffered instruction, whichever is higher.

If Buffered or Blending Mode is specified, the next instruction is buffered in the MC Function Module, 9
and executed at the specified BufferMode timing and transit velocity.
There is one buffer for each axis.
Mode)
9-5-7 Multi-execution of Motion Control Instructions (Buffer

If Aborting is specified, the next instruction is executed immediately, so it is not buffered.

Precautions for Correct Use

• Only one instruction can be buffered for each axis. If multi-execution is performed for two or
more instructions, an instruction error will occur.
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.

Aborting
This is the default mode. No buffering is performed in this mode.

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9 Motion Control Functions

The current command is aborted and the new instruction is executed.

Aborting Mode can be used for multi-execution of motion control instructions for single-axis control
and synchronized control.

 When a Reverse Turn Does Not Occur for the Command Position of the
Next Instruction for Multi-execution
Multi-execution during Constant-velocity Motion Multi-execution during Acceleration/Deceleration

Velocity ¯Multi-execution timing Velocity ¯Multi-execution timing

­Executed. ­Initial ­Buffered ­Executed. ­Initial ­Buffered

command command command command
position position position position

If you use multi-execution of an instruction during

triangular control or during deceleration, the axis will
accelerate to the target velocity of the buffered instruction.
In some cases, the axis will not reach the target velocity.

 When a Reverse Turn Occurs for the Command Position of the Next In-
struction for Multi-execution
Decelerating to a Stop after Reverse Turn Stopping Immediately after Reverse Turn
Velocity Velocity
¯Multi-execution timing ¯Multi-execution timing
If the travel distance
upon reverse turn is
small, triangular control
is performed as it was
for the first execution of
¯Initial command position the instruction.
­Executed. ­Buffered ­Executed. ­Initial ­New
command command command
position position position

If an instruction is executed with If the travel distance upon If the instruction is executed with multi-execu-
multi-execution of instructions reverse turn is small, triangular tion of instructions during acceleration or
during acceleration, the axis control is performed as it was for deceleration, the axis stops immediately
starts deceleration according to the first execution of the according to the multi-execution timing.
the multi-execution timing. instruction.

Buffered
The next instruction remains in the buffer until the operation of the current instruction is finished.
The buffered instruction is executed after the operation for the current instruction is normally ended.

The target position is reached

and the buffered instruction is
Velocity executed after the current
¯Multi-execution timing
instruction is normally completed.

Current instruction Buffered instruction

Time

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 9 Motion Control Functions

Blending
The buffered instruction remains in the buffer until the target position of the current instruction is
reached.
The buffered instruction is executed after the current instruction's target position is reached. However,
motion does not stop at this time. Operation transitions to the next instruction at the velocity specified
with the BufferMode (Buffer Mode Selection) input variable.
For relative travel, the final position will be the total of the values for both instructions.
For absolute travel, the final position will be the target position of the second instruction.
The Acceleration/Deceleration Over axis parameter is used to select one of the following operations
for when the target position would be exceeded with the values that are set in the Maximum
Acceleration and Maximum Deceleration axis parameters.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop

Precautions for Correct Use

• In a blending mode, you cannot combine single-axis and synchronized control.

9-5 Common Functions for Single-axis Control

Version Information

For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered even if you
select Use rapid acceleration/deceleration (Blending is changed to Buffered). In this case,
the maximum acceleration/deceleration rate is used and the blending operation is continued.
Also, the axis does not stop with an error even if you select Minor fault stop. Similar to the
previous case, the maximum acceleration/deceleration rate is used and the blending operation
is continued.

 Use Rapid Acceleration/Deceleration (Blending Is Changed to Buffered)

• For a CPU Unit with Unit Version 1.10 or Later
The operation will be the same even if you select Minor fault stop.
Here, BufferMode is set to Blending Next.
9
Current
instruction Buffered instruction
Mode)
9-5-7 Multi-execution of Motion Control Instructions (Buffer

Target velocity of the

buffered instruction
Transit velocity The maximum acceleration rate is used, and
execution of the buffered instruction starts when the
target position of the current instruction is exceeded.
After switching the instruction, the acceleration rate
of the buffered instruction is used.

Multi-execution of Time
instructions

• For a CPU Unit with Unit Version 1.09 or Earlier

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9 Motion Control Functions

Velocity Current instruction Buffered instruction

When the current

instruction is completed,
the buffered instruction is
executed.
Current instruction Buffered instruction

Time
Multi-execution of instructions

 Use Rapid Acceleration/Deceleration

• BufferMode Is Set to Blending Previous

Velocity Current instruction Buffered instruction

Transit velocity
used.

Stopping at the target position is not possible for

the deceleration rate of the buffered instruction.
Rapid deceleration is therefore used to stop at the
Current instruction target position.

Multi-execution of instructions Buffered instruction Time

• BufferMode Is Set to Blending Next

Velocity Current instruction Buffered instruction

With the acceleration rate of the Transit velocity used.

current instruction, it is impossible
to reach the target velocity of the
buffered instruction at the target
position.
Rapid acceleration is therefore
used to reach the target velocity
at the target position. Buffered instruction

Current instruction
Time
Multi-execution of instructions

Blending Low (Low Velocity)

Operation is performed using the target position of the current instruction and the target velocity that is
the lower of the target velocities for the current instruction and buffered instruction.

Blending Previous (Previous Velocity)

Operation is performed with the target velocity of the current instruction until the target position of the
current instruction is reached.
Operation is performed after acceleration/deceleration to the target velocity of the buffered instruction
once the target position is reached.

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 9 Motion Control Functions

 When the Direction of Operation Does Not Change

Cases Resulting in Acceleration
The transit velocity is
Multi-execution the command velocity of
of instruction the current instruction
Velocity

Current instruction Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution
of instruction
Velocity

Current instruction Buffered instruction

9-5 Common Functions for Single-axis Control

Time

 When the Direction of Operation Changes

Multi-execution of instruction
Velocity

The transit velocity is the command velocity of the current instruction

Current instruction

Time
9
Buffered instruction
Mode)
9-5-7 Multi-execution of Motion Control Instructions (Buffer

Blending Next (Next Velocity)

Operation is performed using the target position of the current instruction and the target velocity of the
buffered instruction.

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9 Motion Control Functions

Cases Resulting in Acceleration The transit velocity is the command

velocity of the buffered command
Multi-execution of instruction
Velocity

Current instruction
Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution of instruction

Velocity

Current instruction Buffered instruction

Time

Blending High (High Velocity)

Operation is performed using the target position of the current instruction and the target velocity that is
the higher of the target velocities for the current instruction and buffered instruction.

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 9 Motion Control Functions

9-6 Multi-axes Coordinated Control

This section describes the operation of multi-axes coordinated control.
With the MC Function Module, you can set an axes group in advance from the Sysmac Studio to per-
form interpolation control for multiple axes.

9-6-1 Outline of Operation

Multi-axes coordinated control performs a motion with multiple related axes together as a single group
to control the path of the target control object.
The MC Function Module treats all axes that perform coordinated operation as an axes group. Axes
groups are set from the Sysmac Studio.
In the user program, turn ON the Servo for each axis and then enable the axes group that is going to
perform the multi-axes coordinated control.
The purpose of multi-axes coordinated control is the coordinated operation of all axes belonging to the
target axes group. Therefore, you cannot execute any single-axis operation motion control instructions
on the axes in an enabled axes group. Furthermore, if any error occurs for any axis in an axes group,
all axes in the axes group will stop according to the setting of the Axes Group Stop Method group
axes parameter.

9-6 Multi-axes Coordinated Control

The MC Function Module can perform linear interpolation with two to four axes or circular interpolation
with two axes.

Coordinate conversion
EtherCAT Feedback Commands EtherCAT
slave slave

Actual Multi-axes position Command

Input 1 processing Output 1
position 1 position 1

Actual Command
Input 2 Output 2
position 2 position 2

Input 3
Actual
position 3
Command
position 3 Output 3 9
9-6-1 Outline of Operation

Additional Information

For devices that require you to modify the grouping of axes in motion to perform interpolation
control, you must create multiple axes groups that include the axes to modify from the Sysmac
Studio beforehand. After completing this step, you can execute by specifying the enabled axes
groups from the user program during operation.
With a CPU Unit with unit version of 1.01 or later and Sysmac Studio version 1.02 or higher,
you can use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to change the
composition axes for an axes group that is disabled.

For details on axes groups, refer to 3-3 Axes Groups on page 3-21.

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9 Motion Control Functions

Enabling and Disabling Axes Groups

To enable an axes group, specify the axes group for the MC_GroupEnable (Enable Axes Group) in-
struction. An instruction error will occur if you try to execute an axes group instruction when the axes
group is still disabled.
To disable an axes group, specify the axes group for the MC_GroupDisable (Disable Axes Group) in-
struction.
When you disable an axes group that is in operation, all axes in that axes group will decelerate to a
stop at the maximum deceleration rate that is specified in their axis parameter settings.

Turn ON Servo for each axis

with MC_Power.

Define home for

all of the axes.

Enable axes group with

MC_GroupEnable.

Perform interpolation operation.

Axes group enabled.

Disable axes group with

MC_GroupDisable.

Turn OFF Servo for each

axis with MC_Power.

For details on enabling and disabling axes groups, refer to the MC_GroupEnable (Enable Axes Group)
and MC_GroupDisable (Disable Axes Group) instructions in the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508).

Changing the Axes in an Axes Group

You can use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to temporarily change
the composition axes for an axes group that is disabled. If the axes group is enabled, use the
MC_GroupDisable (Disable Axes Group) instruction to disable the axes group before you change the
composition axes.
A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to
use this instruction.

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 9 Motion Control Functions

Precautions for Correct Use

Changes made using the MC_ChangeAxesInGroup (Change Axes in Group) instruction will not
be saved to non-volatile memory in the CPU Unit. If you cycle the power supply or download
the settings from the Sysmac Studio, the parameter settings in the non-volatile memory are re-
stored.

For details on changing the composition axes of an axes group, refer to the MC_ChangeAxesInGroup
(Change Axes in Group) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

Reading Axes Group Positions

You can use the MC_GroupReadPosition (Read Axes Group Position) instruction to read the com-
mand current positions and the actual current positions of an axes group.
A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to
use this instruction.

For details on reading the axis positions for an axes group, refer to the MC_GroupReadPosition (Read
Axes Group Position) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

9-6 Multi-axes Coordinated Control

Resetting Axes Group Errors
If an error occurs in an axes group, you can use the MC_GroupReset instruction to remove the error
once you have eliminated the cause.

For details on resetting axes group errors, refer to the MC_GroupReset (Group Reset) 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.
9
9-6-2 Linear Interpolation 9-6-2 Linear Interpolation

Linear interpolation is used to move 2 to 4 of the logical axes A0 to A3 in a straight line between a
start point and an end point.
Either absolute or relative positioning is possible. You can specify the interpolation velocity, interpola-
tion acceleration, interpolation deceleration, and jerk.

The MC Function Module uses the following three kinds of linear interpolation instructions.
• MC_MoveLinear (Linear Interpolation)
You can specify the MoveMode input variable to select between linear interpolation to an absolute
value or linear interpolation to a relative value. This instruction is unique to the MC Function Module.
• MC_MoveLinearAbsolute (Absolute Linear Interpolation)
This instruction performs linear interpolation to an absolute value. This instruction is defined in the
PLCopen® technical specifications.
• MC_MoveLinearRelative (Relative Linear Interpolation)

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9 Motion Control Functions

This instruction performs linear interpolation to a relative value. This instruction is defined in the
PLCopen® technical specifications.

The following figure shows linear interpolation of 2 axes from point A to point B.

La1
Td
L

Fa1 F

Ta

A
La0
X

Axis A1 motion Fa0

Axis A0 motion
Ta Td

For details on linear interpolation, refer to the MC_MoveLinear (Linear Interpolation), MC_MoveLinear-
Absolute (Absolute Linear Interpolation), and MC_MoveLinearRelative (Relative Linear Interpolation)
instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

9-6-3 Circular Interpolation

Circular interpolation is used to move two of the logical axes A0 to A3 in a circular motion on a 2D
plane.
Either absolute or relative positioning is possible. You can specify the circular interpolation mode, path
direction, interpolation velocity, interpolation acceleration, interpolation deceleration, and combined
jerk for the two axes.

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 9 Motion Control Functions

Y coordinate

CCW

CW

CW : Clockwise rotation
CCW : Counterclockwise rotation

X coordinate

With the MC Function Module, you can specify the following three kinds of circular interpolation meth-
ods with the input variable CircMode (Circular Interpolation Mode).
• Border point
• Center
• Radius

Precautions for Correct Use

9-6 Multi-axes Coordinated Control

Set the Count Mode to Linear Mode for the axis that you use for circular interpolation.
If the instruction is executed with this axis in Rotary Mode, an instruction error will occur.

9-6-4 Axes Group Cyclic Synchronous Positioning

You can cyclically output specified target positions for the axes in an axes group.
You can specify target positions that are calculated in the user program as absolute positions to move
the axes in any desired path.
A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to
use this instruction.
9
For details on axes group cyclic synchronous positioning for an axes group, refer to the MC_Group-
SyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction in the NJ/NX- 9-6-4 Axes Group Cyclic Synchronous Positioning

series Motion Control Instructions Reference Manual (Cat. No. W508).

9-6-5 Stopping Under Multi-axes Coordinated Control

Multi-axes coordinated control of axes groups will stop when you execute certain motion control in-
structions in the user program or when an error or some other problem occurs.

Stopping with Motion Control Instructions

Use the MC_GroupStop or MC_GroupImmediateStop instruction to stop axes group operation.

For details, refer to the MC_GroupStop and MC_GroupImmediateStop instructions in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

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9 Motion Control Functions

 MC_GroupStop Instruction
For linear interpolation or circular interpolation performed on an axes group, you can decelerate to
a stop along the control path. You specify the deceleration rate and jerk.
Specify a deceleration rate of 0 to send a command that immediately stops the Servo Drive or oth-
er devices.
Other operation commands are not acknowledged while decelerating to a stop for this instruction
and while the input variable Execute is TRUE.

 MC_GroupImmediateStop Instruction
You can perform an immediate stop for all axes in the axes group. The immediate stopping method
is determined by the setting of the Immediate Stop Input Stop Method axis parameter for each
axis.
The MC_GroupImmediateStop instruction can also be executed for an axes group that is decelerat-
ing to a stop for an MC_GroupStop instruction.

Stopping Due to Errors or Other Problems

 Stopping for Errors during Axes Group Motion

If an error that results in a deceleration stop occurs for any composition axis in the axes group dur-
ing an axes group motion, all of the axes will decelerate to a stop on the interpolation path at the
interpolation deceleration rate. The interpolation deceleration rate is determined by the deceleration
rate that is specified for the controlling instruction.
If an error that results in an immediate stop occurs for any composition axis in the axes group dur-
ing an axes group motion, the other axes in the axes group will stop according to the setting of the
Axes Group Stop Method parameter in the axes group parameters.

You can select one of the following stop methods for axes groups.
• Immediate stop
• Decelerate axes to a stop at maximum deceleration rate of the axes.
• Immediate stop and Servo OFF

 Stopping Due to Motion Control Period Exceeded

If motion control processing does not end within two periods, a Motion Control Period Exceeded
occurs. All axes stop immediately.

Precautions for Correct Use

When you use an NX701 CPU Unit and operate in the multi-motion, all axes in both tasks will
stop immediately if a Motion Control Period Exceeded occurs in either of the tasks.
Refer to A-6-2 Motion Control on page A-31 for multi-motion.

 Stopping Due to Start of MC Test Run

All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from
the Sysmac Studio.

 Stopping Due to Change in CPU Unit Operating Mode

All the axes will decelerate to a stop at their maximum deceleration if the CPU Unit operating
mode changes.

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 9 Motion Control Functions

Additional Information

• If you execute the MC_GroupDisable (Disable Axes Group) instruction during axes group op-
eration, the axes in the group will decelerate to a stop at their maximum deceleration rates.
• If you execute the MC_Stop instruction while an axes group is in operation, an error will occur
for the axes and axes group and the axes group operation will decelerate to a stop with inter-
polation. The interpolation deceleration rate is determined by the deceleration rate that is
specified for the controlling instruction.
• When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE
during axes group motion, the MC Function Module immediately stops the command value
for that axis and turns OFF the Servo.
When the Servo is turned OFF, the Servo Drive or other device will operate according to the
settings in the Servo Drive or other device.
Other axes in that axes group will stop with the stop method that is set in the Axes Group
Stop Method axes group parameter. An error will occur for the axes group if this happens.
• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The CommandAborted output variable from the instructions remains
FALSE. The Servo ON/OFF status remains the same even after changing to PROGRAM
mode.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variable
CommandAborted from the current motion control instructions changes to TRUE.
• The save process will continue during a save for the MC_SaveCamTable instruction.
• The generation process will continue when generation of the cam table is in progress for the
MC_GenerateCamTable (Generate Cam Table) instruction.

9-6 Multi-axes Coordinated Control

9-6-6 Overrides for Multi-axes Coordinated Control
You can use the MC_GroupSetOverride (Set Group Overrides) instruction to set override factors for
multi-axes coordinated control of the axes group in the current interpolation operation.
The velocity override factor is set as a percentage of the target velocity for interpolation. It can be set
between 0% and 500%.
If an override factor of 0% is set for the interpolation target velocity, operating status will continue with
the axis stopped at a velocity of 0.

The set override factor is read as long as the overrides are enabled. If the overrides are disabled, the
override factors return to 100%. 9
If the maximum interpolation velocity is exceeded when an override factor is changed, the maximum
interpolation velocity for the axes group is used.
9-6-6 Overrides for Multi-axes Coordinated Control

 Overrides for the MC_MoveLinear (Linear Interpolation) Instruction

An example of a time chart for using the Set Override Factors instruction for the MC_MoveLinear
(Linear Interpolation) instruction is given below.

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9 Motion Control Functions

Previous Instruction: MC_MoveLinear

Execute

Busy

Active

Done

CommandAborted

Current Instruction

Enable

Enabled

Busy

VelFactor 100 200 50

Interpolation velocity When overrides are disabled

with MC_GroupSetOverride, the
Override factor: 200% target velocity returns to 100%.

Override factor: 100%

Override factor: 50%

Time

For details, refer to the MC_GroupSetOverride (Set Group Overrides) instruction in the NJ/NX-
series Motion Control Instructions Reference Manual (Cat. No. W508).

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 9 Motion Control Functions

9-7 Common Functions for Multi-axes

Coordinated Control
This section describes the common functions for multi-axes coordinated control.

9-7-1 Velocity Under Multi-axes Coordinated Control

To specify the velocity for multi-axes coordinated control, specify the interpolation velocity on the path.
The unit is the same as for single axes, command units/s.

Types of Velocities
The following is the only type of interpolation velocity for axes groups supported by the MC Function

9-7 Common Functions for Multi-axes Coordinated Control

Module.

Velocity type Definition

Command interpolation velocity This is the actual value of the command interpolation velocity output by the
MC Function Module to control an axes group.

Axis Parameters That Are Related to Velocities

Parameter Setting
Function Default
name range
Maximum Inter- Set the maximum interpolation velocity for the path. Non-nega- 800,000,000
polation Velocity Set 0 for no interpolation velocity limit. tive long
If a target velocity that exceeds the maximum interpolation ve- reals
locity is specified for an axes group motion instruction, the axis
will move at the maximum interpolation velocity.
Interpolation Ve- Set the percentage of the maximum interpolation velocity at 0 to 100 0
locity Warning which to output an interpolation velocity warning.
Value No interpolation velocity warning is output if 0 is set. 9
(Unit: %)
9-7-1 Velocity Under Multi-axes Coordinated Control

Specifying Target Velocities for Axis Operations

The interpolation velocity used in an actual positioning motion is specified by the Velocity (Target Ve-
locity) input variable to the motion control instruction.

Monitoring Velocities
You can read Axes Group Variables from the user program to monitor the interpolation velocity.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].

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9 Motion Control Functions

Data
Variable name Meaning Function
type
_MC_GRP[0-63].Cmd.Vel LREAL Command Inter- This is the current value of the command interpo-
polation Velocity lation velocity.
A plus sign is added during travel in the positive
direction, and a minus sign is added during travel
in the negative direction.

9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated

Control
Multi-axes coordinated control performs control on the path for the interpolation acceleration and inter-
polation deceleration rates.
The unit is the same as for single axes, command units/s2.

Axis Parameters That Are Related to Interpolation Acceleration and

Interpolation Deceleration
Setting
Parameter name Function Default
range
Maximum Interpola- Set the maximum interpolation acceleration for the path. Non-negative 0
tion Acceleration Set 0 for no interpolation acceleration limit. long reals
(Unit: command units/s2)
Maximum Interpola- Set the maximum interpolation deceleration for the path. Non-negative 0
tion Deceleration Set 0 for no interpolation deceleration limit. long reals
(Unit: command units/s2)
Interpolation Acceler- Set the operation for when the maximum interpolation ac- 0 to 2 0
ation/Deceleration celeration/deceleration rate would be exceeded after ex-
Over cessive acceleration/deceleration during acceleration/
deceleration control of the axes group because stopping at
the target position is given priority.
0: Use rapid acceleration/deceleration. (Blending is
changed to Buffered.)*1
1: Use rapid acceleration/deceleration.
2: Minor fault stop*2
Interpolation Acceler- Set the percentage of the maximum interpolation accelera- 0 to 100 0
ation Warning Value tion rate at which to output an interpolation acceleration
warning.
No interpolation acceleration warning is output if 0 is set.
(Unit: %)
Interpolation Decel- Set the percentage of the maximum interpolation decelera- 0 to 100 0
eration Warning Val- tion rate at which to output an interpolation deceleration
ue warning.
No interpolation deceleration warning is output if 0 is set.
(Unit: %)
*1. For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered. Refer to 9-5-7 Multi-
execution of Motion Control Instructions (Buffer Mode) on page 9-48 for details.
*2. For a CPU Unit with unit version 1.10 or later, the axis does not stop with an error when Blending is used for
operation. Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 9-48 for de-
tails.

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 9 Motion Control Functions

Specifying an Interpolation Acceleration and Interpolation Deceler-

ation for an Axes Group
The interpolation acceleration and interpolation deceleration rates used in an actual positioning motion
are specified by the Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input varia-
bles to the motion control instruction.

Monitoring Interpolation Acceleration and Interpolation Decelera-

tion Rates
You can read Axes Group Variables in the user program to monitor interpolation acceleration and in-
terpolation deceleration rates.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].

9-7 Common Functions for Multi-axes Coordinated Control

Data
Variable name Meaning Function
type
_MC_GRP[0-63].Cmd.AccDec LREAL Command In- This is the current value of the command inter-
terpolation Ac- polation acceleration/deceleration rate.
celeration/ A plus sign is added for acceleration, and a mi-
Deceleration nus sign is added for deceleration.

9-7-3 Jerk for Multi-axes Coordinated Control

Jerk for multi-axes coordinated control is used to reduce shock and vibration on the machine by
smoothing the interpolation acceleration/deceleration rate along the interpolation path into an S-curve.
The unit is the same as for single axes, command units/s3.

Specifying Jerk for Axes Group Motion

The jerk used in an actual interpolation is specified by the Jerk input variable to the motion control in-
struction. 9
9-7-3 Jerk for Multi-axes Coordinated Control

Jerk Example (Setting Other than 0)

The acceleration/deceleration rate will change at a constant rate over the range where jerk is speci-
fied. The command interpolation velocity will form a smooth S-curve.
A fixed interpolation acceleration rate is used in areas where the jerk is set to 0. This command inter-
polation velocity will form a straight line.

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9 Motion Control Functions

Interpolation
velocity
Vt

Time

Acceleration
rate At

Time
Deceleration
rate -Dt

Jt
Jerk
Time
-Jt
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt: Specified jerk

Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt:
Specified jerk

9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordi-

nated Control
If you re-execute a linear interpolation or circular interpolation instruction, an instruction error will oc-
cur.

Execute

Busy

Active

Done

CommandAborted

Error

ErrorID 16#0000 Error code

Interpolation velocity

Time

You can change the deceleration rate if you re-execute the MC_GroupStop instruction, but you cannot
change the jerk in this way.

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 9 Motion Control Functions

If you re-execute the MC_GroupReset instruction, the re-execution command will be ignored and error
reset processing will continue.

For details on re-executing motion control instructions, refer to each instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

9-7-5 Multi-execution of Motion Control Instructions (Buffer Mode) for

Multi-axes Coordinated Control
You can perform multi-execution for multi-axes coordinated control in axes groups the same way as
you can for axis operations.
You can perform path control for multiple continuous lines and/or arcs if you use Buffer Mode under
multi-axes coordinated control.

(3) (4)
(2) Linear interpolation: (1), (3), (5), and (7)

9-7 Common Functions for Multi-axes Coordinated Control

Circular interpolation: (2), (4), and (6)
(5)

(6) (7)
(1) Point B

Point A

You can set the BufferMode input variable to motion control instruction to select one of the same Buf-
fer Modes as are supported for single-axis operations.
There are a total of eight instruction buffers for axes groups. Each axes group has one buffer for the
instruction currently in operation and seven buffers for multi-execution of instructions.
Multi-execution of instruction cannot be used from an axis motion instruction to an axes group motion
instruction and vice-versa.

Precautions for Correct Use

• Up to seven instructions can be buffered at the same time for a single axes group. If multi-
execution is performed for eight or more instructions, an instruction error will occur.
9
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
Mode) for Multi-axes Coordinated Control
9-7-5 Multi-execution of Motion Control Instructions (Buffer

instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.

Aborting
This is the default mode. No buffering is performed in this mode.
The current command is aborted and the new instruction is executed.
Multi-execution of motion control instructions that have no BufferMode input variable will operate in
Aborting Mode.
Operation of the new instruction starts at the current interpolation velocity when the instruction is trig-
gered.
With Aborting Mode you cannot combine single-axis control, including synchronized single-axis con-
trol, and axes group control.

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9 Motion Control Functions

An instruction error will occur at the time of multi-execution if you execute an axes group operation on
an axis currently in a single-axis motion.
This will stop both the axes group and the single axis.

Multi-execution during Constant-velocity Motion Multi-execution during Acceleration/Deceleration

Multi-instruction timing Multi-instruction timing

Executed. Initial command position Buffered command Executed. Initial command position Buffered command
position position

Multi-execution for axes groups is done so that the interpolation velocity remains continuous between
instructions. If continuous operation is performed with an instruction with a travel distance of 0, the ve-
locity changes for the axes will not be continuous.

 Example: Interpolation Velocity and Velocities of Axes for Two-axis Carte-

sian Coordinates

Y coordinate

Fy F

X coordinate
Y-axis motion

Fx
X-axis motion
Ta Td

Buffered
The next instruction remains in the buffer until the current operation is finished.
The buffered instruction is executed after the operation for the current instruction is normally ended.

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 9 Motion Control Functions

The target position is reached

and the next command is
executed after the current
Velocity ↓Multi-execution timing operation is normally finished.

Current instruction Buffered instruction

Time

Blending
Blending for axes groups works in the same way as blending for single-axis operations.
The buffered instruction remains in the buffer until the target position of the current instruction is
reached.
The buffered instruction is executed after the target position of the current instruction is reached. The

9-7 Common Functions for Multi-axes Coordinated Control

axes do not stop at the target position. The two motions are blended together at the interpolation ve-
locity specified with the BufferMode input variable
The Interpolation Acceleration/Deceleration Over axes group parameter is used to select one of
the following operations for when the acceleration/deceleration that is specified in the buffered instruc-
tion would exceed the target position.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop

Version Information

• For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered even if you
select Use rapid acceleration/deceleration (Blending is changed to Buffered). In this
case, the maximum acceleration/deceleration rate is used and the blending operation is con-
tinued.
Also, the axis does not stop with an error even if you select Minor fault stop. Similar to the
previous case, the maximum acceleration/deceleration rate is used and the blending opera-
tion is continued.
• Note that the following restriction applies to CPU Units with unit version 1.09 or earlier. 9
For blending in multi-axes coordinated control, buffered operation is used if the results of pro-
file processing show that the execution time of the current instruction is less than four control
Mode) for Multi-axes Coordinated Control
9-7-5 Multi-execution of Motion Control Instructions (Buffer

periods. A Notice of Insufficient Travel Distance to Achieve Blending Transit Velocity observa-
tion will occur.
The above restriction does not apply to CPU Units with unit version 1.10 or later.

 Blending Low (Low Velocity)

Operation is performed using the target position of the current instruction and the target velocity
that is the lower of the target velocities for the current instruction and buffered instruction.

 Blending Previous (Previous Velocity)

Operation is performed with the target velocity of the current instruction until the target position of
the current instruction is reached. Operation is performed after acceleration/deceleration to the tar-
get velocity of the buffered instruction once the target position is reached.

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9 Motion Control Functions

Cases Resulting in Acceleration

The transit velocity is the command
velocity of the current instruction
Multi-execution of instruction
Velocity

Current instruction Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution of instruction
Velocity

Current instruction Buffered instruction

Time

 Blending Next (Next Velocity)

Operation is performed using the target position of the current instruction and the target velocity of
the buffered instruction.

Cases Resulting in Acceleration

The transit velocity is the command
velocity of the buffered command
Multi-execution of instruction
Velocity

Current instruction Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution of instruction
Velocity

Current instruction Buffered instruction

Time

 Blending High (High Velocity)

Operation is performed using the target position of the current instruction and the target velocity
that is the higher of the target velocities for the current instruction and buffered instruction.

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 9 Motion Control Functions

Transition Modes
Multi-execution of instructions for axes groups may create some shock on the device and/or workpiece
due to changes in the direction of the interpolation path. You can specify the TransitionMode input vari-
able to the motion control instruction to select a transition method to use between instructions in order
to lessen this shock.

You can choose from the following transition modes in the MC Function Module.

No. Transition mode Description

0 transition disabled Do not perform any processing for transitions (default).
(_mcTMNone) No attempt is made to lessen the shock, but this results in a shorter
operation time.
10 Superimpose Corners The deceleration of the current instruction is superimposed on the
(_mcTMCornerSuperimposed) acceleration of the buffered instruction.
You can keep the linear velocity of the interpolation path constant.

9-7 Common Functions for Multi-axes Coordinated Control

Additional Information

The PLCopen® technology specifications define numbers 0 through 9. Number 10 is unique to

the MC Function Module.

 Transition Disabled (0: _mcTMNone)

No processing is performed to connect the two positions.

• When BufferMode (Buffer Mode Selection) is 1: _mcBuffered, the axis moves to position End1,
stops, and then moves to position End2.

9
Mode) for Multi-axes Coordinated Control
9-7-5 Multi-execution of Motion Control Instructions (Buffer

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9 Motion Control Functions

Y coordinate
End2

Multi-execution of instruction

Start1 End1/ Start2

X coordinate

Operation Pattern for X Axis Coordinates

Velocity

Start1 End1 Time

Operation Pattern for Y Axis Coordinates

Velocity

Start 2 End 2 Time

• When BufferMode (Buffer Mode Selection) is Blending, the axis moves to position End1, and
then moves to position End2.

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 9 Motion Control Functions

Y coordinate
End2

Multi-execution of instruction

Start1 End1/ Start2

X coordinate

Operation Pattern for X Axis Coordinates

Velocity

9-7 Common Functions for Multi-axes Coordinated Control

Start1 End1 Time

Operation Pattern for Y Axis Coordinates BufferMode = _mcBlendingPrevious

Velocity

Start2 End2 Time

• When BufferMode (Buffer Mode Selection) is 0: _mcAborting, the axis moves from End1’ (mul-
ti-execution of instruction) to End2.

9
Mode) for Multi-axes Coordinated Control
9-7-5 Multi-execution of Motion Control Instructions (Buffer

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9 Motion Control Functions

Y coordinate
End2

Multi-execution of instruction

End1
Start1 End1’/ Start2

X coordinate

Operation Pattern for X Axis Coordinates

Velocity

Start1 End1’ Time

Operation Pattern for Y Axis Coordinates

Velocity

Start2 End2 Time

 Superimpose Corners (10: _mcTMCornerSuperimposed)

The deceleration of the current instruction is superimposed on the acceleration of the buffered in-
struction.
Operation is executed in the same amount of time as for the deceleration of the current instruction,
no matter what is specified as the acceleration for the buffered instruction.
The superimposed area will apply no jerk even if jerk is specified.

The deceleration of the current

instruction is superimposed on the
acceleration of the buffered instruction.
Velocity

Current instruction Buffered instruction

The output variable Done, which indicates the end of a motion control instruction, will change to
TRUE for _mcTMCornerSuperimposed when the area of superimposition is completed.

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 9 Motion Control Functions

Additional Information

The path linear velocity is constant if the following two conditions are met.
• The target velocities of the current instruction and the buffered instruction are the same.
• The deceleration rate of the current instruction and the acceleration rate of the buffered in-
struction are the same.

Combining Transition Modes and Multi-execution of Instructions

The following table shows the combinations of Transition Modes and Buffer Modes.

¡: Operation possible, ---: Generates an error and stops

Buffer Mode
Transition Mode Blending Blending Blending Blending
Aborting Buffered
Low Previous Next High
Transition Disabled

9-7 Common Functions for Multi-axes Coordinated Control

¡ ¡ ¡ ¡ ¡ ¡
(_mcTMNone)
Superimpose Corners*1
(_mcTMCornerSuper- --- --- ¡ ¡ ¡ ¡
imposed)
*1. For superimpose corners, the deceleration for the current instruction and the acceleration for the buffered instruction
will be superimposed.

9
Mode) for Multi-axes Coordinated Control
9-7-5 Multi-execution of Motion Control Instructions (Buffer

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9 Motion Control Functions

9-8 Other Functions

This section describes other functions of the MC Function Module.
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.

9-8-1 Changing the Current Position

The command current position of a Servo axis can be changed to a specified value. The actual current
position changes to a value that maintains the current following error with the command current posi-
tion.
For an encoder axis, you can change the actual current position.
Use the MC_SetPosition instruction to specify the actual position you want to modify.

You can change the actual position even while an axis is in motion.
If positioning to an absolute value is being executed, positioning will be performed to the target posi-
tion using the new absolute coordinates.
However, the travel distance will stay the same when you position to a relative value.

Precautions for Correct Use

• When the Count Mode is Rotary Mode, an instruction error will occur if you specify a posi-
tion outside the ring counter range.
• After changing the current position the home will be undefined and you will not be able to use
the following functions and instructions.
Software limits
High-speed homing
Interpolation instructions (linear and circular interpolation)

 Timing Chart for Execution While Axis Is Stopped

Execute

Busy

Active

Done

Additional Information

You can change the actual position while home is defined by specifying a zero position preset
for the MC_Home or MC_HomeWithParameter instruction.

For details on the MC_SetPosition instruction, refer to the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).

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 9 Motion Control Functions

9-8-2 Torque Limit

The output torque is limited by enabling and disabling the torque limit function of the Servo Drive and
by setting the torque limit value.
Different limits can be specified for the positive torque limit and negative torque limit.

For details, refer to the MC_SetTorqueLimit instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).

Precautions for Correct Use

You cannot use the torque limit function for an NX-series Pulse Output Unit.

9-8-3 Latching
Latching is used to control positioning based on the position where a trigger signal occurs, such as a
signal from a sensor input. The position of the axis is recorded (i.e., latched) when the trigger signal
occurs.
You can set up to two trigger signals for each axis.
Use the MC_TouchProbe (Enable External Latch) instruction to specify the Trigger Input Condition var-
iable, Window Only variable, and Stopping Mode Selection variable for the axis you want to latch.
In addition to signals that connect to the Servo Drive, you can also specify variables in the user pro-
gram to use as a trigger.
Use the MC_AbortTrigger (Disable External Latch) instruction to abort latching.
You can use latching only with a Servo Drive that support latching (touch probe), such as the OMRON
1S-series Servo Drives, or a GX-EC0211/EC0241 Encoder Input Terminal.

9-8 Other Functions

Use WindowOnly to detect only trigger signals within a specific start point and end point.

For details on latching, refer to the MC_TouchProbe (Enable External Latch) and MC_AbortTrigger
(Disable External Latch) instructions 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 9
when you use NX-series Pulse Output Units.
9-8-2 Torque Limit

 Linear Mode
• The FirstPosition must be less than or equal to the LastPosition.
• An instruction error will occur if the FirstPosition is greater than the LastPosition.
• An instruction error will occur if a position beyond the position range of Linear Mode is specified.

FirstPosition LastPosition

0x8000000000 0 0x7FFFFFFFFF

Window
Latch enabled range

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9 Motion Control Functions

 Rotary Mode
• The FirstPosition can be either equal to or less than the LastPosition, or greater than the LastPo-
sition.
If the FirstPosition is greater than the LastPosition, the setting will straddle the modulo minimum
position setting value.
• An instruction error will occur if a position beyond the upper and lower limits of the ring counter is
specified.

First Position ≤ Last Position First Position > Last Position

Valid range FirstPosition to LastPosition LastPosition to FirstPosition

Count value
0x7FFFFFFFFF
Modulo maximum
position setting value
FirstPosition

LastPosition
Modulo minimum position
setting value (= 0)
0

Window
Latch enabled range Latch enabled range

LastPosition = 330° −0+ FirstPosition = 330° −0+

Range in which latching Range in which latching

is enabled (The border is enabled (The border
values are included.) values are not included.)

FirstPosition = 210° LastPosition = 210°

9-8-4 Zone Monitoring

This function detects whether the command position or actual position of an axis is in the specified
range (zone).
Use the MC_ZoneSwitch (Zone Monitor) instruction to specify the first position and last position of the
zone to check.
The InZone output variable for the Zone Monitor instruction will change to TRUE when the position of
the axis enters the specified zone.
You can also specify multiple zones for a single axis. Zones can overlap.

For details on zone monitoring, refer to the MC_ZoneSwitch (Zone Monitor) instruction in the NJ/NX-
series Motion Control Instructions Reference Manual (Cat. No. W508).

9-8-5 Software Limits

Actual positions can be monitored in the MC Function Module software. This function is separate from
the hardware-based limit input signals.
Set the range to monitor by setting the software limits in the Positive Software Limit and Negative
Software Limit axis parameters.

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 9 Motion Control Functions

During normal positioning, motion is possible within the range of these software limits.
Set software limits to prevent potential damage to machinery caused by mistakes in the user program
or improper operation.

Negative software limit Positive software limit

Software range of motion

Negative limit input signal Positive limit input signal

Electrical range of motion

Mechanical stopper Mechanical stopper

Mechanical range of motion

Axis Parameters That Are Related to Software Limits

Parameter name Function Setting range Default
Software Limits Select the software limit function. 0 to 4 0
0: Disabled
1: Deceleration stop for command position*1
2: Immediate stop for command position

9-8 Other Functions

3: Deceleration stop for actual position*1
4: Immediate stop for actual position
Positive Software Set the software limit in the positive direction. Long reals*2 2,147,483,647
Limit The unit is command units.
Negative Software Set the software limit in the negative direction. -2,147,483,648
Limit The unit is command units.
*1. If the actual position goes beyond a software limit during execution of a movement instruction that has a
Deceleration input variable, the axis decelerates to a stop at the deceleration rate given by Deceleration.
9
If the actual position goes beyond a software limit during execution of a movement instruction that does not
have a Deceleration input variable, the axis decelerates to a stop at the maximum deceleration that is set in
9-8-5 Software Limits

the axis parameters.

*2. Positions can be set within a 40-bit signed integer range when converted to pulses.

You can use the axis settings of the Sysmac Studio, the MC_Write (Write MC Setting) instruction, or
the MC_WriteAxisParameter (Write Axis Parameters) instruction to set the above axis parameters.
If any setting values are changed for an axis or axes group in operation, those settings are enabled
when the next operation begins.
Software limits function in the following two cases based on the axis operation state and the motion
control instruction that is used.

For details on the instruction to write the MC settings and the instruction to write the axis parameters,
refer to the MC_Write instruction and MC_WriteAxisParameter instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 9-79

9 Motion Control Functions

 Executing Motion Instructions

• When the actual position is within the software limits, an instruction error will occur if the target
position is outside the software limit range.
• When the actual position is outside the software limits, motion is allowed only toward the soft-
ware limit range. As long as the motion is toward the range, the target position does not need to
be within the software limit range.

Precautions for Correct Use

Do not execute an instruction for an axis command for a target position that is outside of the
software limit range.

 During Axis Motion

When the axis is in discrete motion, synchronized motion, continuous motion, or coordinated mo-
tion:
• An axis error will occur if the software limits are enabled for the command position and the
command position leaves the range.
• An axis error will occur if the software limits are enabled for the actual position and the actual
position leaves the range.

Additional Information

Software limits can be enabled when the Count Mode is set to Linear Mode and home is de-
fined.
Software limits are disabled in the following situations no matter what axis parameters have
been set.
• When Count Mode is set to Rotary Mode.
• When home is not defined.
• During homing.

9-8-6 Following Error Monitoring

Following error is the difference between the command position and the actual position of an axis. The
MC Function Module monitors the following error every motion control period.
If the value of the following error exceeds the Following Error Over Value that is set in the axis pa-
rameters, Following Error Limit Exceeded minor fault level error occurs. If it exceeds the Following
Error Warning Value, a Following Error Warning observation occurs. Monitoring the following error is
disabled during execution of the holding operation for homing.

 Axis Parameters That Are Related to Monitoring the Following Error

You can set the check values for monitoring the following error by setting the appropriate axis pa-
rameters. Set the Following Error Warning Value so that it is less than the Following Error Over
Value.
Set the axis parameters from the Sysmac Studio.

De-
Parameter name Function Setting range
fault
Following Error Over Set the excessive following error check value. Non-negative long re- 0
Value Set 0 to disable the excessive following error als
check. (Unit: command units)

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 9 Motion Control Functions

De-
Parameter name Function Setting range
fault
Following Error Set the following error warning check value. Non-negative long re- 0
Warning Value Set 0 to disable the following error warning check. als
(Unit: command units) that are less than or
equal to the Following
Error Over Value

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.

9-8-7 Following Error Counter Reset

Resetting the following error counter resets the following error to 0.
Use the MC_ResetFollowingError instruction in the user program to reset the following error counter.
You can use the MC_ResetFollowingError instruction for each axis during positioning or during hom-
ing.
If you execute a following error counter reset while the axis is in motion, the current motion control
instruction will be aborted and the command position will be set to the same value as the actual posi-
tion.
The home will remain defined even after executing a following error counter reset.

For details on resetting the following error counter, refer to the MC_ResetFollowingError instruction in
the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

 Axis Parameters That Are Related to Resetting the Following Error Coun-
ter

9-8 Other Functions

You can choose to reset the following error counter on an immediate stop, on a limit input stop, or
after homing is completed by setting the appropriate axis parameters.
Set the axis parameters from the Sysmac Studio.

Setting De-
Parameter name Function
range fault
Immediate Stop In- Set the stopping method in the MC Function Module when the 0, 2, or 0 9
put Stop Method immediate stop input is enabled. 3
0: Immediate stop 9-8-7 Following Error Counter Reset
2: Immediate stop and error reset
3: Immediate stop and Servo OFF
Limit Input Stop Set the stopping method in the MC Function Module when the 0 to 3 0
Method positive limit input or negative limit input is enabled.
0: Immediate stop
1: Deceleration stop
2: Immediate stop and error reset
3: Immediate stop and Servo OFF

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.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 9-81

9 Motion Control Functions

9-8-8 Axis Following Error Monitoring

You can monitor the amount of following error for the command position or the actual position between
two axes.
Use the MC_AxesObserve (Monitor Axis Following Error) instruction to specify the permitted following
error and the two axes to monitor.
If the permitted following error is exceeded, the Invalid output variable for the Monitor Axis Following
Error instruction will change to TRUE.

You can use this monitoring function to program the actions to take when the following error between
axes grows too large for gantry control and other devices where both axes perform the same opera-
tion.

Precautions for Correct Use

Even if the permitted following error between axes is exceeded, no error will occur in the MC
Function Module.
Check the Invalid output variable to stop axis operation or to take some other action as appro-
priate in the user program.

For details on axis following error monitoring, refer to the MC_AxesObserve (Monitor Axis Following
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.

9-8-9 In-position Check

You can check to see if the actual current position has reached the specified range for the target posi-
tion during positioning or homing.
After command output of the target position is completed, positioning is considered to be finished
when the difference between the target position and the actual current position is within the in-
position range.
An instruction error occurs if positioning is not finished within the in-position check time.

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 9 Motion Control Functions

Positioning Monitoring Time

An In-position Check Time Exceeded error will occur if the in-
position status is not reached within the set time after the completion
of a command (after the command has been executed).
|Following error|

In-position Range
The following error (absolute
value) is monitored after
positioning finishes.
If the following error is within
the in-position range, Time
positioning is considered
finished.

Velocity
Command velocity

Actual velocity

Time

 Axis Parameters That Are Related to In-position Checks

You can set the check conditions for the in-position check by setting the appropriate axis parame-
ters.
Set the in-position check time if you want to start any of the following operations only after confirm-
ing that axes are in position.

De-
Parameter name Function Setting range

9-8 Other Functions

fault
In-position Range Set the in-position width. (Unit: command units) Non-negative long re- 10
als
In-position Check Set the in-position check time in milliseconds. 0 to 10,000 0
Time Set 0 to check for the end of positioning only when
you define the home position during homing and
not check positioning at other times. (Unit: ms)

You can use the axis settings of the Sysmac Studio, the MC_Write (Write MC Setting) instruction,
9
or the MC_WriteAxisParameter (Write Axis Parameters) instruction to set the above axis parame- 9-8-9 In-position Check
ters.

Additional Information

• The in-position check is processed by the MC Function Module. The function in the Servo
Drive is not used.
• Do not set an in-position check time if you want to start the next operation as quickly as pos-
sible without waiting for positioning to finish.
• The value set from the Sysmac Studio is restored if power to the CPU Unit is cycled or the
user program is downloaded with the Synchronization menu command of the Sysmac Studio.
Use the MC_Write (Write MC Setting) and MC_WriteAxisParameter (Write Axis Parameters)
instructions only when you need to temporarily change the in-position check time.

 Monitor Information That Is Related to In-position Checks

You can read Axis Variables from the user program to monitor when positioning finishes.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 9-83

9 Motion Control Functions

In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].

Data
Variable name Meaning Function
type
_MC_AX[0-255].Details.Idle BOOL Idle TRUE when processing is not currently
performed for the command value, ex-
cept when waiting for in-position state. *1
Idle and InPosWaiting are mutually exclu-
sive. They cannot both be TRUE at the
same time.
_MC_AX[0-255].Details.InPosWaiting BOOL In-position TRUE when waiting for in-position state.
Waiting The in-position check is performed when
positioning for the in-position check.
*1. This also includes states where processing is performed while in motion at velocity 0, during following
error counter resets, during synchronized control, and during coordinated motion.

You can read Axes Group Variables from the user program to monitor when positioning finishes for
the axes group.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].

Data
Variable name Meaning Function
type
_MC_GRP[0-63].Details.Idle BOOL Idle TRUE when processing is not currently
performed for the command value, ex-
cept when waiting for in-position state. *1
Idle and InPosWaiting are mutually exclu-
sive. They cannot both be TRUE at the
same time.
_MC_GRP[0-63].Details.InposWaiting BOOL In-position TRUE when waiting for in-position state
Waiting for any composition axis. *2
The in-position check is performed when
positioning for the in-position check.
*1. This also includes states where processing is performed while in motion at a velocity of 0.
*2. This variable is FALSE when all composition axes in the axes group are within the in-position ranges set
in the axis parameters.

For details on the instruction to write the MC settings and the instruction to write the axis parame-
ters, refer to the MC_Write (Write MC Setting) and MC_WriteAxisParameter (Write Axis Parame-
ters) 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.

9-8-10 Changing Axis Use

You can use the MC_ChangeAxisUse (Change Axis Use) instruction to temporarily change the setting
of the Axis Use axis parameter. To change an axis in this way, it must be set as a Used axis or as an
Unused axis (changeable to used axis) in the Axis Use axis parameter.

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 9 Motion Control Functions

If the Axis Use axis parameter is set to Unused axis (changeable to used axis) and the Axis Type
parameter is set to a servo axis or virtual servo axis, you can set the axis in an axes group.
A CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher are required.

Precautions for Correct Use

• Do not attempt to change an axis that is set to Unused axis (unchangeable to used axis) to
a Used axis.
• You cannot set an axis in an axes group if the Axis Use axis parameter is set to Unused
axis (unchangeable to used axis).

For details, refer to the MC_ChangeAxisUse instruction in the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508).

For an application example of the MC_ChangeAxisUse instruction, refer to the NJ/NX-series CPU Unit
Software User’s Manual (Cat. No. W501).

9-8-11 Enabling Digital Cam Switch

You can use the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction to turn the digital out-
puts ON or OFF according to the axis position.
The setting of the ValueSource input variable to the instruction also allows you to adjust for the accel-
eration or deceleration rate.
Always use this function together with the NX_AryDOutTimeStamp instruction and with a Digital Out-
put Unit that supports time stamp refreshing. The NX_AryDOutTimeStamp instruction turns the speci-
fied digital outputs ON or OFF at specified timing of the time stamp.
A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to

9-8 Other Functions

use this function.

Precautions for Correct Use

You can use this instruction for an axis that is assigned to an NX-series Position Interface Unit.
The NX Units that can be used are NX-EC0£££ and NX-ECS£££, also must be running the
time stamping.
9
Refer to the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction in the NJ/NX-series Motion 9-8-11 Enabling Digital Cam Switch
Control Instructions Reference Manual (Cat. No. W508) for details on enabling digital cam switch.

Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on NX_AryDOut-
TimeStamp instruction.

Refer to the NX-series Digital I/O Units User’s Manual (Cat. No. W521) for Digital Output Unit that sup-
ports time stamp refreshing.

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for time stamping and
time stamps.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 9-85

9 Motion Control Functions

9-8-12 Displaying 3D Motion Monitor for User Coordinate System

In the case that coordinate systems (such as SCARA robot and vertical articulated robot) other than
orthogonal coordinate system are implemented by user programs, this function can be used to display
the path of robot hands, etc. in 3D with Sysmac Studio.
You can create an _sMC_POSITION_REF type user-defined variable and display in 3D Motion Moni-
tor Display Mode.

A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to
use this function.

 _sMC_POSITION_REF
The followings are the members of _sMC_POSITION_REF type data.

Member Data type Meaning

CommandPosition ARRAY[0..5] OF LREAL Command Current Position
ActualPosition ARRAY[0..5] OF LREAL Actual Current Position

The following list describes each member.

Member Description
User-defined variable.CommandPosition[0] This is an X-axis component for the command current posi-
tion.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the command current position
generated by a user program.
User-defined variable.CommandPosition[1] This is a Y-axis component for the command current posi-
tion.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the command current position
generated by a user program.
User-defined variable.CommandPosition[2] This is a Z-axis component for the command current posi-
tion.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the command current position
generated by a user program.
User-defined variable.CommandPosition[3] to Not used.
[5]
User-defined variable.ActualPosition[0] This is an X-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the actual current position han-
dled in a user program.
User-defined variable.ActualPosition[1] This is a Y-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the actual current position han-
dled in a user program.
User-defined variable.ActualPosition[2] This is a Z-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the actual current position han-
dled in a user program.
User-defined variable.ActualPosition[3] to [5] Not used.

Each member is assigned a user-defined variable. The followings are the examples.

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 9 Motion Control Functions

Name Data type Description

3D_position _sMC_POSITION_REF User-defined variable for 3D display
MCS_Cmd_TransX LREAL User-defined variable that indicates the X-axis position of
the command current position generated by a user program
MCS_Cmd_TransY LREAL User-defined variable that indicates the Y-axis position of
the command current position generated by a user program
MCS_Cmd_TransZ LREAL User-defined variable that indicates the Z-axis position of
the command current position generated by a user program
MCS_Act_TransX LREAL User-defined variable that indicates the X-axis position of
the actual current position handled in a user program
MCS_Act_TransY LREAL User-defined variable that indicates the Y-axis position of
the actual current position handled in a user program
MCS_Act_TransZ LREAL User-defined variable that indicates the Z-axis position of
the actual current position handled in a user program

3D_position.CommandPosition[0] := MCS_Cmd_TransX;
3D_position.CommandPosition[1] := MCS_Cmd_TransY;
3D_position.CommandPosition[2] := MCS_Cmd_TransZ;
3D_position.ActualPosition[0] := MCS_Act_TransX;
3D_position.ActualPosition[1] := MCS_Act_TransY;
3D_position.ActualPosition[2] := MCS_Act_TransZ;

 Overview of Operating Procedures

1 Create an _sMC_POSITION_REF type user-defined variable.

9-8 Other Functions

Create a program in which user-defined variables that indicate the command current position
and actual current position for 3D display are assigned to each member of the created user-
defined variable.

3 Select Specified coordinate in the Type Box in the 3D Machine Model List.
The _sMC_POSITION_REF data type is displayed in the 3D Machine Model Parameter Set-
tings section.
9
4 Set the created user-defined variable in the Value Column in the 3D Machine Model Parameter
System
9-8-12 Displaying 3D Motion Monitor for User Coordinate
Settings section.

5 Execute the user program.

6 Start tracing the data with the data trace to sample the data.

7 Check the trace results on the Data Trace Tab Page.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on 3D Motion
Monitor Display Mode.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 9-87

9 Motion Control Functions

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 10 10

Sample Programming
This section describes basic application methods for homing, error monitoring, and
other functions, and provides programming samples for absolute positioning, cam op-
eration, and other axis operations.

10-1 Overview of Sample Programming............................................................. 10-2

10-1-1 Devices.......................................................................................................... 10-2
10-1-2 Installation and Wiring ................................................................................... 10-2
10-1-3 Setup ............................................................................................................. 10-2
10-2 Basic Programming Samples ..................................................................... 10-3
10-2-1 Monitoring EtherCAT Communications and Turning ON Servos................... 10-3
10-2-2 Interlocking Axis Operation with Master Control Instructions ........................ 10-4
10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and
Synchronized Operation................................................................................ 10-6
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Op-
eration ........................................................................................................... 10-8
10-2-5 Monitoring for Instruction Errors .................................................................. 10-14
10-2-6 Checking to See If Errors Are Reset ........................................................... 10-16
10-2-7 Stopping Axes during Single-axis Operation............................................... 10-18
10-2-8 Stopping an Axes Group in Coordinated Motion ......................................... 10-22
10-2-9 Homing and Absolute Positioning ............................................................... 10-30
10-2-10 Changing the Target Position by Re-execution of an Instruction................. 10-35
10-2-11 Interrupt Feeding ......................................................................................... 10-40
10-2-12 Changing the Cam Table by Re-execution of an Instruction ....................... 10-45
10-2-13 Using a Cam Profile Curve to Correct the Sync Position ............................ 10-55
10-2-14 Shifting the Phase of a Master Axis in Cam Motion .................................... 10-66
10-2-15 Changing the Actual Position during Velocity Control ................................. 10-74
10-2-16 Changing a Cam Data Variable and Saving the Cam Table........................ 10-80
10-2-17 Temporarily Changing Axis Parameters ...................................................... 10-91
10-2-18 Updating the Cam Table End Point Index ................................................... 10-94

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-1

10 Sample Programming

10-1 Overview of Sample Programming

This section provides information that applies to all of the sample programming.

Precautions for Correct Use

• The sample programming that is provided includes only programming that uses the MC Func-
tion Module.
• When programming actual applications, also program device interlocks, I/O with other devi-
ces, and other control procedures.
• Create a user program that will produce the intended device operation.
• Check the user program for proper execution before you use it for actual operation.
• Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for application
examples for the NX-series Position Interface Units.

10-1-1 Devices
The following devices are used in the sample programming.

Device Servo configuration example

CPU Unit NJ501-1£00 (unit version 1.0)
Power Supply Unit NJ-Px3001
Servo Drive R88D-1SN£££-ECT
Servomotor R88M-1£££££££
Encoder Input Terminal GX-EC0211 (version 1.1)

10-1-2 Installation and Wiring

Refer to the following manual for details on installing and wiring the devices.

Device Manual
CPU Unit and Power Supply Unit NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
Servo Drive and Servomotor AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communi-
cations User’s Manual (Cat. No. I586)
Encoder Input Terminal GX-series EtherCAT Slave Units User's Manual (Cat. No. W488)
EtherCAT communications ca-
bles

10-1-3 Setup
Refer to the following manual for details on settings.

Setup Manual
Controller Setup NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501)
Motion Control Setup 3-2 Axis Setting Procedure on page 3-10, 5-2 Axis Parameters on page 5-5,
and A-1 Connecting the 1S-series Servo Drive on page A-2 in this man-
ual.
Servo parameters AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communica-
tions User’s Manual (Cat. No. I586)

10-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 10 Sample Programming

10-2 Basic Programming Sam-

10-2 Basic Programming Samples
This section provides programming samples for the basic functions of the MC Function Module.

ples
Precautions for Correct Use

• When you use these programming samples for reference, be sure to add programming for 10
suitable interlocks that suit the operating conditions of the devices.
• Enter the variables that are used in the programming samples from the Programming Layer
in the Edit Pane of the Sysmac Studio.

10-2-1 Monitoring EtherCAT Communications and Turning ON Servos

10-2-1 Monitoring EtherCAT Communications and Turning ON Servos
In this sample, the MC_Power (Power Servo) instruction is executed to turn ON the Servo for the Ser-
vo Drive when EtherCAT process data communications are established with the Servo Drive.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Cfg.NodeAddress UINT --- This is the node address.
_EC_PDSlavTbl[N] BOOL FALSE TRUE when EtherCAT process data communica-
tions for node address N are in Operational
state.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.

Ladder Diagram
Check if the Servo Drive is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

If the Servo Drive is ready, turn ON the Servo for axis 0.

PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID

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10 Sample Programming

If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

ST Programming
// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0, the error handler for the device
(FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

10-2-2 Interlocking Axis Operation with Master Control Instructions

You can place the MC_Power (Power Servo) instruction between the MC (Master Control Start) and
MCR (Master Control End) instructions in ladder diagrams to interlock axis operation.
When Mc_On is FALSE in this sample, the MC_Power (Power Servo) instruction between the MC and
MCR instructions is disabled to turn OFF the Servo.
The CommandAborted output variable from the current motion control instruction changes to TRUE at
the same time, and axis motion stops.

Precautions for Correct Use

You cannot use the MC instruction in ST.

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 10 Sample Programming

10-2 Basic Programming Sam-

Main Variables Used in the Programming Samples
Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.

ples
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
Mc_On BOOL FALSE This variable enables and disables the MC in-
struction. 10
Control programming is not given in this sample.
In actual programming, program controls for the

10-2-2 Interlocking Axis Operation with Master Control Instructions

required device operation.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.

Timing Chart
Mc_On

StartPg

Pwr_Bsy

Pwr_Status

Ladder Diagram
When Mc_On is TRUE, master control is started.

Mc_On MC
In
0 MCNo

Check if the Servo Drive is ready when StartPg is TRUE.

StartPg MC_Axis000.DrvStatus.Ready Lock0

If the Servo Drive is ready, turn ON the Servo for axis 0.

PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-5

10 Sample Programming

Master control is ended.

MCR
In
0 MCNo

If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

10-2-3 Error Monitoring and Error Resetting for Single-axis Operation

and Synchronized Operation
You can monitor error status by monitoring the status of Axis Minor Fault Occurrence in the Axis Varia-
ble.
If a minor fault level error occurs in this sample, the Enable input variable for the MC_Power instruc-
tion changes to FALSE to turn OFF the Servo.
If the external button is ON and the command current velocity is zero, the error is reset with the
MC_Reset (Reset Axis Error) instruction.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Status.ErrorStop BOOL FALSE TRUE while there is a minor fault level error for
axis 0 and the axis is decelerating to a stop or
stopped.
MC_Axis000.Details.Idle BOOL FALSE TRUE when the command current velocity for ax-
is 0 is zero, except when waiting for in-position
state.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
ResetON BOOL FALSE This variable gives the status of the external but-
ton that is used to reset errors.

Ladder Diagram
Check if the Servo Drive is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

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If the Servo Drive is ready, turn ON the Servo for axis 0.
PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy

ples
Error Pwr_Err
ErrorID Pwr_ErrID

10
If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.

10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation
Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

If ResetON is TRUE (i.e., when the external button is ON) and the command current velocity is zero, the error is reset.
RESET
MC_Reset
MC_Axis000.Status.ErrorStop MC_Axis000 Reset_D
Axis Axis
Execute Done
ResetON Busy Reset_Bsy
MC_Axis000.Details.Idle
Failure Reset_Fail
Error Reset_Err
ErrorID Reset_ErrID

ST Programming
// Check that the Servo Drive is ready when StartPg is TRUE and turn ON the Servo f
or axis 0.
// If the Servo Drive is not ready, turn OFF the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0, the error handler for the device
(FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// If ResetON is TRUE (i.e., when the external button is ON) and the command curren
t velocity is zero, the error is reset.
IF (ResetOn=TRUE)

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10 Sample Programming

AND (MC_Axis000.Status.ErrorStop=TRUE)
AND (MC_Axis000.Details.Idle=TRUE) THEN
Reset_Ex := TRUE; // Minor fault is reset.
END_IF;

// MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

// MC_Reset
RESET(
Axis := MC_Axis000,
Execute := Reset_Ex,
Done => Reset_D,
Busy => Reset_Bsy,
Failure => Reset_Fai,
Error => Reset_Err,
ErrorID => Reset_ErrID
);

10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated

Operation
You can monitor error status by monitoring the status of Axis Minor Fault Occurrence in the Axis Varia-
bles and Axes Group Minor Fault Occurrence in the Axes Group Variable.
If a minor fault level error occurs in this sample, the Execute input variable for the MC_GroupDisable
(Disable Axes Group) instruction changes to TRUE to disable the axes group.
If the external button is ON and the command current velocity for the axes group is zero, the error is
reset with the MC_GroupReset (Reset Axes Group Error) instruction.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Group000 _sGROUP_R --- This is the Axes Group Variable for axes group
EF 0.
MC_Group000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axes group 0.
MC_Group000.Details.Idle BOOL FALSE TRUE when the command interpolation velocity
for axes group 0 is zero, except when waiting
for in-position state.
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.

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10-2 Basic Programming Sam-

Variable name Data type Default Comment
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.

ples
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 1.
MC_Axis001.Details.Homed BOOL FALSE TRUE when home is defined for axis 1. 10
Pwr1_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR1 instance of the

10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation
MC_Power instruction.
It is TRUE when the Servo is ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR2 instance of the
MC_Power instruction.
It is TRUE when the Servo is ON.
StartPg BOOL FALSE When this variable is TRUE, the Servo is
turned ON if EtherCAT process data communi-
cations are active and normal.
ResetON BOOL FALSE This variable gives the status of the external
button that is used to reset errors.

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.

StartPg MC_Axis000.DrvStatus.Ready Lock1

Check if the Servo Drive for axis 1 is ready when StartPg is TRUE.

StartPg MC_Axis001.DrvStatus.Ready Lock2

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR1
MC_Power
Lock1 MC_Axis000 Axis Axis Pwr1_Status
Enable Status
Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID

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10 Sample Programming

If the Servo Drive for axis 1 is ready, turn ON the Servo for axis 1.
PWR2
MC_Power
Lock2 MC_Axis001 Axis Axis Pwr2_Status
Enable Status
Busy Pwr2_Bsy
Error Pwr2_Err
ErrorID Pwr2_ErrID

If a minor fault level error occurs for any of the composition axes in the axes group, the error handler for the
device (FaultHandler) is executed. Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler
MC_Axis001.MFaultLvl.Active

MC_Group000.MFaultLvl.Active

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM1
MC_Home
Pwr1_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm1_D
Execute Done
Busy Hm1_Bsy
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID

If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
HM2
MC_Home
Pwr2_Status MC_Axis001.Details.Homed MC_Axis001 Axis Axis Hm2_D
Execute Done
Busy Hm2_Bsy
CommandAborted Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID

The status of the axes group and the status of home for axis 0 and axis 1 are checked.

MC_Group000.Status.Disabled Hm1_D Hm2_D Lock3

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If home is defined for axis 0 and axis 1, the axes group is enabled.
GRP_EN
MC_GroupEnable
Lock3 MC_Group000 AxesGroup AxesGroup Grp_En_D
Execute Done

ples
Busy Grp_En_Bsy
CommandAborted Grp_En_Ca
Error Grp_En_Err
ErrorID Grp_En_ErrID 10

10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation
If there is a minor fault level error for the axes group, the axes group is disabled.

GRP_DIS
MC_GroupDisable
MC_Group000.MFaultLvl.Active MC_Group000 AxesGroup AxesGroup Grp_Dis_D
Execute Done
Busy Grp_Dis_Bsy
CommandAborted Grp_Dis_Ca
Error Grp_Dis_Err
ErrorID Grp_Dis_ErrID

If the external button is ON, the status of ResetON and the status of axes group motion is checked.

ReserON MC_Group000.Status.ErrorStop MC_Group000.Details.Idle Lock4

If ResetON is TRUE and the axes group is stopped, the error is reset.
GRP_RESET
MC_GroupReset
Lock4 MC_Group000 AxesGroup AxesGroup Grp_Reset_D
Execute Done
Busy Grp_Reset_Bsy
Failure Grp_Reset_Failure
Error Grp_Reset_Err
ErrorID Grp_Reset_ErrID

ST Programming
// Check that the Servo Drive is ready when StartPg is TRUE and turn ON the Servo f
or axis 0.
// If the Servo Drive is not ready, turn OFF the Servo for axis 0.
IF (StartPg =TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En :=TRUE; // Turn ON the Servo for axis 0.
ELSE
Pwr1_En :=FALSE;// Turn OFF the Servo for axis 0.
END_IF;

// Check that the Servo Drive is ready when StartPg is TRUE and turn ON the Servo f

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10 Sample Programming

or axis 1.
// If the Servo Drive is not ready, turn OFF the Servo for axis 1.
IF (StartPg =TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En :=TRUE; // Turn ON the Servo for axis 1.
ELSE
Pwr2_En :=FALSE; // Turn OFF the Servo for axis 1.
END_IF;

// If there is a minor fault level error for a composition axis in the axes group,
execute the error handler (FaultHandler).
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (MC_Group000.MFaultLvl.Active=TRUE) THEN
FaultHandler(); // Program the FaultHandler according to the device.
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex := TRUE;
END_IF;

// If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction i
s executed.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex := TRUE;
END_IF;

// If the axes group is disabled and home is defined for axis 0 and axis 1, the axe
s group is enabled.
IF (MC_Group000.Status.Disabled=TRUE) AND (Hm1_D=TRUE) AND (Hm2_D=TRUE) THEN
Grp_En_Ex := TRUE;
END_IF;

// If there is a minor fault level error for the axes group, the axes group is disa
bled.
IF MC_Group000.MFaultLvl.Active=TRUE THEN
Grp_Dis_Ex :=TRUE;
END_IF;

// If ResetON is TRUE (i.e., if the external button is ON) and the axes group is st
opped, the error is reset.
IF (ResetON=TRUE)
AND (MC_Group000.Status.ErrorStop=TRUE)
AND (MC_Group000.Details.Idle=TRUE) THEN
Grp_Reset_Ex := TRUE;

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 10 Sample Programming

10-2 Basic Programming Sam-

END_IF;

//MC_Power1
PWR1(
Axis := MC_Axis000,

ples
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy, 10
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID

10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation
);

//MC_Power2
PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);

// MC_Home1
HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);

// MC_Home2
HM2(
Axis := MC_Axis001,
Execute := Hm2_Ex,
Done => Hm2_D,
Busy => Hm2_Bsy,
CommandAborted => Hm2_Ca,
Error => Hm2_Err,
ErrorID => Hm2_ErrID
);

//MC_GroupEnable
GRP_EN(
AxesGroup := MC_Group000,

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10 Sample Programming

Execute := Grp_En_Ex,
Done => Grp_En_D,
Busy => Grp_En_Bsy,
CommandAborted => Grp_En_Ca,
Error => Grp_En_Err,
ErrorID => Grp_En_ErrID
);

//MC_GroupDisable
GRP_DIS(
AxesGroup := MC_Group000,
Execute := Grp_Dis_Ex,
Done => Grp_Dis_D,
Busy => Grp_Dis_Bsy,
CommandAborted => Grp_Dis_Ca,
Error => Grp_Dis_Err,
ErrorID => Grp_Dis_ErrID
);

//MC_GroupReset
GRP_RESET(
AxesGroup := MC_Group000,
Execute := Grp_Reset_Ex,
Done => Grp_Reset_D,
Busy => Grp_Reset_Bsy,
Failure => Grp_Reset_Fai,
Error => Grp_Reset_Err,
ErrorID => Grp_Reset_ErrID
);

10-2-5 Monitoring for Instruction Errors

In this sample, further processing is not performed if there is an error when the MC_Power (Power
Servo) instruction is executed.
The UpgOn variable specifies whether subsequent processing is allowed.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
Pwr_Status BOOL FALSE This variable is assigned to the Status output variable from the
PWR instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
Pwr_Bsy BOOL FALSE This variable is assigned to the Busy output variable from the PWR
instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned ON if EtherCAT
process data communications are active and normal.

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 10 Sample Programming

10-2 Basic Programming Sam-

Variable name Data type Default Comment
UpgOn BOOL FALSE When this variable is TRUE, subsequent processing is performed.

Ladder Diagram

ples
Check if the Servo Drive is ready when StartPg is TRUE.
Lock0
StartPg MC_Axis000.DrvStatus.Ready
10

10-2-5 Monitoring for Instruction Errors

If the Servo Drive is ready, turn ON the Servo for axis 0.
PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID

A check is made to see if any errors occurred when MC_Power was executed before execution of further processing.
Pwr_Status UpgOn

Pwr_Bsy

ST Programming
// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
// If the Servo Drive is not ready, turn OFF the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En :=TRUE;
ELSE
Pwr_En :=FALSE;
END_IF;

IF (Pwr_Status=TRUE) OR (Pwr_Bsy=TRUE) THEN

UpgOn := TRUE; // Further processing executed.
ELSE
UpgOn := FALSE;// Further processing not executed.
END_IF;

// MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,

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10 Sample Programming

Busy => Pwr_Bsy,

Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

10-2-6 Checking to See If Errors Are Reset

In this sample, the MC_Reset (Reset Axis Error) instruction is executed if an external button turns ON
while there is a minor fault level error. Further normal processing is not executed until the Done output
variable from the MC_Reset instruction changes to TRUE.
If the Failure output variable changes to TRUE, the axis decelerated to a stop or an MC common error
has occurred. The cause that made the Failure output variable from the MC_Reset instruction turn ON
is read.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
Pwr_Status BOOL FALSE This variable is assigned to the Status output var-
iable from the PWR instance of the MC_Power in-
struction.
It is TRUE when the Servo is ON.
ResetON BOOL FALSE This variable gives the status of the external but-
ton that is used to reset errors.
GetFaultFactor --- --- This is the process to read the cause of the error.
Program it according to the device.
RegularProcess --- --- This is the normal processing.
Program it according to the device.

Ladder Diagram
In this sample, the MC_Reset (Reset Axis Error) instruction is executed if an external button turns ON
(i.e., if ResetOn changes to TRUE) while there is a minor fault level error.
RESET
MC_Reset
ResetOn MC_Axis000.MFaultLvl.Active MC_Axis000 Axis Axis Reset_D
Execute Done
Busy Reset_Bsy
Failure Reset_Fail
Error Reset_Err
ErrorID Reset_ErrID

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 10 Sample Programming

10-2 Basic Programming Sam-

If the Failure output variable from the MC_Reset instruction changes to TRUE, processing is performed to read
the cause of the device error with GetFaultFactor. Program GetFaultFactor according to the device.
MC_Axis000.MFaultLvl.Active Reset_Fail GetFaultFactor
EN GetFaultFactor

ples
If a minor fault level error did not occur or was reset, normal device processing (RegularProcess) is performed.
Program GetFaultFactor according to the device. 10
MC_Axis000.MFaultLvl.Active RegularProcess

10-2-6 Checking to See If Errors Are Reset

EN RegularProcess

ST Programming
// If the external button is ON (i.e., if ResetOn changes to TRUE) while there is a
minor fault level error, the MC_Reset (Reset Axis Error) instruction is executed.
IF (MC_Axis000.MFaultLvl.Active=TRUE) AND (ResetOn=TRUE) THEN
Reset_Ex := TRUE; // Minor fault is reset.
ELSE
Reset_Ex := FALSE;
END_IF;

// If the Failure output variable from the MC_Reset instruction changes to TRUE, pr
ocessing is performed to read the cause of the error with GetFaultFactor.
// Program GetFaultFactor according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) AND (Reset_Fail=TRUE) THEN
GetFaultFactor();
END_IF;

// If a minor fault level error did not occur or was reset, normal device processin
g (RegularProcess) is performed.
// Program RegularProcess according to the device.
IF MC_Axis000.MFaultLvl.Active=FALSE THEN
RegularProcess();
END_IF;

// MC_Reset
RESET(
Axis := MC_Axis000,
Execute := Reset_Ex,
Done => Reset_D,
Busy => Reset_Bsy,
Failure => Reset_Fail,
Error => Reset_Err,

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10 Sample Programming

ErrorID => Reset_ErrID

);

10-2-7 Stopping Axes during Single-axis Operation

In this sample, the MC_Stop instruction is executed to decelerate to a stop if an external button turns
ON during execution of the MC_MoveAbsolute (Absolute Positioning) instruction. If there is a minor
fault level error, the CommandAborted output variable from the MC_Stop instruction changes to
TRUE.
In that case, the MC_ImmediateStop instruction is executed to stop immediately.
If for any reason the Error output variable from the MC_Stop instruction changes to TRUE, the
MC_ImmediateStop instruction is executed to stop immediately. If the MC_ImmediateStop instruction
is executed, the axis status is Error Deceleration Stopping.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
Pwr_Status BOOL FALSE This variable is assigned to the Status output var-
iable from the PWR instance of the MC_Power
instruction.
It is TRUE when the Servo is ON.
Stp_Ca BOOL FALSE This variable is assigned to the CommandAbort-
ed output variable from the STP instance of the
MC_Stop instruction.
Stp_Err BOOL FALSE This variable is assigned to the Error output vari-
able from the STP instance of the MC_Stop in-
struction.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
StopOn BOOL FALSE This variable gives the status of the external but-
ton that is used to stop. The MC_Stop instruction
is executed to stop the axis if this variable is
TRUE.

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

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 10 Sample Programming

10-2 Basic Programming Sam-

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy

ples
Error Pwr_Err
ErrorID Pwr_ErrID

10
If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.

10-2-7 Stopping Axes during Single-axis Operation

Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed for axis 0.
HM
MC_Home
Pwr_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm_D
Execute Done
Busy Hm_Bsy
CommandAborted Hm_Ca
Error Hm_Err
ErrorID Hm_ErrID

After homing is completed for axis 0, the MC_MoveAbsolute (Absolute Positioning) instruction is executed.
MV_ABS
MC_MoveAbsolute
Hm_D MC_Axis000 Axis Axis Mv_Abs_D
Execute Done
LREAL#10000.0 Position Busy Mv_Abs_Bsy
LREAL#500.0 Velocity Active Mv_Abs_Act
LREAL#500.0 Acceleration CommandAborted Mv_Abs_Ca
LREAL#500.0 Deceleration Error Mv_Abs_Err
Jerk ErrorID Mv_Abs_ErrID
_eMC_DIRECTION#_mcPositiveDirection Direction
BufferMode

If StopOn is TRUE, the MC_Stop instruction is executed.

STP
MC_Stop
StopOn MC_Axis000 Axis Axis Stp_D
Execute Done
LREAL#5000.0 Deceleration Busy Stp_Bsy
Jerk Active Stp_Act
BufferMode CommandAborted Stp_Ca
Error Stp_Err
ErrorID Stp_ErrID

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10 Sample Programming

If the Error or CommandAborted output variable from the MC_Stop instruction changes to TRUE,
the MC_ImmediateStop instruction is executed to stop immediately.
IMD_STP
MC_ImmediateStop
Stp_Err MC_Axis000 Axis Axis Imd_Stp_D
Execute Done
_eMC_STOP_MODE#_mcFreeRunStop StopMode Busy Imd_Stp_Bsy
Stp_Ca
CommandAborted Imd_Stp_Ca
Error Imd_Stp_Err
ErrorID Imd_Stp_ErrID

ST Programming
// If the input parameters for absolute positioning and stopping are not set, the t
arget values and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveAbsolute (Absolute Positioning) instructio
n are set.
Mv_Abs_Pos := LREAL#10000.0;
Mv_Abs_Vel := LREAL#500.0;
Mv_Abs_Acc := LREAL#500.0;
Mv_Abs_Dec := LREAL#500.0;
Mv_Abs_Dir := _eMC_DIRECTION#_mcPositiveDirection;
// The input parameters for the MC_Stop instruction are set.
Stp_Dec:=LREAL#5000.0;
// The input parameters for the MC_Immediate Stop instruction are set.
Imd_Stp_SM :=_eMC_STOP_MODE#_mcFreeRunStop;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En :=TRUE;
ELSE
Pwr_En :=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0, the error handler for the device
(FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i

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 10 Sample Programming

10-2 Basic Programming Sam-

s executed.
IF (Pwr_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex :=TRUE;
END_IF;

ples
// If homing is completed, absolute positioning is executed.
IF Hm_D=TRUE THEN
Mv_Abs_Ex := TRUE; 10
END_IF;

10-2-7 Stopping Axes during Single-axis Operation

// If StopOn is TRUE, stopping is executed.
IF StopOn=TRUE THEN
Stp_Ex :=TRUE;
END_IF;

// If the Error or CommandAborted output variable from the MC_Stop instruction chan
ges to TRUE, the MC_ImmediateStop instruction is executed to stop immediately.
IF (Stp_Err=TRUE) OR (Stp_Ca=TRUE) THEN
Imd_Stp_Ex :=TRUE;
END_IF;

//MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

//MC_Home
HM(
Axis := MC_Axis000,
Execute := Hm_Ex,
Done => Hm_D,
Busy => Hm_Bsy,
CommandAborted => Hm_Ca,
Error => Hm_Err,
ErrorID => Hm_ErrID
);

//MC_MoveAbsolute
MV_ABS(
Axis := MC_Axis000,
Execute := Mv_Abs_Ex,
Position := Mv_Abs_Pos,

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10 Sample Programming

Velocity := Mv_Abs_Vel,
Acceleration := Mv_Abs_Acc,
Deceleration := Mv_Abs_Dec,
Direction := Mv_Abs_Dir,
Done => Mv_Abs_D,
Busy => Mv_Abs_Bsy,
Active => Mv_Abs_Act,
CommandAborted => Mv_Abs_Ca,
Error => Mv_Abs_Err,
ErrorID => Mv_Abs_ErrID
);

//MC_Stop
STP(
Axis := MC_Axis000,
Execute := Stp_Ex,
Deceleration := Stp_Dec,
Done => Stp_D,
Busy => Stp_Bsy,
Active => Stp_Act,
CommandAborted => Stp_Ca,
Error => Stp_Err,
ErrorID => Stp_ErrID
);

//MC_ImmediateStop
IMD_STP(
Axis := MC_Axis000,
Execute := Imd_Stp_Ex,
StopMode := Imd_Stp_SM,
Done => Imd_Stp_D,
Busy => Imd_Stp_Bsy,
CommandAborted => Imd_Stp_Ca,
Error => Imd_Stp_Err,
ErrorID => Imd_Stp_ErrID
);

10-2-8 Stopping an Axes Group in Coordinated Motion

In this sample, the MC_GroupStop instruction is executed to decelerate to a stop if an external button
turns ON during execution of the MC_MoveLinearAbsolute (Absolute Linear Interpolation) instruction.
If there is a minor fault level error, the CommandAborted output variable from the MC_GroupStop in-
struction changes to TRUE. In that case, the MC_GroupImmediateStop instruction is executed to stop
immediately.
If for any reason the Error output variable from the MC_GroupStop instruction changes to TRUE, the
MC_GroupImmediateStop instruction is executed to stop immediately. If the MC_GroupImmediateStop
instruction is executed, the axes group status is Error Deceleration Stopping.

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 10 Sample Programming

10-2 Basic Programming Sam-

Main Variables Used in the Programming Samples
Variable name Data type Default Comment
MC_Group000 _sGROUP_R --- This is the Axes Group Variable for axes group

ples
EF 0.
MC_Group000.Status.Disabled BOOL FALSE TRUE when axes group 0 is disabled.
MC_Group000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axes group 0. 10
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.

10-2-8 Stopping an Axes Group in Coordinated Motion

MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 1.
MC_Axis001.Details.Homed BOOL FALSE TRUE when home is defined for axis 1.
Pwr1_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR1 instance of the
MC_Power instruction.
It is TRUE when the Servo is ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR2 instance of the
MC_Power instruction.
It is TRUE when the Servo is ON.
Grp_Stp_Ca BOOL FALSE This variable is assigned to the CommandAbort-
ed output variable from the GRP_EN instance of
the MC_GroupStop instruction.
Grp_Stp_Err BOOL FALSE This variable is assigned to the Error output var-
iable from the GRP_EN instance of the
MC_GroupStop instruction.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
StopOn BOOL FALSE This variable gives the status of the external
button that is used to stop. The MC_GroupStop
instruction is executed to stop the axes group if
this variable is TRUE.
InitFlag BOOL FALSE TRUE if the input parameters are set for the
MC_MoveLinearAbsolute and MC_GroupStop
instructions.
Grp_En_Ex BOOL FALSE This variable is used to execute the GRP_EN
instance of the MC_GroupEnable instruction.
It is used in ST programming.
Mv_Lin_Abs_Ex BOOL FALSE This variable is used to execute the
MV_LIN_ABS instance of the MC_MoveLinear
instruction.
It is used in ST programming.
Grp_Stp_Ex BOOL FALSE This variable is used to execute the GRP_STP
instance of the MC_GroupStop instruction.
It is used in ST programming.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-23

10 Sample Programming

Variable name Data type Default Comment

Grp_Imd_Stp_Ex BOOL FALSE This variable is used to execute the
GRP_IMD_STP instance of the MC_GroupIm-
mediateStop instruction.
It is used in ST programming.

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

Check if the Servo Drive for axis 1 is ready when StartPg is TRUE.
StartPg MC_Axis001.DrvStatus.Ready Lock1

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR1
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr1_Status
Enable Status
Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID

If the Servo Drive for axis 1 is ready, turn ON the Servo for axis 1.
PWR2
MC_Power
Lock1 MC_Axis001 Axis Axis Pwr2_Status
Enable Status
Busy Pwr2_Bsy
Error Pwr2_Err
ErrorID Pwr2_ErrID

If a minor fault level error occurs for the axes group, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler
MC_Axis001.MFaultLvl.Active

MC_Group000.MFaultLvl.Active

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 10 Sample Programming

10-2 Basic Programming Sam-

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM1
MC_Home
Pwr1_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm1_D
Execute Done
Busy Hm1_Bsy

ples
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID
10

10-2-8 Stopping an Axes Group in Coordinated Motion

If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
HM2
MC_Home
Pwr2_Status MC_Axis001.Details.Homed MC_Axis001 Axis Axis Hm2_D
Execute Done
Busy Hm2_Bsy
CommandAborted Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID

After home is defined for axis 0 and axis 1, the axes group is enabled.
GRP_EN
MC_GroupEnable
Hm1_D Hm2_D MC_Group000 AxesGroup AxesGroup Grp_En_D
Execute Done
MC_Group000.Status.Disabled Busy Grp_En_Bsy
CommandAborted Grp_En_Ca
Error Grp_En_Err
ErrorID Grp_En_ErrID

The input parameters for the MC_MoveLinearAbsolute and MC_GroupStop instructions are set.
InitFlag 1 // Parameters for MC_MoveLinearAbsolute
2 Mv_Lin_Abs_Pos [0] := LREAL#3000
3 Mv_Lin_Abs_Pos [1] := LREAL#3000
4 Mv_Lin_Vel := LREAL#1000
5 Mv_Lin_Abs_Acc := LREAL#1000
6 Mv_Lin_Abs_Dec := LREAL#1000.0;
7 Mv_Lin_Abs_Jrk := LREAL#1000.0;
8 // Parameters for MC_GroupStop
9 Grp_Stp_Dec := LREAL#1000.0;
10 Grp_Stp_Jrk := LREAL#1000.0;
11 InitFlag:=TRUE; // InitFlag is made TRUE.

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10 Sample Programming

If the axes group is enabled, linear interpolation is executed.

MV_LIN_ABS
MC_MoveLinear
MC_Group000.Status.Ready MC_Group000 AxesGroup AxesGroup Mv_Lin_Abs_D
Execute Done
Mv_Lin_Abs_Pos Position Busy Mv_Lin_Abs_Bsy
Mv_Lin_Abs_Vel Velocity Active Mv_Lin_Abs_Act
Mv_Lin_Abs_Acc Acceleration CommandAborted Mv_Lin_Abs_Ca
Mv_Lin_Abs_Dec Deceleration Error Mv_Lin_Abs_Err
Mv_Lin_Abs_Jrk Jerk ErrorID Mv_Lin_Abs_ErrID
Mv_Lin_Abs_Cs CoordSystem
Mv_Lin_Abs_Bm BufferMode
Mv_Lin_Abs_Tm TransitionMode

If the external button turns ON (i.e., StopOn changes to TRUE) during execution of linear interpolation,
the MC_GroupStop instruction is executed to decelerate the axes to a stop.
GRP_STP
MC_GroupStop
StopOn MC_Group000.Status.Moving MC_Group000 AxesGroup AxesGroup Grp_Stp_D
Execute Done
Grp_Stp_Dec Deceleration Busy Grp_Stp_Bsy
Jerk Active Grp_Stp_Act
BufferMode CommandAborted Grp_Stp_Ca
Error Grp_Stp_Err
ErrorID Grp_Stp_ErrID

If the Error or CommandAborted output variable of the MC_GroupStop instruction is TRUE,

the MC_GroupImmediateStop instruction is executed to stop immediately.
GRP_IMD_STP
MC_GroupImmediateStop
Grp_Stp_Err MC_Group000 AxesGroup AxesGroup Grp_Imd_Stp_D
Execute Done
Busy Grp_Imd_Stp_Bsy
Grp_Stp_Ca
CommandAborted Grp_Imd_Stp_Ca
Error Grp_Imd_Stp_Err
ErrorID Grp_Imd_Stp_ErrID

ST Programming
// If the input parameters for absolute linear interpolation and stopping the axes
group are not set, the target values and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveLinearAbsolute (Absolute Linear Interpolat
ion) instruction are set.
Mv_Lin_Abs_Pos[0] := LREAL#3000.0;
Mv_Lin_Abs_Pos[1] := LREAL#3000.0;
Mv_Lin_Abs_Vel := LREAL#1000.0;
Mv_Lin_Abs_Acc := LREAL#1000.0;
Mv_Lin_Abs_Dec := LREAL#1000.0;
Mv_Lin_Abs_Jrk := LREAL#1000.0;
// The input parameters for the MC_GroupStop instruction are set.

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 10 Sample Programming

10-2 Basic Programming Sam-

Grp_Stp_Dec := LREAL#1000.0;
Grp_Stp_Jrk := LREAL#1000.0;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

ples
// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
// If the Servo Drive is not ready, turn OFF the Servo for axis 0. 10
IF (StartPg =TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN

10-2-8 Stopping an Axes Group in Coordinated Motion

Pwr1_En :=TRUE; // Turn ON the Servo for axis 0.
ELSE
Pwr1_En :=FALSE;// Turn OFF the Servo for axis 0.
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 1.
// If the Servo Drive is not ready, turn OFF the Servo for axis 1.
IF (StartPg =TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En :=TRUE; // Turn ON the Servo for axis 1.
ELSE
Pwr2_En :=FALSE; // Turn OFF the Servo for axis 1.
END_IF;

// If a minor fault level error occurs, the error handler for the device (FaultHand
ler) is executed.
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (MC_Group000.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed for axis 0.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex :=TRUE;
END_IF;

// If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction i
s executed for axis 1.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex := TRUE;
END_IF;

// If home is defined for axis 0 and axis 1 and the axes group is disabled, the axe
s group is enabled.

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10 Sample Programming

IF (MC_Group000.Status.Disabled=TRUE) AND (Hm1_D=TRUE) AND (Hm2_D=TRUE) THEN

Grp_En_Ex := TRUE;
END_IF;

// If the axes group is enabled, absolute linear interpolation is executed.

IF MC_Group000.Status.Ready=TRUE THEN
Mv_Lin_Abs_Ex :=TRUE;
END_IF;

// If the external button turns ON (i.e., StopOn changes to TRUE) during execution
of absolute linear interpolation, the axes group is stopped.
IF (MC_Group000.Status.Moving=TRUE) AND (StopOn=TRUE) THEN
Grp_Stp_Ex := TRUE;
END_IF;

// If the CommandAborted or Error output variable from the Group Stop instruction a
re TRUE, the axes group is stopped immediately.
IF (Grp_Stp_Ca=TRUE) OR (Grp_Stp_Err=TRUE) THEN
Grp_Imd_Stp_Ex :=TRUE;
END_IF;

//MC_Power
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);

PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);

//MC_Home
HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,

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 10 Sample Programming

10-2 Basic Programming Sam-

Error => Hm1_Err,
ErrorID => Hm1_ErrID
);

HM2(

ples
Axis := MC_Axis001,
Execute := Hm2_Ex,
Done => Hm2_D, 10
Busy => Hm2_Bsy,
CommandAborted => Hm2_Ca,

10-2-8 Stopping an Axes Group in Coordinated Motion

Error => Hm2_Err,
ErrorID => Hm2_ErrID
);

//MC_GroupEnable
GRP_EN(
AxesGroup := MC_Group000,
Execute := Grp_En_Ex,
Done => Grp_En_D,
Busy => Grp_En_Bsy,
CommandAborted => Grp_En_Ca,
Error => Grp_En_Err,
ErrorID => Grp_En_ErrID
);

//MC_MoveLinearAbsolute
MV_LIN_ABS(
AxesGroup := MC_Group000,
Execute := Mv_Lin_Abs_Ex,
Position := Mv_Lin_Abs_Pos,
Velocity := Mv_Lin_Abs_Vel,
Acceleration := Mv_Lin_Abs_Acc,
Deceleration := Mv_Lin_Abs_Dec,
Jerk := Mv_Lin_Abs_Jrk,
Done => Mv_Lin_Abs_D,
Busy => Mv_Lin_Abs_Bsy,
Active => Mv_Lin_Abs_Act,
CommandAborted => Mv_Lin_Abs_Ca,
Error => Mv_Lin_Abs_Err,
ErrorID => Mv_Lin_Abs_ErrID
);

//MC_GroupStop
GRP_STP(
AxesGroup := MC_Group000,
Execute := Grp_Stp_Ex,
Deceleration := Grp_Stp_Dec,

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-29

10 Sample Programming

Done => Grp_Stp_D,

Busy => Grp_Stp_Bsy,
Active => Grp_Stp_Act,
CommandAborted => Grp_Stp_Ca,
Error => Grp_Stp_Err,
ErrorID => Grp_Stp_ErrID
);

//MC_GroupImmediateStop
GRP_IMD_STP(
AxesGroup := MC_Group000,
Execute := Grp_Imd_Stp_Ex,
Done => Grp_Imd_Stp_D,
Busy => Grp_Imd_Stp_Bsy,
CommandAborted => Grp_Imd_Stp_Ca,
Error => Grp_Imd_Stp_Err,
ErrorID => Grp_Imd_Stp_ErrID
);

10-2-9 Homing and Absolute Positioning

In this sample, the starting point for homing is assumed to be where the home proximity input is ON.
The Homing Operation Mode is set to 4 (Home proximity input OFF). After homing is completed to
define home, absolute positioning is executed.

Home input detection direction

ON
Negative limit input signal
OFF
ON
Home proximity input signal
OFF
ON
Home input signal
OFF

Homing start direction

Negative Positive direction
direction Start Homing Absolute positioning
completed. completed.

Axis Parameter Settings That Are Related to Homing

Parameter name Setting Description
Homing Method 4: Home proximity input Home is defined where the home proximity input turns
OFF OFF.
Operation Selection at 1: Reverse turn/immediate The positive limit input is not used, so the default set-
Positive Limit Input stop ting is used for this parameter.
Operation Selection at 2: Reverse turn/decelera- The axis decelerates to a stop and reverses direction
Negative Limit Input tion stop when the negative limit input is detected.

10-30 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 10 Sample Programming

10-2 Basic Programming Sam-

Parameter name Setting Description
Homing Start Direction 2: Negative direction When homing is performed, the axis starts moving in
the negative direction.
Home Input Detection 1: Positive direction Home is detected while the axis moves in the positive
Direction direction.

ples
Main Variables Used in the Programming Samples 10
Variable name Data type Default Comment

10-2-9 Homing and Absolute Positioning

MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.Status.StandStill BOOL FALSE TRUE while the Servo is OFF for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
Pwr_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the MC_Pow-
er instruction.
It is TRUE when the Servo is ON.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
Hm_Ex BOOL FALSE This variable is used to execute the MC_Home
instruction.
It is used in ST programming.
Mv_Abs_Ex BOOL FALSE This variable is used to execute the MC_Move-
Absolute (Absolute Positioning) instruction.
It is used in ST programming.

Timing Chart

 Ladder Diagram

Pwr_Status

HM.Execute

Hm_D

Hm_Bsy

MV_ABS.Execute

Mv_Abs_D

Mv_Abs_Bsy

Mv_Abs_Act

MC_Axis000.Status.Standstill

MC_Axis000.Dtails.Homed

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-31

10 Sample Programming

 ST Programming

Pwr_Status

Hm_Ex

Hm_D

Hm_Bsy

Mv_Abs_Ex

Mv_Abs_D

Mv_Abs_Bsy

Mv_Abs_Act

MC_Axis000.Status.Standstill

MC_Axis000.Dtails.Homed

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID

If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

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 10 Sample Programming

10-2 Basic Programming Sam-

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM
MC_Home
Pwr_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm_D
Execute Done

ples
Busy Hm_Bsy
CommandAborted Hm_Ca
Error Hm_Err
ErrorID Hm_ErrID
10

10-2-9 Homing and Absolute Positioning

If the Servo is ON and home is defined, absolute positioning is executed.
MV_ABS
MC_MoveAbsolute
Pwr_Status Hm_D MC_Axis000 Axis Axis Mv_Abs_D
Execute Done
LREAL#50000.0 Position Busy Mv_Abs_Bsy
LREAL#10000.0 Velocity Active Mv_Abs_Act
LREAL#1000.0 Acceleration CommandAborted Mv_Abs_Ca
LREAL#1000.0 Deceleration Error Mv_Abs_Err
LREAL#0.0 Jerk ErrorID Mv_Abs_ErrID
_eMC_DIRECTION#_mcShortestWay Direction
BufferMode

ST Programming
// If the input parameters for absolute positioning are not set, the target values
and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveAbsolute (Absolute Positioning) instructio
n are set.
Mv_Abs_Pos := LREAL#50000.0;
Mv_Abs_Vel := LREAL#10000.0;
Mv_Abs_Acc := LREAL#1000.0;
Mv_Abs_Dec := LREAL#1000.0;
Mv_Abs_Dir := _eMC_DIRECTION#_mcShortestWay;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0, the error handler for the device

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-33

10 Sample Programming

(FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed.
IF (Pwr_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex :=TRUE;
ELSE
Hm_Ex :=FALSE;
END_IF;

// If the Servo is ON and home is defined, absolute positioning is executed.

IF (Pwr_Status=TRUE) AND (Hm_D=TRUE) THEN
Mv_Abs_Ex :=TRUE;
END_IF;

//MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

//MC_Home
HM(
Axis := MC_Axis000,
Execute := Hm_Ex,
Done => Hm_D,
Busy => Hm_Bsy,
CommandAborted => Hm_Ca,
Error => Hm_Err,
ErrorID => Hm_ErrID
);

//MC_MoveAbsolute
MV_ABS(
Axis := MC_Axis000,
Execute := Mv_Abs_Ex,
Position := Mv_Abs_Pos,
Velocity := Mv_Abs_Vel,
Acceleration := Mv_Abs_Acc,

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 10 Sample Programming

10-2 Basic Programming Sam-

Deceleration := Mv_Abs_Dec,
Direction := Mv_Abs_Dir,
Done => Mv_Abs_D,
Busy => Mv_Abs_Bsy,
Active => Mv_Abs_Act,

ples
CommandAborted => Mv_Abs_Ca,
Error => Mv_Abs_Err,
ErrorID => Mv_Abs_ErrID 10
);

10-2-10 Changing the Target Position by Re-execution of an Instruction

10-2-10 Changing the Target Position by Re-execution of an Instruction
This sample starts absolute positioning to a target position of 1000 and then uses the same instance
of the absolute positioning instruction to change the target position to 2000.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
Pwr_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the
MC_Power instruction.
It is TRUE when the Servo is ON.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
ReExeSw BOOL FALSE This variable is used to re-execute the instruc-
tion.
Hm_Ex BOOL FALSE This variable is used to execute the MC_Home
instruction.
It is used in ST programming.
Mv_Abs_Ex BOOL FALSE This variable is used to execute the MC_Move-
Absolute (Absolute Positioning) instruction.
It is used in ST programming.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-35

10 Sample Programming

Timing Chart

 Ladder Diagram
Pwr_Status

Hm_D

Hm_Bsy

Mv_Abs_Ex

Mv_Abs_D

Mv_Abs_Bsy

Mv_Abs_Act

ReExeSw

Command position

Time

Command velocity

Time

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 10 Sample Programming

10-2 Basic Programming Sam-

 ST Programming
Pwr_Status

Hm_Ex

ples
Hm_D

Hm_Bsy
10
Mv_Abs_Ex

10-2-10 Changing the Target Position by Re-execution of an Instruction

Mv_Abs_D

Mv_Abs_Bsy

Mv_Abs_Act

ReExeSw

Command position

Time

Command velocity

Time

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-37

10 Sample Programming

If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM
MC_Home
Pwr_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm_D
Execute Done
Busy Hm_Bsy
CommandAborted Hm_Ca
Error Hm_Err
ErrorID Hm_ErrID

After home is defined for axis 0, absolute positioning is executed if it is not already in progress.

MC_Axis000.Details.Homed Mv_Abs_Act Mv_Abs_Ex

When ReExeSw changes to TRUE, the absolute positioning instruction is re-executed to change the target position to 2000.

ReExeSw 1 Mv_Abs_Pos := LREAL#2000.0;

Restart_Ex

Absolute positioning is executed according to the status of Mv_Abs_Ex.

MV_ABS
MC_MoveAbsolute
Mv_Abs_Ex MC_Axis000 Axis Axis Mv_Abs_D
Execute Done
Mv_Abs_Pos Position Busy Mv_Abs_Bsy
Restart_Ex
LREAL#500.0 Velocity Active Mv_Abs_Act
LREAL#500.0 Acceleration CommandAborted Mv_Abs_Ca
LREAL#500.0 Deceleration Error Mv_Abs_Err
Jerk ErrorID Mv_Abs_ErrID
_eMC_DIRECTION#_mcPositiveDirection Direction
BufferMode

ST Programming
// If the input parameters for absolute positioning are not set, the target values
and other parameters are set.
IF InitFlag = FALSE THEN
// Parameters for MC_MoveAbsolute
Mv_Abs_Pos := LREAL#1000.0;

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 10 Sample Programming

10-2 Basic Programming Sam-

Mv_Abs_Vel := LREAL#500.0;
Mv_Abs_Acc := LREAL#500.0;
Mv_Abs_Dec := LREAL#500.0;
Mv_Abs_Dir := _eMC_DIRECTION#_mcPositiveDirection;
// The Input Parameter Initialization Completed Flag is changed to TRUE.

ples
InitFlag := TRUE;
END_IF;
10
// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)

10-2-10 Changing the Target Position by Re-execution of an Instruction

AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0, the error handler for the device
(FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed.
IF (Pwr_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex :=TRUE;
END_IF;

// After homing is completed for axis 0, absolute positioning is executed if it is

not already in progress.
IF (Hm_D=TRUE) AND (Mv_Abs_Act=FALSE) THEN
Mv_Abs_Ex := TRUE;
ELSE
Mv_Abs_Ex := FALSE;
END_IF;

// When ReExeSw changes to TRUE, the absolute positioning instruction is re-execute

d to change the target position to 2000.
IF ReExeSw=TRUE THEN
Mv_Abs_Pos :=LREAL#2000.0;
Mv_Abs_Ex := TRUE;
END_IF;

//MC_Power
PWR(
Axis := MC_Axis000,

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-39

10 Sample Programming

Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

//MC_Home
HM(
Axis := MC_Axis000,
Execute := Hm_Ex,
Done => Hm_D,
Busy => Hm_Bsy,
CommandAborted => Hm_Ca,
Error => Hm_Err,
ErrorID => Hm_ErrID
);

//MC_MoveAbsolute
MV_ABS(
Axis := MC_Axis000,
Execute := Mv_Abs_Ex,
Position := Mv_Abs_Pos,
Velocity := Mv_Abs_Vel,
Acceleration := Mv_Abs_Acc,
Deceleration := Mv_Abs_Dec,
Direction := Mv_Abs_Dir,
Done => Mv_Abs_D,
Busy => Mv_Abs_Bsy,
Active => Mv_Abs_Act,
CommandAborted => Mv_Abs_Ca,
Error => Mv_Abs_Err,
ErrorID => Mv_Abs_ErrID
);

10-2-11 Interrupt Feeding

This sample performs interrupt feeding when an interrupt occurs during velocity control.
One of the following is specified for the Direction variable when velocity control is performed in Rotary
Mode.
• _mcPositiveDirection
• _mcNegativeDirection
• _mcCurrentDirection

This sample uses _mcCurrentDirection.

A positive value is specified for the FeedDistance input variable to perform feeding in the same direc-
tion as the motion before the interrupt input. A negative value is specified for the FeedDistance input
variable to perform feeding in the opposite direction as the motion before the interrupt input.

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 10 Sample Programming

10-2 Basic Programming Sam-

For example, if a positive value is specified for the FeedDistance input variable when the motion was
in the negative direction before the interrupt input, feeding is performed in the negative direction. If a
negative value is specified for the FeedDistance input variable, feeding is performed in the positive di-
rection.

ples
Velocity control Interrupt feeding
Velocity

10

10-2-11 Interrupt Feeding

Time

Axis Parameter Settings

Parameter name Setting Description
Count Mode Rotary Mode Rotary Mode is set as the count mode for the position.
Modulo Maximum Position 360 The Modulo Maximum Position is set to 360.
Setting Value
Modulo Minimum Position 0 The Modulo Minimum Position is set to 0.
Setting Value
Homing Method Zero position A zero position preset is performed to define home.
preset

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
Pwr_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the
MC_Power instruction.
It is TRUE when the Servo is ON.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
TrigRef _sTRIG- --- This parameter specifies the trigger input condi-
GER_REF tion to use for the interrupt input.
Latch 1 of the Servo Drive is used in this sam-
ple.
Hm_Ex BOOL FALSE This variable is used to execute the MC_Home
instruction.
It is used in ST programming.
Mv_Feed_Ex BOOL FALSE This variable is used to execute the MC_Move-
Feed (Interrupt Feeding) instruction.
It is used in ST programming.
InitFlag BOOL FALSE TRUE if the input parameters are set for the
MC_MoveFeed instruction.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-41

10 Sample Programming

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID

If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM
MC_Home
Pwr_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm_D
Execute Done
Busy Hm_Bsy
CommandAborted Hm_Ca
Error Hm_Err
ErrorID Hm_ErrID

The input parameters for interrupt feeding are set.

InitFlag 1 // Parameters for MC_MoveFeed

2 Mv_Feed_TrigRef.Mode := _eMC_TRIGGER_MODE#_mcDrive;
3 Mv_Feed_TrigRef.LatchID := _eMC_TRIGGER_LATCH_ID#_mcLatch1;
4 Mv_Feed_TrigRef.InputDrive := _eMC_TRIGGER_INPUT_DRIVE#_mcEncoderMark;
5 Mv_Feed_TrigVar := FALSE;
6 Mv_Feed_Pos := LREAL#2000.0;
7 Mv_Feed_Vel := LREAL#1000.0;
8 Mv_Feed_Acc := LREAL#10000.0;
9 Mv_Feed_Dec := LREAL#10000.0;
10 Mv_Feed_Dir := _eMC_DIRECTION#_mcCurrentDirection;
11 Mv_Feed_Mm := _eMC_MOVE_MODE#_mcVelocity;
12 Mv_Feed_FeedDis := LREAL#500.0;
13 Mv_Feed_FeedVel := LREAL#500.0;
14 // The Input Parameter Initialization Completed Flag is changed to TRUE.
15 InitFlag := TRUE;

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 10 Sample Programming

10-2 Basic Programming Sam-

If homing is completed, interrupt feeding is executed.

MV_FEED
MC_MoveFeed
MC_Axis000 Axis Axis
MvFeed_TrigRef TriggerInput TriggerInput

ples
Hm_D Mv_Feed_TrigVar TriggerVariable TriggerVariable Mv_Feed_D
Execute Done
WindowOnly InFeed Mv_Feed_InFeed
FirstPosition Busy Mv_Feed_Bsy 10
LastPosition Active Mv_Feed_Act
ReferenceType CommandAborted Mv_Feed_Ca

10-2-11 Interrupt Feeding

Mv_Feed_Pos Position Error Mv_Feed_Err
Mv_Feed_Vel Velocity ErrorID Mv_Feed_ErrID
Mv_Feed_Acc Acceleration
Mv_Feed_Dec Deceleration
Jerk
Mv_Feed_Dir Direction
Mv_Feed_Mm MoveMode
Mv_Feed_FeedDis FeedDistance
Mv_Feed_FeedVel FeedVelocity
BufferMode
ErrorDetect

ST Programming
// If the input parameters for interrupt feeding are not set, the target values and
other parameters are set.
IF InitFlag=FALSE THEN
// Parameters for MC_MoveFeed
Mv_Feed_TrigRef.Mode := _eMC_TRIGGER_MODE#_mcDrive;
Mv_Feed_TrigRef.LatchID := _eMC_TRIGGER_LATCH_ID#_mcLatch1;
Mv_Feed_TrigRef.InputDrive := _eMC_TRIGGER_INPUT_DRIVE#_mcEncoderMark;
Mv_Feed_TrigVar := FALSE;
Mv_Feed_Pos := LREAL#2000.0;
Mv_Feed_Vel := LREAL#1000.0;
Mv_Feed_Acc := LREAL#10000.0;
Mv_Feed_Dec := LREAL#10000.0;
Mv_Feed_Dir := _eMC_DIRECTION#_mcCurrentDirection;
Mv_Feed_Mm := _eMC_MOVE_MODE#_mcVelocity;
Mv_Feed_FeedDis := LREAL#500.0;
Mv_Feed_FeedVel := LREAL#500.0;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En:=TRUE;
ELSE

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-43

10 Sample Programming

Pwr_En:=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0, the error handler for the device
(FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed.
IF (Pwr_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex :=TRUE;
END_IF;

// If homing is defined, interrupt feeding is executed.

IF Hm_D=TRUE THEN
Mv_Feed_Ex :=TRUE;
END_IF;

// MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

// MC_Home
HM(
Axis := MC_Axis000,
Execute := Hm_Ex,
Done => Hm_D,
Busy => Hm_Bsy,
CommandAborted => Hm_Ca,
Error => Hm_Err,
ErrorID => Hm_ErrID
);

//MC_MoveFeed
MV_FEED(
Axis := MC_Axis000,
TriggerInput := Mv_Feed_TrigRef,
TriggerVariable := Mv_Feed_TrigVar,

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 10 Sample Programming

10-2 Basic Programming Sam-

Execute := Mv_Feed_Ex,
Position := Mv_Feed_Pos,
Velocity := Mv_Feed_Vel,
Acceleration := Mv_Feed_Acc,
Deceleration := Mv_Feed_Dec,

ples
Direction := Mv_Feed_Dir,
MoveMode := Mv_Feed_Mm,
FeedDistance := Mv_Feed_FeedDis, 10
FeedVelocity := Mv_Feed_FeedVel,
Done => Mv_Feed_D,

10-2-12 Changing the Cam Table by Re-execution of an Instruction

InFeed => Mv_Feed_InFeed,
Busy => Mv_Feed_Bsy,
Active => Mv_Feed_Act,
CommandAborted => Mv_Feed_Ca,
Error => Mv_Feed_Err,
ErrorID => Mv_Feed_ErrID
);

10-2-12 Changing the Cam Table by Re-execution of an Instruction

This sample changes the cam table during cam motion.
CamProfile0 is used when the command position for axis 0 is 5000 or less and CamProfile1 is used
when it is over 5000.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
CamProfile0 ARRAY[0..100] OF --- This is the cam data variable. *1
_sMC_CAM_REF
CamProfile1 ARRAY[0..10] OF --- This is the cam data variable. *1
_sMC_CAM_REF
Pwr1_S BOOL FALSE This variable is assigned to the Status output variable
from the PWR1 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
Pwr2_S BOOL FALSE This variable is assigned to the Status output variable
from the PWR2 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
CamTable0 BOOL FALSE TRUE when CamProfile0 is used for the cam table.
CamTable1 BOOL FALSE TRUE when CamProfile1 is used for the cam table.
Camin_InCam0 BOOL FALSE This variable is assigned to the InCam output variable
from the CAMIN instance of the MC_CamIn instruction.
It is TRUE during cam motion for CamProfile0.
After this variable changes to TRUE, it remains TRUE
until the operation is completed or canceled.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-45

10 Sample Programming

Variable name Data type Default Comment

Camin_InCam1 BOOL FALSE This variable is assigned to the InCam output variable
from the CAMIN instance of the MC_CamIn instruction.
It is TRUE during cam motion for CamProfile1.
After this variable changes to TRUE, it remains TRUE
until the operation is completed or canceled.
Mv_Abs_Act BOOL FALSE This variable is assigned to the Active output variable
from the MV_ABS instance of the MC_MoveAbsolute in-
struction.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned ON if
EtherCAT process data communications are active and
normal.
Hm1_Ex BOOL FALSE This variable is used to re-execute the MC_Home in-
struction for axis 0.
Hm2_Ex BOOL FALSE This variable is used to re-execute the MC_Home in-
struction for axis 1.
Mv_Abs_Ex BOOL FALSE This variable is used to execute the MC_MoveAbsolute
(Absolute Positioning) instruction.
Camin_Ex BOOL FALSE This variable is used to execute the MC_CamIn (Start
Cam Operation) instruction.
It is used in ST programming.
*1. The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array
is 0 to 109 in this sample.

Timing Chart

 Ladder Diagram

Command current position of axis 0

5000.0
CamTable1

CamTable0

CamTable1

MV_ABS Mv_Abs_Act

CAMIN CAMIN.Execute

Camin_Bsy

Camin_Act

Camin_InCam0

Camin_InCam1

Camin_InSync

CamProfile0 CamProfile1

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 10 Sample Programming

10-2 Basic Programming Sam-

 ST Programming

Command current position of axis 0

5000.0
CamTable1

ples
CamTable0
10
CamTable1

10-2-12 Changing the Cam Table by Re-execution of an Instruction

MV_ABS Mv_Abs_Act

CAMIN Camin_Ex

Camin_Bsy

Camin_Act

Camin_InCam0

Camin_InCam1

Camin_InSync

CamProfile0 CamProfile1

Ladder Diagram
To change from one cam table to another, two instances of the MC_CamIn (Start Cam Operation) in-
struction with the same instance name are used.
A different output parameter is assigned to the InCam (Cam Motion) output variable from each in-
stance. An error will occur if you assign the same output parameter.
In this sample, a JMP (Jump) instruction is used so that both instances are not executed at the same
time.

Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

Check if the Servo Drive for axis 1 is ready when StartPg is TRUE.
StartPg MC_Axis001.DrvStatus.Ready Lock1

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-47

10 Sample Programming

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR1
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr1_Status
Enable Status
Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID

If the Servo Drive for axis 1 is ready, turn ON the Servo for axis 1.
PWR2
MC_Power
Lock1 MC_Axis001 Axis Axis Pwr2_Status
Enable Status
Busy Pwr2_Bsy
Error Pwr2_Err
ErrorID Pwr2_ErrID

If a minor fault level error occurs for axis 0 or axis 1, the error handler for the device (FaultHandler) is
executed. Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler
MC_Axis001.MFaultLvl.Active

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM1
MC_Home
Pwr1_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm1_D
Execute Done
Busy Hm1_Bsy
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID

If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
HM2
MC_Home
Pwr2_Status MC_Axis001.Details.Homed MC_Axis001 Axis Axis Hm2_D
Execute Done
Busy Hm2_Bsy
CommandAborted Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID

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 10 Sample Programming

10-2 Basic Programming Sam-

If homing is completed for axis 0, absolute positioning is executed.
MV_ABS
MC_MoveAbsolute
Hm1_D MC_Axis000 Axis Axis Mv_Abs_D
Execute Done

ples
LREAL#10000.0 Position Busy Mv_Abs_Bsy
LREAL#2000.0 Velocity Active Mv_Abs_Act
LREAL#2000.0 Acceleration CommandAborted Mv_Abs_Ca
LREAL#2000.0 Deceleration Error Mv_Abs_Err 10
Jerk ErrorID Mv_Abs_ErrID
_eMC_DIRECTION#_mcPositiveDirection Direction

10-2-12 Changing the Cam Table by Re-execution of an Instruction

BufferMode

If the command position for axis 0 is 5000 or less, CamTable0 is changed to TRUE and CamTable1 is changed to
FALSE. If it is over 5000, CamTable0 is changed to FALSE and CamTable1 is changed to TRUE.

1 IF MC_Axis000.Cmd.Pos<=LREAL#5000.0 THEN
2 CamTable0:=BOOL#TRUE;
3 CamTable1:=BOOL#FALSE;
4 ELSE
5 CamTable0:=BOOL#FALSE;
6 CamTable1:=BOOL#TRUE;
7 END_IF;

If CamTable0 is TRUE during absolute positioning, then the instance that uses CamProfile0
for the cam table is executed.
If InCam is TRUE, then Execute is changed to FALSE.
CamTable0 SkipCamTable0

Mv_Abs_Act CamTable0 Camin_InCam0 Lock3

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-49

10 Sample Programming

CAMIN
MC_CamIn
MC_Axis000 Master Master
MC_Axis001 Slave Slave
Lock3 CamProfile0 CamTable CamTable CamIn_InCam0
Execute InCam
BOOL#TRUE Periodic InSync CamIn_InSync
_eMC_START_MODE#_mcAbsolutePosition StartMode EndOfProfile CamIn_Eop
LREAL#1.0 StartPosition Index CamIn_Index
LREAL#1.0 MasterStartDistance Busy CamIn_Bsy
LREAL#1.0 MasterScaling Active CamIn_Act
LREAL#1.0 SlaveScaling CommandAborted CamIn_Ca
LREAL#0.0 MasterOffset Error CamIn_Err
LREAL#0.0 SlaveOffset ErrorID CamIn_ErrID
_eMC_REFERENCE_TYPE#_mcCommand ReferenceType
_eMC_DIRECTION#_mcNoDirection Direction
CamTransition
BufferMode

If CamTable1 is TRUE during absolute positioning, then the instance that uses CamProfile1
for the cam table is executed.
SkipCamTable0
CamTable1 SkipCamTable1

CAMIN
MC_CamIn
MC_Axis000 Master Master
MC_Axis001 Slave Slave
Mv_Abs_Act CamTable1 CamProfile1 CamTable CamTable CamIn_InCam1
Execute InCam
BOOL#TRUE Periodic InSync CamIn_InSync
_eMC_START_MODE#_mcAbsolutePosition StartMode EndOfProfile CamIn_Eop
LREAL#1.0 StartPosition Index CamIn_Index
LREAL#1.0 MasterStartDistance Busy CamIn_Bsy
LREAL#1.0 MasterScaling Active CamIn_Act
LREAL#1.0 SlaveScaling CommandAborted CamIn_Ca
LREAL#0.0 MasterOffset Error CamIn_Err
LREAL#0.0 SlaveOffset ErrorID CamIn_ErrID
_eMC_REFERENCE_TYPE#_mcCommand ReferenceType
_eMC_DIRECTION#_mcNoDirection Direction
CamTransition
BufferMode

SkipCamTable1

End
EN ENO

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 10 Sample Programming

10-2 Basic Programming Sam-

ST Programming
// If the input parameters for absolute positioning and starting cam operation are
not set, the target values and other parameters are set.

ples
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveAbsolute (Absolute Positioning) instructio
n are set.
Mv_Abs_Pos := LREAL#10000.0;
10
Mv_Abs_Vel := LREAL#2000.0;

10-2-12 Changing the Cam Table by Re-execution of an Instruction

Mv_Abs_Acc := LREAL#2000.0;
Mv_Abs_Dec := LREAL#2000.0;
// The input parameters for the MC_CamIn (Start Cam Operation) instruction are se
t.
Camin_EM := TRUE;
Camin_StMode := _eMC_START_MODE#_mcAbsolutePosition;
Camin_StPos := LREAL#1.0;
Camin_MStDis := LREAL#1.0;
Camin_MSc := LREAL#1.0;
Camin_SSc := LREAL#1.0;
Camin_MO := LREAL#0.0;
Camin_SO := LREAL#0.0;
Camin_RT := _eMC_REFERENCE_TYPE#_mcCommand;
Camin_Dir := _eMC_DIRECTION#_mcNoDirection;
// The cam table is selected.
CamTable0 :=BOOL#TRUE;
CamTable1 :=BOOL#FALSE;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 1.
IF (StartPg=TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En :=TRUE;
ELSE
Pwr2_En :=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0 or axis 1, the error handler for

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10 Sample Programming

the device (FaultHandler) is executed.

// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) OR (MC_Axis001.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed.
IF (Pwr1_S=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex :=TRUE;
END_IF;

// If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction i
s executed.
IF (Pwr2_S=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex :=TRUE;
END_IF;

// If homing is completed for axis 0, absolute positioning is executed.

IF Hm1_D=TRUE THEN
Mv_Abs_Ex := TRUE;
END_IF;

// If the command position for axis 0 is 5000 or less, CamTable0 is changed to TRUE
and CamTable1 is changed to FALSE.
// If it exceeds 5000, CamTable0 is changed to FALSE and CamTable1 is changed to TR
UE.
IF MC_Axis000.Cmd.Pos<=LREAL#5000.0 THEN
CamTable0 :=BOOL#TRUE;
CamTable1 :=BOOL#FALSE;
ELSE
CamTable0 :=BOOL#FALSE;
CamTable1 :=BOOL#TRUE;
END_IF;

// If CamTable0 is TRUE during absolute positioning, use CamProfile0 for the cam ta
ble.
// Execute the instance.
// If InCam is TRUE, Execute is changed to FALSE.
IF (Mv_Abs_Act=TRUE)
AND (CamTable0=TRUE)
AND (Camin_InCam0=FALSE) THEN
Camin_Ex := TRUE;
ELSE
Camin_Ex := FALSE;
END_IF;

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 10 Sample Programming

10-2 Basic Programming Sam-

// If CamTable1 is TRUE during absolute positioning, use CamProfile1 for the cam ta
ble.
// Execute the instance.
IF (Mv_Abs_Act=TRUE) AND (CamTable1=TRUE) THEN
Camin_Ex := TRUE;

ples
END_IF;

//MC_Camin 10
IF CamTable0=TRUE THEN
CAMIN(

10-2-12 Changing the Cam Table by Re-execution of an Instruction

Master := MC_Axis000,
Slave := MC_Axis001,
CamTable := CamProfile0,
Execute := Camin_Ex,
Periodic := Camin_EM,
StartMode := Camin_StMode,
StartPosition := Camin_StPos,
MasterStartDistance := Camin_MStDis,
MasterScaling := Camin_MSc,
SlaveScaling := Camin_SSc,
MasterOffset := Camin_MO,
SlaveOffset := Camin_SO,
ReferenceType := Camin_RT,
Direction := Camin_Dir,
InCam => Camin_InCam0,
InSync => Camin_InSync,
EndOfProfile => Camin_EOP,
Index => Camin_Index,
Busy => Camin_Bsy,
Active => Camin_Act,
CommandAborted => Camin_Ca,
Error => Camin_Err,
ErrorID => Camin_ErrID
);
END_IF;

IF CamTable1=TRUE THEN
CAMIN(
Master := MC_Axis000,
Slave := MC_Axis001,
CamTable := CamProfile1,
Execute := Camin_Ex,
Periodic := Camin_EM,
StartMode := Camin_StMode,
StartPosition := Camin_StPos,
MasterStartDistance := Camin_MStDis,
MasterScaling := Camin_MSc,

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10 Sample Programming

SlaveScaling := Camin_SSc,
MasterOffset := Camin_MO,
SlaveOffset := Camin_SO,
ReferenceType := Camin_RT,
Direction := Camin_Dir,
InCam => Camin_InCam1,
InSync => Camin_InSync,
EndOfProfile => Camin_EOP,
Index => Camin_Index,
Busy => Camin_Bsy,
Active => Camin_Act,
CommandAborted => Camin_Ca,
Error => Camin_Err,
ErrorID => Camin_ErrID
);
END_IF;

// MC_Power for axis 0

PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_S,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);

// MC_Power for axis 1

PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_S,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);

// MC_Home for axis 0

HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);

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10-2 Basic Programming Sam-

// MC_Home for axis 1
HM2(
Axis := MC_Axis001,
Execute := Hm2_Ex,

ples
Done => Hm2_D,
Busy => Hm2_Bsy,
CommandAborted => Hm2_Ca, 10
Error => Hm2_Err,
ErrorID => Hm2_ErrID

10-2-13 Using a Cam Profile Curve to Correct the Sync Position

);

//MC_MoveAbsolute
MV_ABS(
Axis := MC_Axis000,
Execute := Mv_Abs_Ex,
Position := Mv_Abs_Pos,
Velocity := Mv_Abs_Vel,
Acceleration := Mv_Abs_Acc,
Deceleration := Mv_Abs_Dec,
Direction := Mv_Abs_Dir,
Done => Mv_Abs_D,
Busy => Mv_Abs_Bsy,
Active => Mv_Abs_Act,
CommandAborted => Mv_Abs_Ca,
Error => Mv_Abs_Err,
ErrorID => Mv_Abs_ErrID
);

10-2-13 Using a Cam Profile Curve to Correct the Sync Position

This sample uses a cam profile curve to correct a slave axis in a gear motion.
The slave axis for gear motion is MC_Axis001, a virtual Servo axis, and the slave axis for cam motion
is MC_Axis002, also a virtual Servo axis. These slave axes are combined with MC_CombineAxes and
the results is output to MC_Axis003, a Servo axis. The master axis is MC_Axis000, a Servo axis.
The processing flow is as follows:

Synchronized motion with gear operation instructions Synchronized motion with cam operation instructions
Master axis: MC_Axis000 Master axis: MC_Axis000
Slave axis: MC_Axis001 Slave axis: MC_Axis002

Corrected Motion with

Combine Axes Instruction
Slave axis: MC_Axis003

 Axis Type Settings

The axes types are set in the axis parameters for each axis as given below.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-55

10 Sample Programming

Setting
Parameter name
Axis 1 Axis 2 Axis 3 Axis 4
Axes variable name MC_Axis000 MC_Axis001 MC_Axis002 MC_Axis003
Axis type Servo axis Virtual servo axis Virtual servo axis Servo axis

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis
0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis
1.
MC_Axis002 _sAXIS_REF --- This is the Axis Variable for axis 2.
MC_Axis002.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis
2.
MC_Axis003 _sAXIS_REF --- This is the Axis Variable for axis 3.
MC_Axis003.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis
3.
MC_Axis003.Details.Homed BOOL FALSE TRUE when home is defined for axis 3.
CamProfile0 ARRAY[0..109] OF --- This is the cam data variable. *1
_sMC_CAM_REF
Pwr1_Status BOOL FALSE This variable is assigned to the Status output varia-
ble from the PWR1 instance of the MC_Power in-
struction.
It is TRUE when the Servo is ON.
Pwr4_Status BOOL FALSE This variable is assigned to the Status output varia-
ble from the PWR4 instance of the MC_Power in-
struction.
It is TRUE when the Servo is ON.
Vel_InVel BOOL FALSE TRUE when the target velocity for MC_MoveVeloci-
ty for axis 0 is reached.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned ON
if EtherCAT process data communications are ac-
tive and normal.
Gearin_Ex BOOL FALSE This variable is used to execute the MC_GearIn
(Start Gear Operation) instruction. *2
Camin_Ex BOOL FALSE This variable is used to execute the MC_CamIn
(Start Cam Operation) instruction. *2
Combine_Ex BOOL FALSE This variable is used to execute the MC_Combi-
neAxes (Combine Axes) instruction. *2
*1. The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array is 0 to 109
in this sample.
*2. The variable is used in ST programming.

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 10 Sample Programming

10-2 Basic Programming Sam-

Timing Chart

 Ladder Diagram

ples
VEL Vel_InVel

GEARIN GEARIN.Execute
10
Gearin_InGear

Gearin_Bsy

10-2-13 Using a Cam Profile Curve to Correct the Sync Position

Gearin_Act

CAMIN CAMIN.Execute

Camin_InCam

Camin_InSync

Camin_Bsy

Camin_Act

COMBINE COMBINE.Execute

Combine_Bsy

Combine_Act

Position

MC_Axis000

MC_Axis001

MC_Axis002

MC_Axis003
Time

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-57

10 Sample Programming

 ST Programming
VEL Vel_InVel

GEARIN Gearin_Ex

Gearin_InGear

Gearin_Bsy

Gearin_Act

CAMIN Camin_Ex

Camin_InCam

Camin_InSync

Camin_Bsy

Camin_Act

COMBINE Combine_Ex

Combine_Bsy

Combine_Act

Position

MC_Axis000

MC_Axis001

MC_Axis002

MC_Axis003
Time

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

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 10 Sample Programming

10-2 Basic Programming Sam-

Check if the Servo Drive for axis 3 is ready when StartPg is TRUE.
StartPg MC_Axis003.DrvStatus.Ready Lock3

ples
If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR1
MC_Power 10
Lock0 MC_Axis000 Axis Axis Pwr1_Status
Enable Status

10-2-13 Using a Cam Profile Curve to Correct the Sync Position

Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID

If the Servo Drive for axis 3 is ready, turn ON the Servo for axis 3.
PWR4
MC_Power
Lock3 MC_Axis003 Axis Axis Pwr4_Status
Enable Status
Busy Pwr4_Bsy
Error Pwr4_Err
ErrorID Pwr4_ErrID

If a minor fault level error occurs for any of the composition axes in the axes group, the error handler for the
device (FaultHandler) is executed. Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler
MC_Axis001.MFaultLvl.Active

MC_Axis002.MFaultLvl.Active

MC_Axis003.MFaultLvl.Active

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM1
MC_Home
Pwr1_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm1_D
Execute Done
Busy Hm1_Bsy
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID

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10 Sample Programming

If the Servo is ON for axis 3 and home is not defined, the MC_Home instruction is executed.
HM4
MC_Home
Pwr4_Status MC_Axis003.Details.Homed MC_Axis003 Axis Axis Hm4_D
Execute Done
Busy Hm4_Bsy
CommandAborted Hm4_Ca
Error Hm4_Err
ErrorID Hm4_ErrID

If homing is completed for axis 0, velocity control is executed.

VEL
MC_MoveVelocity
Hm1_D Vel_InVel
MC_Axis000 Axis Axis
Execute InVelocity
LREAL#100.0 Velocity Busy Vel_Bsy
LREAL#0.0 Acceleration Active Vel_Act
LREAL#0.0 Deceleration CommandAborted Vel_Ca
Jerk Error Vel_Err
_eMC_DIRECTION#_mcPositiveDirection Direction ErrorID Vel_ErrID
Continuous
BufferMode

If homing is completed for axis 0, gear operation is executed.

GEARIN
MC_GearIn
MC_Axis000 Master Master
Vel_InVel MC_Axis001 Slave Slave GearIn_InGear
Execute InGear
UINT#1 RatioNumerator Busy GearIn_Bsy
UINT#1 RatioDenominator Active GearIn_Act
_eMC_REFERENCE_TYPE#_mcCommand ReferenceType CommandAborted GearIn_Ca
LREAL#0.0 Acceleration Error GearIn_Err
LREAL#0.0 Deceleration ErrorID GearIn_ErrID
Jerk
BufferMode

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 10 Sample Programming

10-2 Basic Programming Sam-

When axis 0 reaches the target velocity, cam operation is executed.

CAMIN
MC_CamIn
MC_Axis000 Master Master
MC_Axis002 Slave Slave

ples
Vel_InVel CamProfile0 CamTable CamTable CamIn_InCam
Execute InCam
BOOL#TRUE Periodic InSync CamIn_InSync
_eMC_START_MODE#_mcRelativePosition StartMode EndOfProfile CamIn_Eop 10
LREAL#20.0 StartPosition Index CamIn_Index
LREAL#40.0 MasterStartDistance Busy CamIn_Bsy

10-2-13 Using a Cam Profile Curve to Correct the Sync Position

LREAL#1.0 MasterScaling Active CamIn_Act
LREAL#1.0 SlaveScaling CommandAborted CamIn_Ca
LREAL#0.0 MasterOffset Error CamIn_Err
LREAL#0.0 SlaveOffset ErrorID CamIn_ErrID
_eMC_REFERENCE_TYPE#_mcCommand ReferenceType
_eMC_DIRECTION#_mcNoDirection Direction
CamTransition
BufferMode

If both gear and cam operation are in progress, the Combine Axes instruction is executed.
COMBINE
MC_CombineAxes
MC_Axis001 Master Master
MC_Axis002 Auxiliary Auxiliary
Gearin_Act Camin_Act Combine_InComb
MC_Axis003 Slave Slave
Execute InCombination
_eMC_COMBINE_MODE#_mcAddAxes CombineMode Busy Combine_Bsy
RatioNumeratorMaster Active Combine_Act
RatioDenominatorMaster CommandAborted Combine_Ca
RatioNumeratorAuxiliary Error Combine_Err
RatioDenominatorAuxiliary ErrorID Combine_ErrID
_eMC_REFERENCE_TYPE#_mcLatestCommand ReferenceTypeMaster
_eMC_REFERENCE_TYPE#_mcLatestCommand ReferenceTypeAuxiliary
BufferMode

ST Programming
// If the input parameters for the motion instructions are not set, the target valu
es and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveVelocity (Velocity Control) instruction ar
e set.
Vel_Vel := LREAL#100.0;
Vel_Acc := LREAL#0.0;
Vel_Dec := LREAL#0.0;
Vel_Dir := _eMC_DIRECTION#_mcPositiveDirection;
// The input parameters for the MC_CamIn (Start Cam Operation) instruction are se
t.
Camin_Em := TRUE;
Camin_Sm := _eMC_START_MODE#_mcRelativePosition;
Camin_Sp := LREAL#20.0;

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10 Sample Programming

Camin_Msd := LREAL#40.0;
Camin_Ms := LREAL#1.0;
Camin_Ss := LREAL#1.0;
Camin_Mo := LREAL#0.0;
Camin_So := LREAL#0.0;
Camin_Rt := _eMC_REFERENCE_TYPE#_mcCommand;
Camin_Dir := _eMC_DIRECTION#_mcNoDirection;
// The input parameters for the MC_GearIn (Start Gear Operation) instruction are
set.
Gearin_RatN := UINT#1;
Gearin_RatD := UINT#1;
Gearin_RefTyp := _eMC_REFERENCE_TYPE#_mcCommand;
Gearin_Acc := LREAL#0.0;
Gearin_Dec := LREAL#0.0;
// The input parameters for the MC_CombineAxes (Combine Axes) instruction are set
.
Combine_Cm := _eMC_COMBINE_MODE#_mcAddAxes;
Combine_RefMas :=_eMC_REFERENCE_TYPE#_mcLatestCommand;
Combine_RefAux :=_eMC_REFERENCE_TYPE#_mcLatestCommand;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 3.
IF (StartPg=TRUE)
AND (MC_Axis003.DrvStatus.Ready=TRUE) THEN
Pwr4_En :=TRUE;
ELSE
Pwr4_En :=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0 to axis 3, the error handler for
the device (FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (MC_Axis002.MFaultLvl.Active=TRUE)
OR (MC_Axis003.MFaultLvl.Active=TRUE) THEN
FaultHandler();

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 10 Sample Programming

10-2 Basic Programming Sam-

END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed for axis 0.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN

ples
Hm1_Ex :=TRUE;
END_IF;
10
// If the Servo is ON for axis 3 and home is not defined, the MC_Home instruction i
s executed for axis 3.

10-2-13 Using a Cam Profile Curve to Correct the Sync Position

IF (Pwr4_Status=TRUE) AND (MC_Axis003.Details.Homed=FALSE) THEN
Hm4_Ex :=TRUE;
END_IF;

// If homing is completed for axis 0, velocity control is executed.

IF Hm1_D=TRUE THEN
Vel_Ex :=TRUE;
END_IF;

// When axis 0 reaches the target velocity, gear operation is executed.

IF Vel_InVel=TRUE THEN
Gearin_Ex := TRUE;
END_IF;

// When axis 0 reaches the target velocity, cam operation is executed.

IF Vel_InVel=TRUE THEN
Camin_Ex := TRUE;
END_IF;

// If both gear and cam operation are in progress, the Combine Axes instruction is
executed.
IF (Gearin_Act=TRUE) AND (Camin_Act=TRUE) THEN
Combine_Ex :=TRUE;
END_IF;

// MC_Power for axis 0

PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);

// MC_Power for axis 3

PWR4(

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10 Sample Programming

Axis := MC_Axis003,
Enable := Pwr4_En,
Status => Pwr4_Status,
Busy => Pwr4_Bsy,
Error => Pwr4_Err,
ErrorID => Pwr4_ErrID
);

// MC_Home for axis 0

HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);

// MC_Home for axis 3

HM4(
Axis := MC_Axis003,
Execute := Hm4_Ex,
Done => Hm4_D,
Busy => Hm4_Bsy,
CommandAborted => Hm4_Ca,
Error => Hm4_Err,
ErrorID => Hm4_ErrID
);

//MC_MoveVelocity
VEL(
Axis := MC_Axis000,
Execute := Vel_Ex,
Velocity := Vel_Vel,
Acceleration := Vel_Acc,
Deceleration := Vel_Dec,
Direction := Vel_Dir,
InVelocity => Vel_InVel,
Busy => Vel_Bsy,
Active => Vel_Act,
CommandAborted => Vel_Ca,
Error => Vel_Err,
ErrorID => Vel_ErrID
);

//MC_CamIn

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 10 Sample Programming

10-2 Basic Programming Sam-

CAMIN(
Master := MC_Axis000,
Slave := MC_Axis002,
CamTable := CamProfile0,
Execute := Camin_Ex,

ples
Periodic := Camin_Em,
StartMode := Camin_Sm,
StartPosition := Camin_Sp, 10
MasterStartDistance := Camin_Msd,
MasterScaling := Camin_Ms,

10-2-13 Using a Cam Profile Curve to Correct the Sync Position

SlaveScaling := Camin_Ss,
MasterOffset := Camin_Mo,
SlaveOffset := Camin_So,
ReferenceType := Camin_Rt,
Direction := Camin_Dir,
InCam => Camin_InCam,
InSync => Camin_InSync,
EndOfProfile => Camin_Eop,
Index => Camin_Index,
Busy => Camin_Bsy,
Active => Camin_Act,
CommandAborted => Camin_Ca,
Error => Camin_Err,
ErrorID => Camin_ErrID
);

//MC_GearIn
GEARIN(
Master := MC_Axis000,
Slave := MC_Axis001,
Execute := Gearin_Ex,
RatioNumerator := Gearin_RatN,
RatioDenominator := Gearin_RatD,
ReferenceType := Gearin_RefTyp,
Acceleration := Gearin_Acc,
Deceleration := Gearin_Dec,
InGear => Gearin_InGear,
Busy => Gearin_Bsy,
Active => Gearin_Act,
CommandAborted => Gearin_Ca,
Error => Gearin_Err,
ErrorID => Gearin_ErrID
);

//MC_CombineAxes
COMBINE(
Master := MC_Axis001,

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-65

10 Sample Programming

Auxiliary := MC_Axis002,
Slave := MC_Axis003,
Execute := Combine_Ex,
CombineMode := Combine_CM,
ReferenceTypeMaster := Combine_RefMas,
ReferenceTypeAuxiliary := Combine_RefAux,
InCombination => Combine_InComb,
Busy => Combine_Bsy,
Active => Combine_Act,
CommandAborted => Combine_Ca,
Error => Combine_Err,
ErrorID => Combine_ErrID
);

10-2-14 Shifting the Phase of a Master Axis in Cam Motion

This sample synchronizes a slave axis in cam motion with a master axis in velocity control. If StartOn
is TRUE, the phase of the master axis is shifted with the MC_Phasing (Shift Master Axis Phase) in-
struction. The slave axis is synchronized with the shifted phase.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis
0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis
1.
MC_Axis001.Details.Homed BOOL FALSE TRUE when home is defined for axis 1.
CamProfile0 ARRAY[0..360] OF --- This is the cam data variable. *1
_sMC_CAM_REF
Pwr1_Status BOOL FALSE This variable is assigned to the Status output varia-
ble from the PWR1 instance of the MC_Power in-
struction.
It is TRUE when the Servo is ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output varia-
ble from the PWR2 instance of the MC_Power in-
struction.
It is TRUE when the Servo is ON.
StartOn BOOL FALSE This variable is used to start shifting the phase of
the master axis.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned ON
if EtherCAT process data communications are active
and normal.
Camin_Ex BOOL FALSE This variable is used to execute the MC_CamIn
(Start Cam Operation) instruction.
It is used in ST programming.

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 10 Sample Programming

10-2 Basic Programming Sam-

Variable name Data type Default Comment
Vel_Ex BOOL FALSE This variable is used to execute the MC_MoveVe-
locity (Velocity Control) instruction.
It is used in ST programming.
Phasing_Ex BOOL FALSE This variable is used to execute the MC_Phasing

ples
(Shift Master Axis Phase) instruction.
It is used in ST programming.
*1. The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array is 0 to 360
in this sample.
10

10-2-14 Shifting the Phase of a Master Axis in Cam Motion

Timing Chart

 Ladder Diagram
StartOn

MC_Phasing
PHASING.Execute

Phasing_Bsy

Phasing_Act

Phasing_D

MC_MoveVelocity
VEL.Execute

Vel_InVel

MC_CamIn

CAMIN.Execute

Camin_InCam

Camin_InSync

Camin_Bsy

Command velocity

MC_Axis000

MC_Axis001

Time

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-67

10 Sample Programming

 ST Programming
StartOn

MC_Phasing
Phasing_Ex

Phasing_Bsy

Phasing_Act

Phasing_D

MC_MoveVelocity
Vel_Ex

Vel_InVel

MC_CamIn

Camin_Ex

Camin_InCam

Camin_InSync

Camin_Bsy

Command velocity

MC_Axis000

MC_Axis001

Time

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

Check if the Servo Drive for axis 1 is ready when StartPg is TRUE.
StartPg MC_Axis001.DrvStatus.Ready Lock1

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 10 Sample Programming

10-2 Basic Programming Sam-

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR1
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr1_Status
Enable Status
Busy Pwr1_Bsy

ples
Error Pwr1_Err
ErrorID Pwr1_ErrID

10
If the Servo Drive for axis 1 is ready, turn ON the Servo for axis 1.
PWR2

10-2-14 Shifting the Phase of a Master Axis in Cam Motion

MC_Power
Lock1 MC_Axis001 Axis Axis Pwr2_Status
Enable Status
Busy Pwr2_Bsy
Error Pwr2_Err
ErrorID Pwr2_ErrID

If a minor fault level error occurs for any of the composition axes in the axes group, the error handler for the
device (FaultHandler) is executed. Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler
MC_Axis001.MFaultLvl.Active

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM1
MC_Home
Pwr1_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm1_D
Execute Done
Busy Hm1_Bsy
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID

If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
HM2
MC_Home
Pwr1_Status MC_Axis001.Details.Homed MC_Axis001 Axis Axis Hm2_D
Execute Done
Busy Hm2_Bsy
CommandAborted Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-69

10 Sample Programming

If homing is completed for axis 0, velocity control is executed.

VEL
MC_MoveVelocity
Hm1_D Vel_InVel
MC_Axis000 Axis Axis
Execute InVelocity
LREAL#1000.0 Velocity Busy Vel_Bsy
LREAL#100000.0 Acceleration Active Vel_Act
LREAL#100000.0 Deceleration CommandAborted Vel_Ca
Jerk Error Vel_Err
_eMC_DIRECTION#_mcPositiveDirection Direction ErrorID Vel_ErrID
Continuous
BufferMode

When axis 0 reaches the target velocity, cam operation is executed.

CAMIN
MC_CamIn
MC_Axis000 Master Master
MC_Axis001 Slave Slave
Vel_InVel MC_Axis001.Details.Homed CamProfile0 CamTable CamTable CamIn_InCam
Execute InCam
BOOL#True Periodic InSync CamIn_InSync
_eMC_START_MODE#_mcRelativePosition StartMode EndOfProfile CamIn_Eop
LREAL#20.0 StartPosition Index CamIn_Index
LREAL#40.0 MasterStartDistance Busy CamIn_Bsy
LREAL#1.0 MasterScaling Active CamIn_Act
LREAL#1.0 SlaveScaling CommandAborted CamIn_Ca
LREAL#0.0 MasterOffset Error CamIn_Err
LREAL#0.0 SlaveOffset ErrorID CamIn_ErrID
_eMC_REFERENCE_TYPE#_mcCommand ReferenceType
_eMC_DIRECTION#_mcNoDirection Direction
CamTransition
BufferMode

If StartOn is TRUE and cam motion is in sync, shifting the phase of the master axis is started.
PHASING
MC_Phasing
MC_Axis000 Master Master
StartOn Camin_InSync MC_Axis001 Slave Slave Phasing_D
Execute Done
LREAL#500.0 PhaseShift Busy Phasing_Bsy
LREAL#1000.0 Velocity Active Phasing_Act
LREAL#0.0 Acceleration CommandAborted Phasing_Ca
LREAL#0.0 Deceleration Error Phasing_Err
Jerk ErrorID Phasing_ErrID
BufferMode

ST Programming
// If the input parameters for the motion instructions are not set, the target valu
es and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveVelocity (Velocity Control) instruction ar

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 10 Sample Programming

10-2 Basic Programming Sam-

e set.
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#100000.0;
Vel_Dec := LREAL#100000.0;
Vel_Dir := _eMC_DIRECTION#_mcPositiveDirection;

ples
// The input parameters for the MC_Phasing (Shift Master Axis Phase) instruction
are set.
Phasing_Ps := LREAL#500.0; 10
Phasing_Vel := LREAL#1000.0;
Phasing_Acc := LREAL#0.0;

10-2-14 Shifting the Phase of a Master Axis in Cam Motion

Phasing_Dec := LREAL#0.0;
// The input parameters for the MC_CamIn (Start Cam Operation) instruction are se
t.
Camin_Em := TRUE;
Camin_Sm := _eMC_START_MODE#_mcRelativePosition;
Camin_Sp := LREAL#20.0;
Camin_Msd := LREAL#40.0;
Camin_Ms := LREAL#1.0;
Camin_Ss := LREAL#1.0;
Camin_Mo := LREAL#0.0;
Camin_So := LREAL#0.0;
Camin_Rt := _eMC_REFERENCE_TYPE#_mcCommand;
Camin_Dir := _eMC_DIRECTION#_mcNoDirection;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 1.
IF (StartPg=TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En:=TRUE;
ELSE
Pwr2_En:=FALSE;
END_IF;

// If a minor fault level error occurs for axis 0 or axis 1, the error handler for
the device (FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) OR (MC_Axis001.MFaultLvl.Active=TRUE) THEN

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10 Sample Programming

FaultHandler();
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i
s executed for axis 0.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex:=TRUE;
END_IF;

// If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction i
s executed for axis 1.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;

// If homing is completed for axis 0, velocity control is executed.

IF Hm1_D=TRUE THEN
Vel_Ex :=TRUE;
END_IF;

// When axis 0 reaches the target velocity and the home is defined for axis 1, cam
operation is executed.
IF (Vel_InVel=TRUE) AND (MC_Axis001.Details.Homed=TRUE) THEN
Camin_Ex := TRUE;
END_IF;

// If StartOn is TRUE and cam motion is in sync, shifting the phase of the master a
xis is started.
IF (StartOn=TRUE) AND (Camin_InSync=TRUE) THEN
Phasing_Ex :=TRUE;
END_IF;

// MC_Power for axis 0

PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);

// MC_Power for axis 1

PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,

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 10 Sample Programming

10-2 Basic Programming Sam-

Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);

ples
// MC_Home for axis 0
HM1(
Axis := MC_Axis000, 10
Execute := Hm1_Ex,
Done => Hm1_D,

10-2-14 Shifting the Phase of a Master Axis in Cam Motion

Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);

// MC_Home for axis 1

HM2(
Axis := MC_Axis001,
Execute := Hm2_Ex,
Done => Hm2_D,
Busy => Hm2_Bsy,
CommandAborted => Hm2_Ca,
Error => Hm2_Err,
ErrorID => Hm2_ErrID
);

//MC_MoveVelocity
VEL(
Axis := MC_Axis000,
Execute := Vel_Ex,
Velocity := Vel_Vel,
Acceleration := Vel_Acc,
Deceleration := Vel_Dec,
Direction := Vel_Dir,
InVelocity => Vel_InVel,
Busy => Vel_Bsy,
Active => Vel_Act,
CommandAborted => Vel_Ca,
Error => Vel_Err,
ErrorID => Vel_ErrID
);

//MC_Phasing
PHASING(
Master := MC_Axis000,
Slave := MC_Axis001,

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10 Sample Programming

Execute := Phasing_Ex,
PhaseShift := Phasing_Ps,
Velocity := Phasing_Vel,
Acceleration := Phasing_Acc,
Deceleration := Phasing_Dec,
Done => Phasing_D,
Busy => Phasing_Bsy,
Active => Phasing_Act,
CommandAborted => Phasing_Ca,
Error => Phasing_Err,
ErrorID => Phasing_ErrID
);

//MC_CamIn
CAMIN(
Master := MC_Axis000,
Slave := MC_Axis001,
CamTable := CamProfile0,
Execute := Camin_Ex,
Periodic := Camin_Em,
StartMode := Camin_Sm,
StartPosition := Camin_Sp,
MasterStartDistance := Camin_Msd,
MasterScaling := Camin_Ms,
SlaveScaling := Camin_Ss,
MasterOffset := Camin_Mo,
SlaveOffset := Camin_So,
ReferenceType := Camin_Rt,
Direction := Camin_Dir,
InCam => Camin_InCam,
InSync => Camin_InSync,
EndOfProfile => Camin_Eop,
Index => Camin_Index,
Busy => Camin_Bsy,
Active => Camin_Act,
CommandAborted => Camin_Ca,
Error => Camin_Err,
ErrorID => Camin_ErrID
);

10-2-15 Changing the Actual Position during Velocity Control

This sample changes the absolute values of the command current position and the actual current posi-
tion for an axis in velocity control.

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10-2 Basic Programming Sam-

Precautions for Correct Use

• When you use the MC_SetPosition instruction for an axis in motion, the travel distance be-
tween execution of the instruction and changing the actual position will remain as error.
• Home will become undefined when the MC_Set Position instruction is executed.

ples
Axis Parameter Settings 10
Parameter name Setting Description

10-2-15 Changing the Actual Position during Velocity Control

Count Mode Rotary Mode Rotary Mode is set as the count mode for the position.
Modulo Maximum Position 360 The Modulo Maximum Position is set to 360.
Setting Value
Modulo Minimum Position 0 The Modulo Minimum Position is set to 0.
Setting Value
Homing Method Zero position preset A zero position preset is performed to define home.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAX- --- This is the Axis Variable for axis 0.
IS_REF
MC_Ax- BOOL FALSE TRUE when there is a minor fault level error for axis 0.
is000.MFaultLvl.Active
Pwr_Status BOOL FALSE This variable is assigned to the Status output variable from the PWR
instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
StartSetPos BOOL FALSE This variable gives the status of the external button that is used to
change the actual position.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned ON if EtherCAT proc-
ess data communications are active and normal.
Vel_Ex BOOL FALSE This variable is used to execute the MC_MoveVelocity (Velocity Con-
trol) instruction.
It is used in ST programming.
SetPos_Ex BOOL FALSE This variable is used to execute the MC_SetPosition instruction.
It is used in ST programming.

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10 Sample Programming

Timing Chart

 Ladder Diagram
MC_Power
Pwr_Status

MC_MoveVelocity
VEL.Execute

Ve_InVel

Vel_Bsy

MC_SetPosition
SET_POS.Execute

Set_Pos_D

Set_Pos_Bsy

MC_Axis000

Command current velocity

Command current position

Actual current position

Time

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 ST Programming
MC_MoveVelocity
Vel_Ex

ples
Ve_InVel

Vel_Bsy
10
MC_SetPosition
Set_Pos_Ex

10-2-15 Changing the Actual Position during Velocity Control

Set_Pos_D

Set_Pos_Bsy

MC_Axis000

Command current velocity

Command current position

Actual current position

Time

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr_Status
Enable Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID

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10 Sample Programming

If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.

MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler

If the Servo is ON for axis 0, velocity control is executed.

VEL
MC_MoveVelocity
Pwr_Status Vel_InVel
MC_Axis000 Axis Axis
Execute InVelocity
LREAL#36.0 Velocity Busy Vel_Bsy
LREAL#1000.0 Acceleration Active Vel_Act
LREAL#1000.0 Deceleration CommandAborted Vel_Ca
LREAL#100.0 Jerk Error Vel_Err
Direction ErrorID Vel_ErrID
Continuous
BufferMode

If StartSetPos is TRUE while the Servo is ON, the Set Position instruction is executed.
SET_POS
MC_SetPosition
Pwr_Status StartSetPos Set_PosD
MC_Axis000 Axis Axis
Execute Done
LREAL#0.0 Position Busy Set_Pos_Bsy
ReferenceType CommandAborted Set_Pos_Ca
Relative Error Set_Pos_Err
ExecutionMode ErrorID Set_Pos_ErrID

ST Programming
// If the input parameters for the instructions are not set, the target values and
other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveVelocity (Velocity Control) instruction ar
e set.
Vel_Vel := LREAL#36.0;
Vel_Acc := LREAL#1000.0;
Vel_Dec := LREAL#1000.0;
Vel_Jrk := LREAL#100.0;
// The input parameters for the MC_SetPosition instruction are set.
Set_Pos_Pos := LREAL#0.0;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
// If the Servo Drive is not ready, turn OFF the Servo.

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IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;

ples
END_IF;

// If a minor fault level error occurs for axis 0, the error handler for the device 10
(FaultHandler) is executed.
// Program the FaultHandler according to the device.

10-2-15 Changing the Actual Position during Velocity Control

IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// If the Servo is ON for axis 0, velocity control is executed for axis 0.

IF Pwr_Status=TRUE THEN
Vel_Ex :=TRUE;
END_IF;

// If StartSetPos is TRUE while the Servo is ON, the Set Position instruction is ex
ecuted.
IF (Pwr_Status=TRUE) AND (StartSetPos=TRUE) THEN
Set_Pos_Ex :=TRUE;
END_IF;

//MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);

//MC_MC_MoveVelocity
VEL(
Axis := MC_Axis000,
Execute := Vel_Ex,
Velocity := Vel_Vel,
Acceleration := Vel_Acc,
Deceleration := Vel_Dec,
Jerk := Vel_Jrk,
InVelocity => Vel_InVel,
Busy => Vel_Bsy,
Active => Vel_Act,
CommandAborted => Vel_Ca,

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10 Sample Programming

Error => Vel_Err,

ErrorID => Vel_ErrID
);

//MC_SetPosition
SET_POS(
Axis := MC_Axis000,
Execute := Set_Pos_Ex,
Position := Set_Pos_Pos,
Done => Set_Pos_D,
Busy => Set_Pos_Bsy,
CommandAborted => Set_Pos_Ca,
Error => Set_Pos_Err,
ErrorID => Set_Pos_ErrID
);

10-2-16 Changing a Cam Data Variable and Saving the Cam Table
This sample uses the user program to change a cam data variable that was created on Cam Editor of
the Sysmac Studio.
The displacements for phases of 0° to 180° are multiplied by 2 and the displacements for phases of
181° to 360° are multiplied by 0.5.

If the changes to the cam data are completed, the motion control instruction MC_SaveCamTable is
used to save the cam data variable to non-volatile memory in the CPU Unit.
When saving the data is completed, the MC_CamIn (Start Cam Operation) instruction is executed to
start cam motion.

Precautions for Correct Use

• If the phases are not in ascending order, an error occurs when the MC_CamIn (Start Cam
Operation) instruction is executed.
The order of the phases are not checked in this sample. To check the order of the phases,
execute the MC_SetCamTableProperty (Set Cam Table Properties) instruction.
• There is a limit to the number of times that you can write non-volatile memory in the CPU
Unit.
Save cam table data only when necessary.
• If the power supply to the Controller is turned OFF before the data is saved with the MC_Sa-
veCamTable instruction, the cam data variable will revert to the contents from before it was
changed by the user program.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
CamProfile0 ARRAY[0..360] OF --- This is the cam data variable. *1
_sMC_CAM_REF

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Variable name Data type Default Comment
Pwr1_Status BOOL FALSE This variable is assigned to the Status output variable from the
PWR1 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output variable from the

ples
PWR2 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
StartPg BOOL FALSE When this variable is TRUE, the Servo is turned ON if EtherCAT
process data communications are active and normal.
10
WriteCamdata BOOL FALSE This variable is used to start changing the cam data.

10-2-16 Changing a Cam Data Variable and Saving the Cam Table
It is changed to TRUE to start editing.
WriteDone BOOL FALSE This variable is used to indicate that the changes to the cam data
are completed.
It is changed to TRUE when the changes to the cam data are
completed.
SaveCamtable BOOL FALSE This variable is used to execute the Save Cam Table instruction.
_MC_COM.Sta- BOOL FALSE This system-defined variable is TRUE while cam table data is be-
tus.CamTableBusy ing saved.
Sv_Cam_Ex BOOL FALSE This variable is used to execute the MC_SaveCamTable instruc-
tion.
Camin_Ex BOOL FALSE This variable is used to execute the MC_CamIn (Start Cam Oper-
ation) instruction.
It is used in ST programming.
*1. The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array is 0 to 360
in this sample.

Timing Chart

 Ladder Diagram
Write_Camdata

WriteDone

SaveCamtable

_MC_COM.Status.CamTableBusy

SV_CAM Sv_Cam_Ex

Sv_Cam_Bsy

Sv_Cam_D

CAMIN Camin_Ex

Camin_Bsy

Camin_Act

Camin_InCam

Camin_InSync

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10 Sample Programming

 ST Programming
Write_Camdata

WriteDone

SaveCamtable

_MC_COM.Status.CamTableBusy

SV_CAM Sv_Cam_Ex

Sv_Cam_Bsy

Sv_Cam_D

CAMIN Camin_Ex

Camin_Bsy

Camin_Act

Camin_InCam

Camin_InSync

Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready Lock0

Check if the Servo Drive for axis 1 is ready when StartPg is TRUE.
StartPg MC_Axis001.DrvStatus.Ready Lock1

If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
PWR1
MC_Power
Lock0 MC_Axis000 Axis Axis Pwr1_Status
Enable Status
Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID

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10-2 Basic Programming Sam-

If the Servo Drive for axis 1 is ready, turn ON the Servo for axis 1.
PWR2
MC_Power
Lock1 MC_Axis001 Axis Axis Pwr2_Status
Enable Status
Busy Pwr2_Bsy

ples
Error Pwr2_Err
ErrorID Pwr2_ErrID

10
If a minor fault level error occurs in the MC Common Error Status variable or for any of the axes, the error
handler for the device (FaultHandler) is executed. Program the FaultHandler according to the device.

10-2-16 Changing a Cam Data Variable and Saving the Cam Table
MC_Axis000.MFaultLvl.Active FaultHandler
EN FaultHandler
MC_Axis001.MFaultLvl.Active

_MC_COM.MFaultLvl.Active

If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
HM1
MC_Home
Pwr1_Status MC_Axis000.Details.Homed MC_Axis000 Axis Axis Hm1_D
Execute Done
Busy Hm1_Bsy
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID

If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
HM2
MC_Home
Pwr1_Status MC_Axis001.Details.Homed MC_Axis001 Axis Axis Hm2_D
Execute Done
Busy Hm2_Bsy
CommandAborted Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID

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10 Sample Programming

If WriteCamData is TRUE and a cam table file is not being saved, the values in the cam data variable are
changed.
The displacements for phases from 0° to 180° are multiplied by 2 and the displacements for phases from 181°
to 360° are multiplied by 0.5. When the changes to the displacements are completed, WriteDone is changed
to TRUE.
WriteCamdata _MC_COM.Status.CamTableBusy
1 FOR Index := UINT#0 TO UINT#360 DO
2 IF Index<UINT#180 THEN
3 CamProfile0[INDEX].Distance:=CamProfile0[Index].Distance*REAL#2.0;
4 ELSE
5 CamProfile0[INDEX].Distance:=CamProfile0[Index].Distance*REAL#0.5;
6 END_IF;
7 END_FOR;
8 WriteDone:=TRUE;
9 WriteCamData:=FALSE;

If the changes to the cam data variable are completed, SaveCamtable is TRUE, and a cam table file save
operation is not in progress, Sv_Cam_Ex is changed to TRUE.

1 IF (WriteDone=TRUE) AND (SaveCamtable=TRUE) AND (_MC_COM.Status.CamTableBusy=FALSE) THEN

2 Sv_Cam_Ex := TRUE;
3 END_IF;

If Sv_Ca_TimeUp is TRUE, Sv_Cam_Ex is changed to FALSE.

If Sv_Cam_Ex changes to FALSE, Sv_Ca_TimeUp changes to FALSE and Sv_Cam_Ex changes to TRUE.
The MC_SaveCamTable instruction is executed again.
Sv_Cam_Ex Sv_Ca_TimeUp Sv_Cam_Ex

If Sv_Cam_Ex changes to TRUE, the MC_SaveCamTable instruction is executed.

SV_CAM
MC_SaveCamTable
Sv_Cam_Ex CamProfile0 CamTable CamTable Sv_Cam_D
Execute Done
Busy Sv_Cam_Bsy
CommandAborted Sv_Cam_Ca
Error Sv_Cam_Err
ErrorID Sv_Cam_ErrID

If Sv_Ca_CountUp is FALSE, a Cannot Execute Save Cam Table error occurs and Sv_Cam_Disable is
changed to TRUE.
Sv_Ca_CountUp Sv_Cam_Ca Sv_Cam_Disable

One second after a Cannot Execute Save Cam Table error occurs, Sv_Ca_TimeUp is changed to TRUE.
When Sv_Ca_TimeUp changes to TRUE, Sv_Cam_Ex changes to FALSE.
Sv_Ca_TON
Sv_Cam_Disable TON Sv_Ca_TimeUp
In Q
T#1s PT ET

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10-2 Basic Programming Sam-

Sv_Ca_CountLoad changes to TRUE for one period when the cam table is saved.
If Sv_Ca_CountLoad is TRUE, the retry counter is reset.

Sv_Ca_CountLoad
SaveCamTable

ples
If a Cannot Execute Save Cam Table error occurs three times, Sv_Ca_CountUp is changed to TRUE. 10
When Sv_Ca_CountUp changes to TRUE, Sv_Cam_Disable is changed to FALSE.
Retry processing for the MC_SaveCamTable instruction is completed.

10-2-16 Changing a Cam Data Variable and Saving the Cam Table
Sv_Ca_CTD
Sv_Cam_Disable CTD Sv_Ca_CountUP
CD Q
Sv_Ca_CountLoad Load CV
INT#3 PV

If homing is completed for axis 0, velocity control is executed.

VEL
MC_MoveVelocity
Hm1_D MC_Axis000 Axis Axis Vel_InVel
Execute InVelocity
LREAL#1000.0 Velocity Busy Vel_Bsy
LREAL#0.0 Acceleration Active Vel_Act
LREAL#0.0 Deceleration CommandAborted Vel_Ca
Jerk Error Vel_Err
_eMC_DIRECTION#_mcPositiveDirection Direction ErrorID Vel_ErrID
BOOL#False Continuous
BufferMode

If the changes to the cam data variable and saving the cam table are completed and axis 0 is at the target velocity,
the cam operation is executed.

CAMIN
MC_CamIn
MC_Axis000 Master Master
MC_Axis001 Slave Slave
WriteDone Vel_InVel Sv_Cam_D CamProfile0 CamTable CamTable CamIn_InCam
Execute InCam
BOOL#True Periodic InSync CamIn_InSync
_eMC_START_MODE#_mcRelativePosition StartMode EndOfProfile CamIn_Eop
LREAL#0.0 StartPosition Index CamIn_Index
LREAL#0.0 MasterStartDistance Busy CamIn_Bsy
LREAL#1.0 MasterScaling Active CamIn_Act
LREAL#1.0 SlaveScaling CommandAborted CamIn_Ca
LREAL#0.0 MasterOffset Error CamIn_Err
LREAL#0.0 SlaveOffset ErrorID CamIn_ErrID
_eMC_REFERENCE_TYPE#_mcCommand ReferenceType
_eMC_DIRECTION#_mcNoDirection Direction
CamTransition
BufferMode

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10 Sample Programming

ST Programming
// If the input parameters for the instructions are not set, the target values and
other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveVelocity (Velocity Control) instruction ar
e set.
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#0.0;
Vel_Dec := LREAL#0.0;
Vel_Dir := _eMC_DIRECTION#_mcPositiveDirection;
// The input parameters for the MC_CamIn (Start Cam Operation) instruction are se
t.
Camin_Em := TRUE;
Camin_Sm := _eMC_START_MODE#_mcRelativePosition;
Camin_Sp := LREAL#0.0;
Camin_Msd := LREAL#0.0;
Camin_Ms := LREAL#1.0;
Camin_Ss := LREAL#1.0;
Camin_Mo := LREAL#0.0;
Camin_So := LREAL#0.0;
Camin_Rt := _eMC_REFERENCE_TYPE#_mcCommand;
Camin_Dir := _eMC_DIRECTION#_mcNoDirection;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
// If the Servo Drive is not ready, turn OFF the Servo.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En :=TRUE;
ELSE
Pwr1_En :=FALSE;
END_IF;

// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 1.
// If the Servo Drive is not ready, turn OFF the Servo.
IF (StartPg=TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En :=TRUE;
ELSE
Pwr2_En :=FALSE;
END_IF;

// If a minor fault level error occurs in the MC Common Error Status variable or fo
r any of the axes, the error handler for the device (FaultHandler) is executed.

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10-2 Basic Programming Sam-

// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (_MC_COM.MFaultLvl.Active=TRUE) THEN
FaultHandler();

ples
END_IF;

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction i 10
s executed for axis 0.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN

10-2-16 Changing a Cam Data Variable and Saving the Cam Table
Hm1_Ex :=TRUE;
END_IF;

// If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction i
s executed for axis 1.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex :=TRUE;
END_IF;

// If WriteCamData is TRUE and a cam table file is not being saved, the values in t
he cam data variable are changed.
// The displacements for phases of 0° to 180° are multiplied by 2 and the displacem
ents for phases of 181° to 360° are multiplied by 0.5.
// When the changes are completed, WriteDone is changed to TRUE.
IF (WriteCamdata=TRUE) AND (_MC_COM.Status.CamTableBusy=FALSE) THEN
FOR Index := UINT#0 TO UINT#360 DO
IF Index<UINT#180 THEN
CamProfile0[Index].Distance:=CamProfile0[Index].Distance*REAL#2.0;
ELSE
CamProfile0[Index].Distance:=CamProfile0[Index].Distance*REAL#0.5;
END_IF;
END_FOR;
WriteDone :=TRUE;
WriteCamdata :=FALSE;
END_IF;

// If homing is completed for axis 0, velocity control is executed.

IF Hm1_D=TRUE THEN
Vel_Ex :=TRUE;
END_IF;

// If the changes to the cam data variable are completed, SaveCamtable is TRUE, and
a cam table file save operation is not in progress, Sv_Cam_Ex is changed to TRUE.
// If Sv_Cam_Ex is TRUE, the MC_SaveCamTable instruction is executed.
IF (WriteDone=TRUE)
AND (SaveCamtable=TRUE)
AND (_MC_COM.Status.CamTableBusy=FALSE) THEN

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10 Sample Programming

Sv_Cam_Ex := TRUE;
END_IF;

// If Sv_Ca_TimeUp is TRUE, Sv_Cam_Ex is changed to FALSE.

// If Sv_Cam_Ex is FALSE, Sv_Ca_TimeUp changes to FALSE and Sv_Cam_Ex changes to TR
UE.
// The MC_SaveCamTable instruction is executed again.
IF (Sv_Cam_Ex=TRUE) AND (Sv_Ca_TimeUp=FALSE) THEN
Sv_Cam_Ex := TRUE;
ELSE
Sv_Cam_Ex := FALSE;
END_IF;

// If Sv_Ca_CountUp is FALSE and a Cannot Execute Save Cam Table error occurs, Sv_C
am_Disable is changed to TRUE.
IF (Sv_Ca_CountUP=FALSE) AND (Sv_Cam_Ca=TRUE) THEN
Sv_Cam_Disable := TRUE;
ELSE
Sv_Cam_Disable := FALSE;
END_IF;

// One second after the Cannot Execute Save Cam Table error occurs, Sv_Ca_TimeUp is
changed to TRUE.
// If Sv_Ca_TimeUp changes to TRUE, Sv_Cam_Ex is changed to FALSE.
Sv_Ca_TON(
In := Sv_Cam_Disable,
PT := T#1s,
Q => Sv_Ca_TimeUp
);

// Sv_Ca_CountLoad is changed to TRUE for one period when the cam table is saved.
// If Sv_Ca_CountLoad changes to TRUE, the retry counter is reset.
R_TRIG1(SaveCamtable, Sv_Ca_CountLoad);

// If a Cannot Execute Save Cam Table error occurs three times, Sv_Ca_CountUP is ch
anged to TRUE.
// If Sv_Ca_CountUP changes to TRUE, Sv_Cam_Disable is changed to FALSE.
// Retry processing for the MC_SaveCamTable instruction is completed.
Sv_Ca_CTD(
CD := Sv_Cam_Disable,
LOAD := Sv_Ca_CountLoad,
PV := INT#3,
Q => Sv_Ca_CountUP
);

// If the changes to the cam data variable and saving the cam table are completed a
nd axis 0 is at the target velocity, the cam operation is executed.

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 10 Sample Programming

10-2 Basic Programming Sam-

IF (Vel_InVel=TRUE)
AND (WriteDone=TRUE)
AND (Sv_Cam_D=TRUE) THEN
Camin_Ex :=TRUE;
END_IF;

ples
//MC_SaveCamTable
SV_CAM( 10
CamTable :=CamProfile0,
Execute := Sv_Cam_Ex,

10-2-16 Changing a Cam Data Variable and Saving the Cam Table
Done => Sv_Cam_D,
Busy => Sv_Cam_Bsy,
CommandAborted => Sv_Cam_Ca,
Error => Sv_Cam_Err,
ErrorID => Sv_Cam_ErrID
);

CAMIN(
Master := MC_Axis000,
Slave := MC_Axis001,
CamTable := CamProfile0,
Execute := Camin_Ex,
Periodic := Camin_Em,
StartMode := Camin_Sm,
StartPosition := Camin_Sp,
MasterStartDistance := Camin_Msd,
MasterScaling := Camin_Ms,
SlaveScaling := Camin_Ss,
MasterOffset := Camin_Mo,
SlaveOffset := Camin_So,
ReferenceType := Camin_Rt,
Direction := Camin_Dir,
InCam => Camin_InCam,
InSync => Camin_InSync,
EndOfProfile => Camin_Eop,
Index => Camin_Index,
Busy => Camin_Bsy,
Active => Camin_Act,
CommandAborted => Camin_Ca,
Error => Camin_Err,
ErrorID => Camin_ErrID
);

// MC_Power for axis 0

PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-89

10 Sample Programming

Status => Pwr1_Status,

Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);

// MC_Power for axis 1

PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);

// MC_Home for axis 0

HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);

// MC_Home for axis 1

HM2(
Axis := MC_Axis001,
Execute := Hm2_Ex,
Done => Hm2_D,
Busy => Hm2_Bsy,
CommandAborted => Hm2_Ca,
Error => Hm2_Err,
ErrorID => Hm2_ErrID
);

//MC_MoveVelocity
VEL(
Axis := MC_Axis000,
Execute := Vel_Ex,
Velocity := Vel_Vel,
Acceleration := Vel_Acc,
Deceleration := Vel_Dec,
Direction := Vel_Dir,
InVelocity => Vel_InVel,

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 10 Sample Programming

10-2 Basic Programming Sam-

Busy => Vel_Bsy,
Active => Vel_Act,
CommandAborted => Vel_Ca,
Error => Vel_Err,
ErrorID => Vel_ErrID

ples
);

10
10-2-17 Temporarily Changing Axis Parameters
This sample uses the MC_Write (Write MC Setting) instruction to change the settings of the In-Position

10-2-17 Temporarily Changing Axis Parameters

Check Time, Positive Software Limit, and Negative Software Limit.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
InitFlag BOOL FALSE This variable indicates the status of parameter settings.
FALSE while parameters are changed. TRUE after the changes to the parame-
ters are completed.
StartPg BOOL FALSE This variable is used to execute the MC_Write instruction.

Ladder Diagram
The axis parameters are set. When setting the parameters is completed, InitFlag is changed to TRUE.

InitFlag
1 // In-position Check Time
2 Write1_Sv := UINT#10;
3 Write1_Pn := _eMC_PARAMETER_NUMBER#_mcInPosTime;
4 // Positive Software Limit
5 Write2_Sv := LREAL#10000.0;
6 Write2_Pn := _eMC_PARAMETER_NUMBER#_mcPosiSwLmt;
7 // Negative Software Limit
8 Write3_Sv := LREAL#-10000.0;
9 Write3_Pn := _eMC_PARAMETER_NUMBER#_mcNegaSwLmt;
10 // The Initialization Completed Flag is changed to TRUE.
11 InitFlag := TRUE;

If StartPg is TRUE, the setting of the In-position Check Time is changed.

WRITE1
MC_Write
MC_Axis000 Target Target
StartPg Write1_Sv SettingValue SettingValue Write1_D
Execute Done
Write1_Pn ParameterNumber Busy Write1_Bsy
CommandAborted Write1_Ca
Error Write1_Err
ErrorID Write1_ErrID

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10 Sample Programming

If changing the setting of the In-Position Check Time is completed,

the setting of the Positive Software Limit is changed.
WRITE2
MC_Write
MC_Axis000 Target Target
Write1_D Write2_Sv SettingValue SettingValue Write2_D
Execute Done
Write2_Pn ParameterNumber Busy Write2_Bsy
CommandAborted Write2_Ca
Error Write2_Err
ErrorID Write2_ErrID

If changing the setting of the Positive Software Limit is completed, the setting of the Negative Software Limit is changed.
WRITE3
MC_Write
MC_Axis000 Target Target
Write2_D Write3_Sv SettingValue SettingValue Write3_D
Execute Done
Write3_Pn ParameterNumber Busy Write3_Bsy
CommandAborted Write3_Ca
Error Write3_Err
ErrorID Write3_ErrID

ST Programming
// The axis parameters are set. When setting the parameters is completed, InitFlag
is changed to TRUE.
IF InitFlag=FALSE THEN
// In-position Check Time
Write1_Sv := UINT#10;
Write1_Pn := _eMC_PARAMETER_NUMBER#_mcInPosTime;
// Positive Software Limit
Write2_Sv := LREAL#10000.0;
Write2_Pn := _eMC_PARAMETER_NUMBER#_mcPosiSwLmt;
// Negative Software Limit
Write3_Sv := LREAL#-10000.0;
Write3_Pn := _eMC_PARAMETER_NUMBER#_mcNegaSwLmt;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If StartPg is TRUE, the setting of the In-position Check Time is changed.

IF StartPg =TRUE THEN
Write1_Ex := TRUE;
END_IF;

// If changing the setting of the In-Position Check Time is completed, the setting
of the Positive Software Limit is changed.
IF Write1_D = TRUE THEN

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 10 Sample Programming

10-2 Basic Programming Sam-

Write2_Ex := TRUE;
END_IF;

// If changing the setting of the Positive Software Limit is completed, the setting
of the Negative Software Limit is changed.

ples
IF Write2_D = TRUE THEN
Write3_Ex := TRUE;
END_IF; 10

// MC_Write

10-2-17 Temporarily Changing Axis Parameters

WRITE1(
Target := MC_Axis000,
SettingValue := Write1_Sv,
Execute := Write1_Ex,
ParameterNumber := Write1_Pn,
Done => Write1_D,
Busy => Write1_Bsy,
CommandAborted => Write1_Ca,
Error => Write1_Err,
ErrorID => Write1_ErrID
);

WRITE2(
Target := MC_Axis000,
SettingValue := Write2_Sv,
Execute := Write2_Ex,
ParameterNumber := Write2_Pn,
Done => Write2_D,
Busy => Write2_Bsy,
CommandAborted => Write2_Ca,
Error => Write2_Err,
ErrorID => Write2_ErrID
);

WRITE3(
Target := MC_Axis000,
SettingValue := Write3_Sv,
Execute := Write3_Ex,
ParameterNumber := Write3_Pn,
Done => Write3_D,
Busy => Write3_Bsy,
CommandAborted => Write3_Ca,
Error => Write3_Err,
ErrorID => Write3_ErrID
);

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-93

10 Sample Programming

10-2-18 Updating the Cam Table End Point Index

This sample increases the valid number of data points by 10 in a cam table with a maximum number
of data points of 110 and a valid number of data points of 100. It also updates the end point index.

Main Variables Used in the Programming Samples

Variable name Data type Default Comment
CamProfile0 ARRAY[0..109] OF --- This is a cam data variable with a maximum number of
_sMC_CAM_REF data points of 110. *1
It contains 100 valid cam data points and 10 null cam da-
ta points.
WriteCamdata BOOL FALSE This variable is used to start changing the cam data.
It is changed to TRUE to start editing.
WriteDone BOOL FALSE This variable is used to indicate that the changes to the
cam data are completed.
It is changed to TRUE when the changes to the cam data
are completed.
*1. The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array
is 0 to 109 in this sample.

Ladder Diagram
The axis parameters are set. When setting the parameters is completed, InitFlag is changed to TRUE.

InitFlag
1 // The phases and displacements for null cam data are set.
2 PhaseData:=REAL#99.0;
3 DistanceData:=REAL#250.0;
4 // The Initialization Completed Flag is changed to TRUE.
5 InitFlag := TRUE;

If a minor fault level error occurs in the MC Common Error Status variable, the error handler for the device
(FaultHandler) is executed. Program the FaultHandler according to the device.

_MC_COM.MFaultLvl.Active FaultHandler
EN FaultHandler

If StartPg and WriteCamData are TRUE, the values in the cam data variable are changed.
Phases and displacements are set for CamProfile[100] to CamProfile[109].
When the changes to the cam data variable are completed, WriteDone is changed to TRUE.

StartPg WriteCamData
1 FOR Index := UINT#100 TO UINT#109 DO
2 PhaseData:=PhaseData+REAL#1.0;
3 DistanceData:=DistanceData+REAL#3.0;
4 CamProfile0[Index].Phase:=PhaseData;
5 CamProfile0[Index].Distance:=DistanceData;
6 END_FOR;
7 WriteDone:=TRUE;

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 10 Sample Programming

10-2 Basic Programming Sam-

If the changes to the cam data variable are completed, the Set Cam Table Properties instruction is executed.
SET_CAM
MC_SetCamTableProperty
WriteDone CamProfile0 CamTable CamTable CamProfile0 Set_Cam_D
Execute Done

ples
EndPointIndex Set_Cam_Epi
MaxDataNumber Set_Cam_Mdn
Busy Set_Cam_B
CommandAborted
Error
Set_Cam_Ca
Set_Cam_Err
10
ErrorID Set_Cam_ErrID

10-2-18 Updating the Cam Table End Point Index

ST Programming
// The axis parameters are set. When setting the parameters is completed, InitFlag
is changed to TRUE.
IF InitFlag=FALSE THEN
// The phases and displacements for null cam data are set.
PhaseData :=REAL#99.0;
DistanceData :=REAL#250.0;
// The Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;

// If a minor fault level error occurs in the MC Common Error Status variable, the
error handler for the device is executed.
// Program the FaultHandler according to the device.
IF _MC_COM.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;

// If StartPg and WriteCamData are TRUE, the values in the cam data variable are ch
anged.
// The phases and displacements are set in CamProfile[100] to CamProfile[109].
// When the changes to the cam data variable are completed, WriteDone is changed to
TRUE.
IF StartPg=TRUE
AND WriteCamData=TRUE THEN
FOR Index := UINT#100 TO UINT#109 DO
PhaseData :=PhaseData+REAL#1.0;
DistanceData :=DistanceData+REAL#3.0;
CamProfile0[Index].Phase :=PhaseData;
CamProfile0[Index].Distance :=DistanceData;
END_FOR;
WriteDone :=TRUE;
END_IF;

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 10-95

10 Sample Programming

// If the changes to the cam data variable are completed, the Set Cam Table Propert
ies instruction is executed.
IF WriteDone=TRUE THEN
Set_Cam_Ex := TRUE;
END_IF;

//MC_SetCamTableProperty
SET_CAM(
CamTable := CamProfile0,
Execute := Set_Cam_Ex,
Done => Set_Cam_D,
EndPointIndex => Set_Cam_Epi,
MaxDataNumber => Set_Cam_Mdn,
Busy => Set_Cam_B,
CommandAborted => Set_Cam_Ca,
Error => Set_Cam_Err,
ErrorID => Set_Cam_ErrID
);

10-96 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 11
11
Troubleshooting
This section describes the overview of the methods for checking errors.

11-1 Overview of Troubleshooting...................................................................... 11-2

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) 11-1

11 Troubleshooting

11-1 Overview of Troubleshooting

You manage all of the errors that occur on the NJ/NX-series Controller as events.
This allows you to see what errors have occurred and find corrections for them with the same methods
for the entire range of errors that is managed (i.e., CPU Unit, NX Units, NX-series Slave Terminals,
EtherCAT slaves,*1 and CJ-series Units).
*1. Only Sysmac devices are supported.

Host computer HMI

Checking Network Status

EtherNet/IP

Troubleshooter

Network Configurator
Built-in
EtherNet/IP CJ-series Units and
NJ/NX-series
Port NX Units
CPU Unit
Troubleshooting

Sysmac Studio

Built-in EtherCAT port

EtherCAT

EtherCAT
slaves

Error management range for NJ/NX-series Controller

You can use the troubleshooting functions of the Sysmac Studio or the Troubleshooter on an HMI to
quickly check for errors that have occurred and find corrections for them.

Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503-E1-19 or later) for error types and
details, specific corrections when errors occur, and troubleshooting information on the entire NJ/NX-
series Controllers.

11-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 A
Appendices
A
This section describes settings and connection methods for OMRON 1S-series Servo
Drive and G5-series Servo Drive objects.

A-1 Connecting the 1S-series Servo Drive ........................................................ A-2

A-1-1 Wiring the Servo Drive .................................................................................... A-2
A-1-2 Servo Drive Settings........................................................................................ A-2
A-2 Connecting the G5-series Servo Drive.......................................................A-11
A-2-1 Wiring the Servo Drive .................................................................................. A-11
A-2-2 Servo Drive Settings...................................................................................... A-11
A-3 Connecting to Encoder Input Terminals ................................................... A-21
A-3-1 Wiring to Encoder Input Terminals ................................................................ A-21
A-3-2 Settings for Encoder Input Terminals ............................................................ A-21
A-4 Connecting to NX Units .............................................................................. A-27
A-5 PDS State Transition ................................................................................... A-28
A-5-1 PDS State Control Method ............................................................................ A-28
A-5-2 Main Circuit Power Supply OFF Detection.................................................... A-29
A-6 Terminology ................................................................................................. A-30
A-6-1 NJ/NX-series Controller................................................................................. A-30
A-6-2 Motion Control ............................................................................................... A-31
A-6-3 EtherCAT Communications ........................................................................... A-32
A-7 Version Information .................................................................................... A-34

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-1

Appendices

A-1 Connecting the 1S-series Servo Drive

This appendix describes connections to an OMRON 1S-series Servo Drive with built-in EtherCAT
communications.

A-1-1 Wiring the Servo Drive

Servo Drives are connected using EtherCAT communications.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for infor-
mation on the connection methods.

A-1-2 Servo Drive Settings

This section outlines the Servo Drive settings that are used when connected to OMRON 1S-series
Servo Drives with built-in EtherCAT communications (i.e., the applicable Servo Drives for the MC
Function Module).
For details on the Servo Drives, refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT Communications User’s Manual (Cat. No. I586) or AC Servomotors/Servo Drives 1S-series
with Built-in EtherCAT Communications and Safety Functionality User’s Manual (Cat. No. I621).

Assigning External Input Signals

The MC Function Module uses the general-purpose inputs of the Servo Drive for the following input
signals.
• Immediate stop input
• Positive limit input
• Negative limit input
• Home proximity input
• External latch trigger signals (latch input 1 and latch input 2)

 Assigning Positive Limit Inputs, Negative Limit Inputs, and Home Proximi-
ty Input
The default settings of the input signals of an OMRON 1S-series Servo Drive are listed in the fol-
lowing table.

Signal name Input signal Wiring of R88D-1SN£ Wiring of R88D-1SAN£

Immediate stop Servo Drive general-pur- Pin 12 on connector CN1, Pin 5 on connector CN1,
input pose input 1 (IN1) NC*1 NC*1
Positive limit input Servo Drive general-pur- Pin 32 on connector CN1, Pin 19 on connector CN1,
pose input 2 (IN2) NC*2 NC*2
Negative limit in- Servo Drive general-pur- Pin 13 on connector CN1, Pin 6 on connector CN1,
put pose input 3 (IN3) NC*3 NC*3
Home proximity Servo Drive general-pur- Pin 33 on connector CN1, Pin 20 on connector CN1,
input pose input 4 (IN4) NO NO
*1. The signal name for the Servo Drive is the error stop input.
*2. The signal name for the Servo Drive is the positive drive prohibit input.
*3. The signal name for the Servo Drive is the negative drive prohibit input.

A-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

 Trigger Signal Assignments for External Latches

A-1 Connecting the 1S-series Servo Drive

The input signals in the following table are assigned to external latch trigger signals by default for
the OMRON 1S-series Servo Drive.

Settings for the TriggerInput (Trigger Input Condition)

External latch Wiring of Wiring of
input variable of the MC_TouchProbe instruction
trigger signal R88D-1SN£ R88D-1SAN£
Mode InputDrive LatchID
0: mcDrive 0: mcEncoder- --- Encoder Z phase --- ---
Mark
1: mcEXT 1: mcLatch1 Servo Drive gener- Pin 15 on connec- Pin 8 on connector
al-purpose input 7 tor CN1, NO*1 CN1, NO*1
(IN7)
2: mcLatch2 Servo Drive gener- Pin 35 on connec- Pin 22 on connec-
al-purpose input 8 tor CN1, NO*2 tor CN1, NO*2
(IN8) A
1: mcController --- --- Variable specified --- ---
by TriggerVariable

A-1-2 Servo Drive Settings

*1. The signal name for the Servo Drive is the external latch input 1.
*2. The signal name for the Servo Drive is the external latch input 2.

Backlash Compensation
The MC Function Module does not perform backlash compensation.
If you require backlash compensation, use the compensation function on the Servo Drive.
The objects that must be set on the Servo Drive are listed in the following table.

Subin-
Index Name Description
dex
3001 hex --- Machine ---
02 hex Backlash Compensation Selects whether to enable or disable backlash com-
Selection pensation in the position control, and the operation di-
rection for the compensation.*1
0: Backlash compensation disabled
1: Compensate at the first positive operation after ser-
vo ON
2: Compensate at the first negative operation after ser-
vo ON
03 hex Backlash Compensation Sets the backlash compensation amount in the posi-
Amount tion control.
04 hex Backlash Compensation Sets the backlash compensation time constant in the
Time Constant position control.
*1. The default setting is 0: Backlash compensation disabled.

For details on the backlash function, refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT Communications User’s Manual (Cat. No. I586) or AC Servomotors/Servo Drives 1S-series
with Built-in EtherCAT Communications and Safety Functionality User’s Manual (Cat. No. I621).

PDO Mapping
This section describes mapping PDOs to control servo axes from the MC Function Module.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-3

Appendices

To use motion control functions, you must map the objects that are required for those functions to
PDOs.
The PDO map is a list of required objects that is prepared in advance.

You select the PDOs to use in the Edit PDO Map Settings Window of the EtherCAT Tab Page in the
Sysmac Studio.

The following PDOs are mapped by default in the Sysmac Studio.

RxPDO: 261th Controlword (6040 hex), Target Position (607A hex), Target Velocity (60FF hex), Target
Receive PDO Torque (6071 hex), Modes of Operation (6060 hex), Touch Probe Function (60B8 hex),
Mapping (1704 Max Profile Velocity (607F hex), Positive Torque Limit Value (60E0 hex), and Negative Tor-
hex) que Limit Value (60E1 hex)
TxPDO: 259th Error Code(603F hex), Statusword (6041 hex), Position Actual Value (6064 hex), Torque
Transmit PDO Actual Value (6077 hex), Modes of Operation Display (6061 hex), Touch Probe Status
Mapping (1B02 (60B9 hex), Touch Probe Pos1 Pos Value (60BA hex), Touch Probe Pos2 Pos Value (60BC
hex) hex), and Digital Inputs (60FD hex)

Additional Information

If you use the recommended OMRON Servo Drives, R88D-1SN£££-ECT or R88D-1SAN££

£-ECT, it is not necessary to change the default PDO map on the Sysmac Studio.

Relationships between MC Function Module and Process Data

The functions of the MC Function Module are related to the information in the process data objects.
Depending on the EtherCAT slave configuration and functions that are used by the MC Function Mod-
ule, you sometimes must change the relationships between the MC Function Module and the PDOs.

A-4 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

To access the settings, click the Detailed Settings Button on the Axis Basic Settings Display in the

A-1 Connecting the 1S-series Servo Drive

Sysmac Studio.

A-1-2 Servo Drive Settings

Additional Information

If you use the recommended OMRON Servo Drives, R88D-1SN£££-ECT or R88D-1SAN££

£-ECT, it is not necessary to change the the default relationships between MC Function Mod-
ule functions and the PDOs on the Sysmac Studio.

 Output Settings (Controller to Servo Drive)

The input settings apply to the command data that is sent from the MC Function Module to the Ser-
vo Drive.
The default settings in the Sysmac Studio are listed in the following table. (Required objects are
marked with a circle.)

Function name Process data Description

¡ Control word 6040 hex-00.0 This data is used to control the status of the Servo Drive.
(Controlword) Set 6040 hex: Controlword.
¡ Target posi- 607A hex-00.0 The target position for position control.
tion (Target position) Set 607A hex: Target position.
Target ve- 60FF hex-00.0 The target velocity for velocity control.
locity (Target velocity) This object is necessary to output to the Servo Drive in Cy-
clic Synchronous Velocity Control Mode by the MC_SyncMo-
veVelocity (Cyclic Synchronous Velocity Control) and other
instructions.
Normally set 60FF hex: Target velocity.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-5

Appendices

Function name Process data Description

Target tor- 6071 hex-00.0 The target torque for torque control.
que (Target torque) This object is necessary to output to the Servo Drive in Cy-
clic Synchronous Torque Control Mode by the MC_Torque-
Control (Torque Control) and other instructions.
Normally set 6071 hex: Target torque.
Max profile 607F hex-00.0 The velocity limit value for torque control.
velocity (Max profile velocity) This object is necessary for velocity control in Cyclic Syn-
chronous Torque Control Mode by the MC_TorqueControl
(Torque Control) and other instructions.
Normally set 607F hex: Max profile velocity.
Modes of 6060 hex-00.0 This data is required to change the control mode.
operation (Modes of operation) This object is necessary to change to a control mode other
than Cyclic Synchronous Position Control Mode for the
MC_SyncMoveVelocity (Cyclic Synchronous Velocity Con-
trol), MC_TorqueControl (Torque Control), and other instruc-
tions.
Normally set 6060 hex: Modes of operation. *1
Positive tor- 60E0 hex-00.0 This is the torque limit value in the positive direction.
que limit val- (Positive torque limit val- This object is necessary to control the output torque of the
ue ue) Servo Drive by the MC_SetTorqueLimit and other instruc-
tions.
Normally set 60E0 hex: Positive torque limit value.
Negative 60E1 hex-00.0 This is the torque limit value in the negative direction.
torque limit (Negative torque limit This object is necessary to control the output torque of the
value value) Servo Drive by the MC_SetTorqueLimit and other instruc-
tions.
Normally set 60E1 hex: Negative torque limit value.
Touch probe 60B8 hex-00.0 This data is used to control the touch probe function.
function (Touch probe function) It is required for the touch probe function for the MC_Home,
MC_HomeWithParameter, MC_MoveFeed (Interrupt Feed-
ing), MC_TouchProbe (Enable External Latch), MC_Move-
Link (Synchronous Positioning), and other instructions.
Normally set 60B8 hex: Touch probe function.
*1. If you set 6060 hex: Modes of operation, also set 6061 hex: Modes of operation display. Normal op-
eration is not possible if only one of these two is set.

Precautions for Correct Use

• If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.
• If you are not using an OMRON 1S-series Servo Drive with built-in EtherCAT communica-
tions, always set the Modes of Operation (6060 hex).

 Input Settings (Servo Drive to Controller)

This is the status data from the Servo Drive to the MC Function Module.
The default settings in the Sysmac Studio are listed in the following table. (Required objects are
marked with a circle.)

Function name Process data Description

¡ Statusword 6041 hex-00.0 The status of the Servo Drive.
(Statusword) Set 6041 hex: Statusword.

A-6 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Function name Process data Description

A-1 Connecting the 1S-series Servo Drive

¡ Position ac- 6064 hex-00.0 Shows the actual position.
tual value (Position actual value) Set 6064 hex: Position actual value.
Velocity ac- Not set.*1 Shows the actual velocity.
tual value If you use it, normally set 606C hex: Velocity actual value.
Torque ac- 6077 hex Shows the actual torque.
tual value (Torque actual value) This object is necessary to output to the Servo Drive in Cy-
clic Synchronous Torque Control Mode by the MC_Torque-
Control (Torque Control) and other instructions.
Normally set 6077 hex: Torque actual value.
Modes of 6061 hex-00.0 Shows the operation mode.
operation (Modes of operation dis- This object is necessary to change to a control mode other
display play) than Cyclic Synchronous Position Control Mode for the
MC_SyncMoveVelocity (Cyclic Synchronous Velocity Con-
trol), MC_TorqueControl (Torque Control), and other instruc-
A
tions.
Normally set 6061 hex: Modes of operation display. *2

A-1-2 Servo Drive Settings

Touch probe 60B9 hex-00.0 Shows the status of the touch probe function.
status (Touch probe status) It is required for the touch probe function for the MC_Home,
MC_HomeWithParameter, MC_MoveFeed (Interrupt Feed-
ing), MC_TouchProbe (Enable External Latch), MC_Move-
Link (Synchronous Positioning), and other instructions.
Normally set 60B9 hex: Touch probe status.
Touch probe 60BA hex-00.0 The latched position for touch probe 1.
pos1 pos (Touch probe pos1 pos It is required for the touch probe function for the MC_Home,
value value) MC_HomeWithParameter, MC_MoveFeed (Interrupt Feed-
ing), MC_TouchProbe (Enable External Latch), MC_Move-
Link (Synchronous Positioning), and other instructions.
Normally set 60BA hex: Touch probe pos1 pos value.
Touch probe 60BC hex-00.0 The latched position for touch probe 2.
pos2 pos (Touch probe pos2 pos It is required for the touch probe function for the MC_Home,
value value) MC_HomeWithParameter, MC_MoveFeed (Interrupt Feed-
ing), MC_TouchProbe (Enable External Latch), MC_Move-
Link (Synchronous Positioning), and other instructions.
Normally set 60BC hex: Touch probe pos2 pos value.
Error code 603F hex-00.0 The error code in the Servo Drive.
(Error code) Normally set 603F hex: Error code.
Reference Not set. The reference position for changing the csp mode. This data
position for is accessed by instructions that are used in Velocity Control
csp Mode (CSV) or Torque Control Mode (CST).
This object is supported for OMRON 1S-series Servomotors/
Servo Drives. *3
*1. If required, map the selected process data to a PDO before setting it.
The standard setting is 606C hex-00.0 (Velocity actual value).
*2. If you set 6061 hex: Modes of operation display, also set 6060 hex: Modes of operation. Normal op-
eration is not possible if only one of these two is set.
*3. Map 3010-87 hex: Reference Position for CSP to a PDO when you use an OMRON 1S-series Servo-
motor/Servo Drive.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-7

Appendices

Precautions for Correct Use

• If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.
• If you are not using an OMRON 1S-series Servo Drive with built-in EtherCAT communica-
tions, always set the Modes of Operation Display (6061 hex).
• To use the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction to
change the control mode of an OMRON 1S-series Servo Drive, you need to map Reference
Position for CSP.

 Digital Input Settings

The MC Function Module uses the following input signals of the Servo Drive.

Function name Process data Description

Positive 60FD hex-00.1 This signal is used for the positive limit input.
drive prohib- (Digital inputs) Normally set Bit 1: Positive limit switch of 60FD hex-00: Digi-
it input tal inputs.
Negative 60FD hex-00.0 This signal is used for the negative limit input.
drive prohib- (Digital inputs) Normally set Bit 0: Negative limit switch of 60FD hex-00:
it input Digital inputs.
Error stop 60FD hex-00.25 This signal is used for the immediate stop input.
input (Digital inputs) Set Bit 25: Error stop input of 60FD hex-00: Digital inputs for
an OMRON 1S-series Servo Drive.
Encoder Z- 60FD hex-00.16 Shows the status of detecting the Z-phase input.
phase de- (Digital inputs) Set Bit 16: Encoder phase Z detection of 60FD hex-00:
tection Digital inputs for an OMRON 1S-series Servomotor/Servo
Drive.
Home prox- 60FD hex-00.2 This signal is used for the home proximity input.
imity input (Digital inputs) Normally set Bit 2: Home switch of 60FD hex-00: Digital in-
puts.
External 60FD hex-00.17 Shows the status of the signal that is used for external latch
latch input 1 (Digital inputs) input 1.
Set Bit 17: External latch input 1 of 60FD hex-00: Digital in-
puts for an OMRON 1S-series Servo Drive.
External 60FD hex-00.18 Shows the status of the signal that is used for external latch
latch input 2 (Digital inputs) input 2.
Set Bit 18: External latch input 2 of 60FD hex-00: Digital in-
puts for an OMRON 1S-series Servo Drive.

Precautions for Correct Use

If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.

A-8 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Version Information

A-1 Connecting the 1S-series Servo Drive

• If you are using a CPU Unit with unit version 1.10 or later, operation is as described in the
following table depending on whether Modes of Operation (6060 hex) and Modes of Opera-
tion Display (6061 hex) are mapped.

Modes of Operation Display

(6061 hex) mapped (6061 hex) not mapped
Modes of Oper- • You can execute instructions that use • You can execute instructions that use
ation CSP*1, CSV*2,
or CST*3. CSP. If you execute any instruction
(6060 hex) map- • The servo is OFF in any control mode that uses any other control mode, a
ped other than CSP, CSV, or CST. Process Data Object Setting Missing
error (error code 3461 hex) occurs.
• The MC Function Module assumes
that the CSP Servo Drive control
mode is used. Command the Servo A
Drive to use CSP.
Modes of Oper- • You can execute instructions that use You can execute instructions that use

A-1-2 Servo Drive Settings

ation CSP. If you execute any instruction CSP.
(6060 hex) not that uses any other control mode, a If you execute any instruction that uses
mapped Process Data Object Setting Missing any other control mode, a Process Data
error (error code 3461 hex) occurs. Object Setting Missing error (error code
• The servo is OFF in any control mode 3461 hex) occurs.
other than CSP.
*1. CSP is the Cyclic Synchronous Position Control Mode of the Servo Drive.
*2. CSV is the Cyclic Synchronous Velocity Control Mode of the Servo Drive.
*3. CST is the Cyclic Synchronous Torque Control Mode of the Servo Drive.

• If you are using a CPU Unit with unit version 1.09 or earlier and you are not using an OM-
RON 1S-series Servo Drive with built-in EtherCAT communications for the servo axis, Modes
of Operation (6060 hex) and Modes of Operation Display (6061 hex) are required.

Object Settings
The OMRON 1S-series Servo Drive settings required to use the control functions of the MC Function
Module are listed in the following table.
Consult the manual for your Servo Drive and set all related objects for the Servo Drive functions that
you are going to use.

Recom-
Subin-
Index Name mended Description
dex
setting
3001 hex --- Machine --- The gear ratio on the Servo is 1:1. Set the user
05 hex Electronic Gear Ratio Numer- 1 unit on the Controller. *1
ator
06 hex Electronic Gear Ratio Denom- 1
inator
3330 hex --- Torque Limit --- Use 60E0 hex and 60E1 hex as the torque lim-
01 hex Switch Selection 2 it values when PCL and NCL are OFF.
3A00 hex --- Homing --- Use 0 as the offset value on the Servo.
06 hex Encoder Home Offset 0
3B10 hex --- Drive Prohibit --- Disable the drive prohibit input at the Servo. It
01 hex Enable 0 is processed by the Controller.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-9

Appendices

Recom-
Subin-
Index Name mended Description
dex
setting
3B11 hex --- Software Limits --- Disable both the positive and negative software
01 hex Enable Selection 0 limits.
3B30 hex --- Touch Probe Function 1 --- Set this as follows: Touch probe1 = External
01 hex Latch 1 Trigger Selection 1 latch signal 1, Touch probe2 = External latch
3B31 hex --- Touch Probe Function 2 --- signal 2.

01 hex Latch 2 Trigger Selection 2

4020 hex --- Warning Customization --- Set this to automatically reset warnings when
04 hex Warning Hold Selection 0 the cause is removed.
4510 hex --- Encoder --- Use as absolute encoders.
01 hex Absolute Encoder Operation 2 Ignore multi-rotation counter overflow.
Selection
4630 hex --- Positive Drive Prohibit --- Assign the Positive Drive Prohibit to the gener-
01 hex Port Selection 2 al-purpose input 2 (IN2) as a negative logic
02 hex Logic Selection 1 (NC input).

4631 hex --- Negative Drive Prohibit --- Assign the Negative Drive Prohibit to the gen-
01 hex Port Selection 3 eral-purpose input 3 (IN3) as a negative logic
02 hex Logic Selection 1 (NC input).

4632 hex --- External Latch Input 1 --- Assign the External Latch Input 1 to the gener-
01 hex Port Selection 7 al-purpose input 7 (IN7) as a positive logic (NO
02 hex Logic Selection 0 input).

4633 hex --- External Latch Input 2 --- Assign the External Latch Input 2 to the gener-
01 hex Port Selection 8 al-purpose input 8 (IN8) as a positive logic (NO
02 hex Logic Selection 0 input).

4634 hex --- Home Proximity Input --- Assign the Home Proximity Input to the gener-
01 hex Port Selection 4 al-purpose input 4 (IN4) as a positive logic (NO
02 hex Logic Selection 0 input).

*1. With a CPU Unit of unit version 1.10 or earlier, you cannot operate OMRON 1S-series Servomotors in the maximum
rotation speed. To operate the 1S-series Servomotors in the maximum rotation speed, set the electronic gear ratio to
2:1 or greater.

A-10 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

A-2 Connecting the G5-series Servo Drive

A-2 Connecting the G5-series Servo Drive

This appendix describes connections to an OMRON G5-series Servo Drive with built-in EtherCAT
communications.

A-2-1 Wiring the Servo Drive

Servo Drives are connected using EtherCAT communications.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for infor-
mation on the connection methods.

A-2-2 Servo Drive Settings A

This section outlines the Servo Drive settings that are used when connected to OMRON G5-series

A-2-1 Wiring the Servo Drive

Servo Drives with built-in EtherCAT communications (i.e., the applicable Servo Drives for the MC
Function Module).
For details on the Servo Drives, refer to the AC Servomotors/Servo Drives G5-series with Built-in
EtherCAT Communications User’s Manual (Cat. No. I576) or the AC Servomotors/Servo Drives G5-
series with Built-in EtherCAT Communications Linear Motor Type User’s Manual (Cat. No. I577).

Recommended Servo Drives

All of the functions of the MC Function Module can be used for Servo Drives with the unit versions that
are given in the following table.

Manufacturer Compatible models Applicable unit versions

OMRON R88D-KN£££-ECT Unit version 2.1 or later
R88D-KN£££-ECT-L Unit version 1.1 or later

Additional Information

• You can also use unit versions of the OMRON G5-series Servo Drives with built-in EtherCAT
communications other than the recommended unit versions. The functions that you can use
depend on the specifications of the Servo Drive. Set the functions to use and the object dic-
tionary on Sysmac Studio.
• The R88D-KN£££-ECT-R (unit version 1.0) of the OMRON G5-series Servo Drives support
only position control (Cyclic Synchronous Position Control Mode).
You can use them for applications that do not require velocity control (Cyclic Synchronous
Velocity Control Mode) or torque control (Cyclic Synchronous Torque Control Mode).
Refer to the AC Servomotors/Servo Drives G5-series with Built-in EtherCAT Communications
User’s Manual (Cat. No. I573) for details on functions.
• When you use unit version 2.0 or earlier of an OMRON G5-series Cylinder-type Servomotor/
Servo Drive, do not set the node address switches to 00. If you set them to 00, a network
configuration error occurs.
• Refer to the AC Servomotors/Servo Drives G5-series with Built-in EtherCAT Communications
User’s Manual (Cat. No. I576) for details on the differences between the unit versions of the
OMRON G5-series Servo Drives.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-11

Appendices

Assigning External Input Signals

The MC Function Module uses the general-purpose inputs of the Servo Drive for the following input
signals.
• Immediate stop input
• Positive limit input
• Negative limit input
• Home proximity input
• External latch trigger signals (latch input 1 and latch input 2)

 Assigning Positive Limit Inputs, Negative Limit Inputs, and Home Proximi-
ty Input
The default settings of the input signals of an OMRON G5-series Servo Drive are listed in the fol-
lowing table.

Signal name Input signal

Immediate stop input Servo Drive general-purpose input 1 (IN1: pin 5 on connector CN1, NC)
Positive limit input Servo Drive general-purpose input 2 (IN2: pin 7 on connector CN1, NC)*1
Negative limit input Servo Drive general-purpose input 3 (IN3: pin 8 on connector CN1, NC)*2
Home proximity input Servo Drive general-purpose input 4 (IN4: pin 9 on connector CN1, NO)
*1. The signal name for the Servo Drive is the positive drive prohibit input.
*2. The signal name for the Servo Drive is the negative drive prohibit input.

 Trigger Signal Assignments for External Latches

The input signals in the following table are assigned to external latch trigger signals by default for
the OMRON G5-series Servo Drive.

Settings for the TriggerInput (Trigger Input Condition) input varia-

ble of the MC_TouchProbe instruction External latch trigger signal
Mode InputDrive LatchID
0: mcDrive 0: mcEncoderMark --- Encoder Z phase
1: mcEXT 1: mcLatch1 Servo Drive general-purpose input
7
(IN7: pin 12 on connector CN1,
NO)*1
2: mcLatch2 Servo Drive general-purpose input
6
(IN6: pin 11 on connector CN1,
NO)*2
1: mcController --- --- Variable specified by TriggerVaria-
ble
*1. The signal name for the Servo Drive is the external latch input 1.
*2. The signal name for the Servo Drive is the external latch input 2.

Backlash Compensation
The MC Function Module does not perform backlash compensation.
If you require backlash compensation, use the compensation function of the Servo Drive.
The objects that must be set on the Servo Drive are listed in the following table.

A-12 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Index Name Description

A-2 Connecting the G5-series Servo Drive

3704 hex Backlash Compensation This object is used to select whether to enable or disable backlash
Selection compensation during position control, and to set the compensation di-
rection.
The default value is to disable compensation.
3705 hex Backlash Compensation Set the backlash compensation amount during position control.
Amount
3706 hex Backlash Compensation Set the backlash compensation time constant during position control.
Time Constant

For details on the backlash function, refer to the AC Servomotors/Servo Drives G5-series with Built-in
EtherCAT Communications User’s Manual (Cat. No. I576) or the AC Servomotors/Servo Drives G5-
series with Built-in EtherCAT Communications Linear Motor Type User’s Manual (Cat. No. I577).

A
PDO Mapping

A-2-2 Servo Drive Settings

This section describes mapping PDOs to control servo axes from the MC Function Module.

To use motion control functions, you must map the objects that are required for those functions to
PDOs.
The PDO map is a list of required objects that is prepared in advance.

You select the PDOs to use in the Edit PDO Map Settings Window of the EtherCAT Tab Page in the
Sysmac Studio.

The following PDOs are mapped by default in the Sysmac Studio.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-13

Appendices

RxPDO: 261th Controlword (6040 hex), Target Position (607A hex), Target Velocity (60FF hex), Target
Receive PDO Torque (6071 hex), Modes of Operation (6060 hex), Touch Probe Function (60B8 hex),
Mapping (1704 Max Profile Velocity (607F hex), Positive Torque Limit Value (60E0 hex), and Negative Tor-
hex) que Limit Value (60E1 hex)
TxPDO: 259th Error Code(603F hex), Status Word (6041 hex), Position Actual Value (6064 hex), Torque
Transmit PDO Actual Value (6077 hex), Modes of Operation Display (6061 hex), Touch Probe Status
Mapping (1B02 (60B9 hex), Touch Probe Pos1 Pos Value (60BA hex), Touch Probe Pos2 Pos Value (60BC
hex) hex), and Digital Inputs (60FD hex)

Additional Information

• If you use the recommended OMRON Servo Drives (R88D-KN£££-ECT, unit version 2.1 or
later, or R88D-KN£££-ECT-L, unit version 1.1 or later), then it is not necessary to change
the default PDO map on the Sysmac Studio.
• To perform fully-closed control with OMRON R88D-KN£££-ECT, select 1701 hex or 1600
hex for RxPDO. For 1600 hex, the total size of objects must be set to 12 bytes or less (for
unit version 2.1 or later).

Relationships between MC Function Module and Process Data

The functions of the MC Function Module are related to the information in the process data objects.
Depending on the EtherCAT slave configuration and functions that are used by the MC Function Mod-
ule, you sometimes must change the relationships between the MC Function Module and the PDOs.

To access the settings, click the Detailed Settings Button on the Axis Basic Settings Display in the
Sysmac Studio.

A-14 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Additional Information

A-2 Connecting the G5-series Servo Drive

If you use the recommended OMRON Servo Drives (R88D-KN£££-ECT, unit version 2.1 or
later, or R88D-KN£££-ECT-L, unit version 1.1 or later), then it is not necessary to change the
default relationships between MC Function Module functions and the PDOs on the Sysmac Stu-
dio.

 Output Settings (Controller to Servo Drive)

The input settings apply to the command data that is sent from the MC Function Module to the Ser-
vo Drive.
The default settings in the Sysmac Studio are listed in the following table. (Required objects are
marked with a circle.)

Function name Process data Description

¡ Control word 6040 hex-00.0 This data is used to control the status of the Servo Drive. A
(Controlword) Set 6040 hex: Controlword.
¡ Target posi- 607A hex-00.0 The target position for position control.

A-2-2 Servo Drive Settings

tion (Target position) Set 607A hex: Target position.
Target veloci- 60FF hex-00.0 The target velocity for velocity control.
ty (Target velocity) This object is necessary to output to the Servo Drive in Cy-
clic Synchronous Velocity Control Mode by the MC_Syn-
cMoveVelocity (Cyclic Synchronous Velocity Control) and
other instructions.
Normally set 60FF hex: Target velocity.
Target torque 6071 hex-00.0 The target torque for torque control.
(Target torque) This object is necessary to output to the Servo Drive in Cy-
clic Synchronous Torque Control Mode by the MC_Torque-
Control (Torque Control) and other instructions.
Normally set 6071 hex: Target torque.
Maximum 607F hex-00.0 The velocity limit value for torque control.
profile veloci- (Max profile velocity) This object is necessary for velocity control in Cyclic Syn-
ty chronous Torque Control Mode by the MC_TorqueControl
(Torque Control) and other instructions.
Normally set 607F hex: Max profile velocity.
Modes of op- 6060 hex-00.0 This data is required to change the control mode.
eration (Modes of operation) This object is necessary to change to a control mode other
than Cyclic Synchronous Position Control Mode for the
MC_SyncMoveVelocity (Cyclic Synchronous Velocity Con-
trol), MC_TorqueControl (Torque Control), and other in-
structions.
Normally set 6060 hex: Modes of operation.*1
Positive tor- 60E0 hex-00.0 This is the torque limit value in the positive direction.
que limit val- (Positive torque limit val- This object is necessary to control the output torque of the
ue ue) Servo Drive by the MC_SetTorqueLimit and other instruc-
tions.
Normally set 60E0 hex: Positive torque limit value.
Negative tor- 60E1 hex-00.0 This is the torque limit value in the negative direction.
que limit val- (Negative torque limit val- This object is necessary to control the output torque of the
ue ue) Servo Drive by the MC_SetTorqueLimit and other instruc-
tions.
Normally set 60E1 hex: Negative torque limit value.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-15

Appendices

Function name Process data Description

Touch probe 60B8 hex-00.0 This data is used to control the touch probe function.
function (Touch probe function) It is required for the touch probe function for the
MC_Home, MC_HomeWithParameter, MC_MoveFeed (In-
terrupt Feeding), MC_TouchProbe (Enable External Latch),
MC_MoveLink (Synchronous Positioning), and other in-
structions.
Normally set 60B8 hex: Touch probe function.
*1. If you set 6060 hex: Modes of operation, also set 6061 hex: Modes of operation display. Normal op-
eration is not possible if only one of these two is set.

Precautions for Correct Use

• Some functions may not be supported if you connect a unit version of the OMRON G5-series
Servo Drives with built-in EtherCAT communications other than the recommended unit ver-
sions.
Refer to the manual for the connected servo drive for details.
• If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.
• If you are not using an OMRON G5-series Servo Drive with built-in EtherCAT communica-
tions, always set the Modes of Operation (6060 hex).
• To perform fully-closed control with OMRON G5-series Servomotors/Servo Drives with built-in
EtherCAT communications, make settings so that the size of objects totals 12 bytes or less.

 Input Settings (Servo Drive to Controller)

This is the status data from the Servo Drive to the MC Function Module.
The default settings in the Sysmac Studio are listed in the following table. (Required objects are
marked with a circle.)

Function name Process data Description

¡ Status word 6041 hex-00.0 The status of the Servo Drive.
(Statusword) Set 6041 hex: Statusword.
¡ Position ac- 6064 hex-00.0 Shows the actual position.
tual value (Position actual value) Set 6064 hex: Position actual value.
Velocity ac- Not set.*1 Shows the actual velocity.
tual value Normally set 606C hex: Velocity actual value.
Torque ac- 6077 hex Shows the actual torque.
tual value (Torque actual value) This object is necessary to output to the Servo Drive in Cy-
clic Synchronous Torque Control Mode by the MC_Torque-
Control (Torque Control) and other instructions.
Normally set 6077 hex: Torque actual value.
Modes of op- 6061 hex-00.0 Shows the operation mode.
eration dis- (Modes of operation dis- This object is necessary to change to a control mode other
play play) than Cyclic Synchronous Position Control Mode for the
MC_SyncMoveVelocity (Cyclic Synchronous Velocity Con-
trol), MC_TorqueControl (Torque Control), and other in-
structions.
Normally set 6061 hex: Modes of operation display. *2

A-16 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Function name Process data Description

A-2 Connecting the G5-series Servo Drive

Touch probe 60B9 hex-00.0 Shows the status of the touch probe function.
status (Touch probe status) It is required for the touch probe function for the
MC_Home, MC_HomeWithParameter, MC_MoveFeed (In-
terrupt Feeding), MC_TouchProbe (Enable External Latch),
MC_MoveLink (Synchronous Positioning), and other in-
structions.
Normally set 60B9 hex: Touch probe status.
Touch probe 60BA hex-00.0 The latched position for touch probe 1.
position 1 (Touch probe pos1 pos It is required for the touch probe function for the
position val- value) MC_Home, MC_HomeWithParameter, MC_MoveFeed (In-
ue terrupt Feeding), MC_TouchProbe (Enable External Latch),
MC_MoveLink (Synchronous Positioning), and other in-
structions.
Normally set 60BA hex: Touch probe pos1 pos value.
Touch probe 60BC hex-00.0 The latched position for touch probe 2.
A
position 2 (Touch probe pos2 pos It is required for the touch probe function for the
position val- value) MC_Home, MC_HomeWithParameter, MC_MoveFeed (In-

A-2-2 Servo Drive Settings

ue terrupt Feeding), MC_TouchProbe (Enable External Latch),
MC_MoveLink (Synchronous Positioning), and other in-
structions.
Normally set 60BC hex: Touch probe pos2 pos value.
Error code 603F hex-00.0 The error code in the Servo Drive.
(Error code) Normally set 603F hex: Error code.
Reference Not set. The reference position for changing the csp mode.
position for This data is accessed by instructions that are used in Ve-
csp locity Control Mode (CSV) or Torque Control Mode (CST).
This object is supported for OMRON G5-series Cylinder-
type Servomotors/Servo Drives with unit version 2.1 or lat-
er. *3
OMRON G5-series Linear Motor Type Servo Drives do not
support this object.
*1. If required, map the selected process data to a PDO before setting it.
The standard setting is 606C hex-00.0 (Velocity actual value).
*2. If you set 6061 hex: Modes of operation display, also set 6060 hex: Modes of operation. Normal op-
eration is not possible if only one of these two is set.
*3. Map 4020 hex: Reference Position for CSP to a PDO when you use an OMRON G5-series Servomo-
tor/Servo Drive.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-17

Appendices

Precautions for Correct Use

• Some functions may not be supported if you connect a unit version of the OMRON G5-series
Servo Drives with built-in EtherCAT communications other than the recommended unit ver-
sions. Refer to the manual for the connected servo drive for details.
• If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.
• If you are not using an OMRON G5-series Servo Drive with built-in EtherCAT communica-
tions, always set the Modes of Operation Display (6061 hex).
• To use the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction to
change the control mode of an OMRON G5-series Servo Drive, you need to map Reference
Position for CSP.
• Set the primary period to 1 ms or greater when you use Reference Position for CSP for an
OMRON G5-series Servo Drive. Also, set the electronic gear ratio to 1:1 for the G5-series
Servo Drive.
For details, refer to the AC Servomotors/Servo Drives G5-series with Built-in EtherCAT
Communications User’s Manual (Cat. No. I576) or the AC Servomotors/Servo Drives G5-
series with Built-in EtherCAT Communications Linear Motor Type User’s Manual (Cat. No.
I577).

 Digital Input Settings

The MC Function Module uses the following input signals of the Servo Drive.

Function name Process data Description

Positive limit 60FD hex-00.1 This signal is used for the positive limit input.
switch (posi- (Digital inputs) Normally set Bit 1: Positive limit switch of 60FD hex-00: Digital in-
tive drive puts.
prohibit in-
put)
Negative lim- 60FD hex-00.0 This signal is used for the negative limit input.
it switch (Digital inputs) Normally set Bit 0: Negative limit switch of 60FD hex-00: Digital in-
(negative puts.
drive prohibit
input)
Immediate 60FD hex-00.25 This signal is used for the immediate stop input.
stop input (Digital inputs) Set Bit 25: Immediate Stop Input of 60FD hex-00: Digital inputs for
an OMRON G5-series Servo Drive.
Encoder 60FD hex-00.16 Shows the status of detecting the Z-phase input.
Phase Z De- (Digital inputs) For OMRON G5-series Cylinder-type Servomotors/Servo Drives
tection (en- with unit version 2.1 or later, set Bit 16: Encoder Phase Z
coder Z- Detection of 60FD hex-00: Digital inputs.
phase detec- G5-series Linear Motor Type Servo Drives do not support this ob-
tion) ject.
Home switch 60FD hex-00.2 This signal is used for the home proximity input.
(home prox- (Digital inputs) Normally set Bit 2: Home switch of 60FD hex-00: Digital inputs.
imity input)
External 60FD hex-00.17 Shows the status of the signal that is used for external latch input
Latch Input 1 (Digital inputs) 1.
Set Bit 17: External Latch Input 1 of 60FD hex-00: Digital
inputs for an OMRON G5-series Servo Drive.
External 60FD hex-00.18 Shows the status of the signal that is used for external latch input
Latch Input 2 (Digital inputs) 2.
Set Bit 18: External Latch Input 2 of 60FD hex-00: Digital
inputs for an OMRON G5-series Servo Drive.

A-18 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Precautions for Correct Use

A-2 Connecting the G5-series Servo Drive

• Some functions may not be supported if you connect a unit version of the OMRON G5-series
Servo Drives with built-in EtherCAT communications other than the recommended unit ver-
sions. Refer to the manual for the connected servo drive for details.
• If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.

Version Information

• If you are using a CPU Unit with unit version 1.10 or later, operation is as described in the
following table depending on whether Modes of Operation (6060 hex) and Modes of Opera-
tion Display (6061 hex) are mapped.

Modes of Operation Display

(6061 hex) mapped (6061 hex) not mapped
A
• You can execute instructions that use • You can execute instructions that use
CSP*1, CSV*2, or CST*3. CSP. If you execute any instruction

A-2-2 Servo Drive Settings

• The servo is OFF in any control mode that uses any other control mode, a
Modes of Oper-
other than CSP, CSV, or CST. Process Data Object Setting Missing
ation
error (error code 3461 hex) occurs.
(6060 hex) map-
• The MC Function Module assumes
ped
that the CSP Servo Drive control
mode is used. Command the Servo
Drive to use CSP.
• You can execute instructions that use You can execute instructions that use
CSP. If you execute any instruction CSP. If you execute any instruction that
Modes of Oper-
that uses any other control mode, a uses any other control mode, a Process
ation
Process Data Object Setting Missing Data Object Setting Missing error (error
(6060 hex) not
error (error code 3461 hex) occurs. code 3461 hex) occurs.
mapped
• The servo is OFF in any control mode
other than CSP.
*1. CSP is the Cyclic Synchronous Position Control Mode of the Servo Drive.
*2. CSV is the Cyclic Synchronous Velocity Control Mode of the Servo Drive.
*3. CST is the Cyclic Synchronous Torque Control Mode of the Servo Drive.

• If you are using a CPU Unit with unit version 1.09 or earlier and you are not using an OM-
RON G5-series Servo Drive with built-in EtherCAT communications for the servo axis, Modes
of Operation (6060 hex) and Modes of Operation Display (6061 hex) are required.

Object Settings
The OMRON G5-series Servo Drive settings required to use the control functions of the MC Function
Module are listed in the following table.
Consult the manual for your Servo Drive and set all related objects for the Servo Drive functions that
you are going to use.

Subin- Recommended
Index Name Description
dex setting
3013 hex 00 hex No. 1 External Torque Limit*1 1388 hex Default setting = 500.0%

3015 hex*2 00 hex Operation Switch for Using 0002 hex Use absolute values and ignore multi-rota-
Absolute Encoder tion counter overflow.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-19

Appendices

Subin- Recommended
Index Name Description
dex setting
3317 hex 00 hex Speed Limit Selection 0001 hex The velocity limit method used during tor-
que control is either 607F hex: Max profile
velocity or 3321 hex: Velocity limit value
setting, whichever value is smaller.
3323 hex 00 hex External Feedback Pulse Type 0000, 0001, or Set the type of external scale to use.
Selection 0002 hex*3 The default value is 0000 hex (90° Phase
Difference Output).
3324 hex*2 00 hex External Feedback Pulse Di- 00000000 hex Set the encoder resolution per motor rota-
viding Numerator tion [pulses]. Set to 0 for automatic setting.
3401 hex 00 hex Input Signal Selection 2 00818181 hex Positive Drive Prohibit Input (NC)
3402 hex 00 hex Input Signal Selection 3 00828282 hex Negative Drive Prohibit Input (NC)
3403 hex 00 hex Input Signal Selection 4 00222222 hex Home proximity input (NO)
3404 hex 00 hex Input Signal Selection 5 002B2B2B hex External Latch Signal 3 (NO)
3405 hex 00 hex Input Signal Selection 6 00212121 hex External Latch Signal 2 (NO)
3406 hex 00 hex Input Signal Selection 7 00202020 hex External Latch Signal 1 (NO)
3504 hex 00 hex Drive Prohibit Input Selection 0001 hex The drive prohibit input is disabled at the
Servo.
This is performed by the MC Function
Module instead.
3508 hex 00 hex Undervoltage Error Selection 0001 hex Operation is stopped for an insufficient
main power voltage.
3521 hex 00 hex Torque Limit Selection*1 0006 hex There are two limit values, one for positive
and one for negative. Switch between them
by using PCL and NCL.
3522 hex 00 hex No. 2 External Torque Limit*1 1388 hex Default setting = 500.0%
3703 hex 00 hex Torque Limit Output Setting*1 0001 hex Output turns ON for the torque limit value
excluding the torque command value.
3801 hex 00 hex Software Limit Function 0003 hex Disable the software limits in both direc-
tions.
3758 hex 00 hex Latch Trigger Selection 0100 hex Touch probe1 = External latch signal 1,
Touch probe2 = External latch signal 2
3759 hex 00 hex Warning Hold Selection 0000 hex The warnings are automatically cleared
when the cause of the warning is eliminat-
ed.
607C hex 00 hex Encoder Home Offset 00000000 hex An offset value of 0 is used by the Servo
Drive.
6091 hex 01 hex Electronic Gear Ratio Numer- 00000001 hex The gear ratio on the Servo Drive is 1:1. A
ator similar function is set in the MC Function
02 hex Electronic Gear Ratio Denomi- 00000001 hex Module.
nator
*1. For OMRON G5-series Linear Motor Type Servo Drives with built-in EtherCAT communications, “force” applies instead
of “torque.”
*2. OMRON G5-series Linear Motor Type Servo Drives with built-in EtherCAT communications do not support this object.
*3. Select a value according to the type of external scale to use when you use fully-closed control with an OMRON G5-
series Servomotor/Servo Drive, or when you use an OMRON G5-series Linear Motor Type Servomotor/Servo Drive
with built-in EtherCAT communications.

A-20 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

A-3 Connecting to Encoder Input Termi-

A-3 Connecting to Encoder Input Terminals

nals
This appendix describes connections to an OMRON GX-series EtherCAT Slave Encoder Input Termi-
nals.

A-3-1 Wiring to Encoder Input Terminals

Encoder Input Terminals are connected using EtherCAT communications.

Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for infor-
mation on the connection methods.
A
A-3-2 Settings for Encoder Input Terminals

A-3-1 Wiring to Encoder Input Terminals

This section outlines the Encoder Input Terminal settings that are used when connected to OMRON
GX-series GX-EC0211/EC0241 EtherCAT Remote I/O Terminals (i.e., the applicable Encoder Input
Terminals for the MC Function Module).

Refer to the GX-series EtherCAT Slave Units User’s Manual (Cat. No. W488) for detailed information
on the Encoder Input Terminals.

Recommended Encoder Input Terminals

All of the functions of an encoder axis of the MC Function Module can be used for Encoder Input Ter-
minals with the unit versions that are given in the following table.

Manufacturer Compatible models Applicable unit versions

OMRON GX-EC0211 Unit version 1.1 or later
GX-EC0241 Unit version 1.1 or later

Additional Information

• Only the OMRON GX-EC0211/EC0241 can be used for encoder axes of EtherCAT slaves.
• Unit version 1.0 of the OMRON GX-EC0211/EC0241 can also be used for encoder axes, but
they are not Sysmac devices.
When you use unit version 1.0, do not set the node address switches to 00. If you set them to
00, a network configuration error occurs.
Refer to the GXseries EtherCAT Slave Units User’s Manual (Cat. No. W488) for detailed in-
formation on functions.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on
Sysmac devices.

External Input Signals

When all of the functions of an encoder axis are used for an Encoder Input Terminal, the following in-
put signals are used at the Encoder Input Terminal.
• Counter A phase

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-21

Appendices

• Counter B phase
• Counter Z phase
• Latch Inputs (A/B)

There are two counter channels, and there are two external latches for each channel. Wire the input
signals that are required for your application.

Refer to the GX-series EtherCAT Slave Units User’s Manual (Cat. No. W488) for input signal wiring
methods.

PDO Mapping
This section describes mapping PDOs to control encoder axes from the MC Function Module.

You must map the objects that are required for the motion control functions that you will use to process
data communications.
The PDO map is a list of required objects that is prepared in advance.

You select the PDOs to use in the Edit PDO Map Settings Window of the EtherCAT Tab Page in the
Sysmac Studio.

The following PDOs are mapped by default in the Sysmac Studio.

Channel 1 Instruction Bits (4020 hex-01 hex) and Channel 2 Instruction Bits (4020
RxPDO (1700 hex)
hex-02 hex)
Channel 1 Preset Value (4011 hex-01 hex) and Channel 2 Preset Value (4011 hex-02
RxPDO (1701 hex)
hex)
Channel 1 Position Value (4010 hex-01 hex) and Channel 2 Position Value (4010 hex-02
TxPDO (1B00 hex)
hex)
Channel 1 Latch Value A (4012 hex-01 hex) and Channel 2 Latch Value A (4012 hex-02
TxPDO (1B01 hex)
hex)
Channel 1 Latch Value B (4013 hex-01 hex) and Channel 2 Latch Value B (4013 hex-02
TxPDO (1B02 hex)
hex)
TxPDO (1B03 hex) Channel 1 Status Bits (4030 hex-01 hex) and Channel 2 Status Bits (4030 hex-02 hex)
TxPDO (1BFF hex) Sysmac Error Status (2002 hex-01 hex)

A-22 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Additional Information

A-3 Connecting to Encoder Input Terminals

If you use the recommended Encoder Input Terminals (GX-EC0211/EC0241, version 1.1 or lat-
er), then it is not necessary to change the default PDO map on the Sysmac Studio.

Relationships between MC Function Module and Process Data

The functions of the MC Function Module are related to the information in the process data objects.
Depending on the EtherCAT slave configuration and functions that are used by the MC Function Mod-
ule, you sometimes must change the relationships between the MC Function Module and the PDOs.

To access the settings, click the Detailed Settings Button on the Axis Basic Settings Display in the
Sysmac Studio.
A

A-3-2 Settings for Encoder Input Terminals

Additional Information

If you use the recommended Encoder Input Terminals (GX-EC0211/EC0241, version 1.1 or lat-
er), then it is not necessary to change the default relationships between the functions and proc-
ess data on the Sysmac Studio.

 Output Settings (Controller to Servo Drive)

The input settings apply to the command data that is sent from the MC Function Module to the En-
coder Input Terminal.
The default settings in the Sysmac Studio are listed in the following table. (Required objects are
marked with a circle.)

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-23

Appendices

Process data
Function name Description
Channel 1 Channel 2
¡ Software Switch of 4020 hex-01.0 4020 hex-02.0 Set the instruction bits.
Encoder's Input Slave (Instruction Bits) (Instruction Bits) Set the objects given at the left for
each channel.

Precautions for Correct Use

If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.

 Input Settings (Servo Drive to Controller)

This is the status data from the Encoder Input Terminal to the MC Function Module.
The default settings in the Sysmac Studio are listed in the following table. (Required objects are
marked with a circle.)

Process data
Function name Description
Channel 1 Channel 2
¡ Position actual val- 4010 hex-01.0 4010 hex-02.0 Store the current values from the
ue (Position Value) (Position Value) counters.
Set the objects given at the left for
each channel.
Touch probe posi- 4012 hex-01.0 4012 hex-02.0 The latched position for touch probe
tion 1 position value (Latch Value A) (Latch Value A) 1. Store the values of latch positions
A.
You must map these objects to use
the touch probe function, i.e., to use
the MC_TouchProbe (Enable Exter-
nal Latch) instruction.
Set the objects given at the left for
each channel.
Touch probe posi- 4013 hex-01.0 4013 hex-02.0 The latched position for touch probe
tion 2 position value (Latch Value B) (Latch Value B) 2. Store the values of latch positions
B.
You must map these objects to use
the touch probe function, i.e., to use
the MC_TouchProbe (Enable Exter-
nal Latch) instruction.
Set the objects given at the left for
each channel.
Status of Encoder's 4030 hex-01.0 4030 hex-02.0 Store the status bits.
Input Slave (Status Bits) (Status Bits) You must map these objects to use
the touch probe function, i.e., to use
the MC_TouchProbe (Enable Exter-
nal Latch) instruction.
Set the objects given at the left for
each channel.

Precautions for Correct Use

If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.

A-24 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

 Digital Input Settings

A-3 Connecting to Encoder Input Terminals

Settings are not required to use an encoder axis.

Object Settings in the Encoder Input Terminals

There are no objects that you must set at the Encoder Input Terminal.

Relationship between the MC Function Module and the Ring Coun-

ter of an Encoder Input Terminal
The Modulo Minimum Position Setting Value and Modulo Maximum Position Setting Value in the Servo
Drive Settings in the axis parameters of the MC Function Module must agree with the maximum value
setting of the ring counter in the Encoder Input Terminal. A
The Modulo Minimum Position Setting Value and Modulo Maximum Position Setting Value are set on

A-3-2 Settings for Encoder Input Terminals

the Servo Drive Settings View on the Sysmac Studio.
The settings are as follows:

Parameter Meaning Set value

Modulo Maximum Po- Set the modulo maximum position that is This setting must agree with the maxi-
sition Setting Value set on the Servo Drive or the Encoder In- mum value that is set for the ring counter
put Terminal. in the Encoder Input Terminal.
Modulo Minimum Posi- Set the modulo minimum position that is Set this parameter to 0.
tion Setting Value set on the Servo Drive or the Encoder In-
put Terminal.

The maximum value of the ring counter for the Encoder Input Terminal is set on the EtherCAT Tab
Page in the Sysmac Studio.
The setting is as follows:

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-25

Appendices

Index Object name Set value

0x4003 Max Count Setting (maxi- Set this parameter to the same value as the Modulo Maximum
mum value of the ring Position Setting Value in the Servo Drive Settings of the axis pa-
counter) rameters of the MC Function Module.

A-26 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

A-4 Connecting to NX Units

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on con-
necting to the NX-series Position Interface Units.

A-4 Connecting to NX Units

A

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-27

Appendices

A-5 PDS State Transition

The PDS state transition is defined in CiA402 drive profile. Use the Controlword (6040 hex) process
data to command PDS state transitions. To check actual PDS states, use the Statusword (6041 hex)
process data.

The following diagram shows the state transition defined in CiA402 drive profile.
Each box indicates a state, while numbers indicate the state control commands.

Power turned OFF or Reset

Start

0: After the control power is turned ON

Not ready to switch on

1: After initialization is completed

Switch on 15: Fault reset

Fault
disabled

Shutdown: 2 7: Disable Voltage

Ready to
12 switch on

Switch on: 3
6: Shutdown
14: Error response
operation is completed
Switched on
Disable Voltage: 10

Enable operation: 4 Fault reaction

active
5: Disable
operation

Quick stop 16 Operation 8: Shut down 13: Error occurs

active enabled
11 9: Disable Voltage

A-5-1 PDS State Control Method

This section describes the relationship between the setting values of the PDS State Control Method
axis parameter and the PDS states.

 When PDS State Control Method Is Set to 0

The following operation is performed when PDS State Control Method is set to 0: Switched on
by Servo OFF.

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 Appendices

• After communications with the Servo Drive is established, MC Function Module automatically
changes the PDS state to Servo Ready (Switched on).
• If Enable of the MC_Power (Power Servo) instruction changes to TRUE in the Servo Ready
(Switched on) state, the PDS state changes to Servo ON (Operation enabled). This operation
corresponds to 4: Enable operation in the state transition diagram.
• If Enable of the MC_Power (Power Servo) instruction changes to FALSE in the Servo ON (Oper-

A-5 PDS State Transition

ation enabled) state, the PDS state changes to Servo Ready (Switched on). This operation corre-
sponds to 5: Disable operation in the state transition diagram.

 When PDS State Control Method Is Set to 1

The following operation is performed when PDS State Control Method is set to 1: Ready to
switched on by Servo OFF.
• After communications with the Servo Drive is established, MC Function Module automatically
changes the PDS state to Main Power OFF (Ready to switch on). A
• If Enable of the MC_Power (Power Servo) instruction changes to TRUE in the Main Power OFF
(Ready to switch on) state, the PDS state changes to Servo ON (Operation enabled). This opera-

A-5-2 Main Circuit Power Supply OFF Detection

tion corresponds to 3: Switch on and 4: Enable operation in the state transition diagram. The
steps 3 and 4 are performed simultaneously.
• If Enable of the MC_Power (Power Servo) instruction changes to FALSE in the Servo ON (Oper-
ation enabled) state, the PDS state changes to Main Power OFF (Ready to switch on). This op-
eration corresponds to 5: Disable operation and 6: Shutdown in the state transition diagram.
The steps 5 and 6 are performed simultaneously.

Version Information

• For a CPU Unit with unit version 1.10 or later, PDS State Control Method is selectable. PDS
State Control Method is set to 0 by default.
• For a CPU Unit with unit version 1.09 or earlier, PDS State Control Method is set to 0.

A-5-2 Main Circuit Power Supply OFF Detection

You can select whether to detect the OFF state of the main circuit power supply while the Servo is ON.
Select the Do not detect option if a Servo Main Circuit Power OFF error occurs even after the
MC_Power (Power Servo) instruction is executed.

Precautions for Correct Use

You cannot select the Do not detect option when you use an OMRON 1S-series Servo Drive or
G5-series Servo Drive.
A Servo Main Circuit Power OFF error will occur if you select the Do not detect option and turn
off the main power supply to Servo Drive when the Servo is ON.

Version Information

• For a CPU Unit with unit version 1.10 or later, Main circuit power supply OFF detection is
selectable. Main circuit power supply OFF detection is set to Detect by default.
• For a CPU Unit with unit version 1.09 or earlier, Main circuit power supply OFF detection
is set to Detect.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-29

Appendices

A-6 Terminology
This appendix provides definitions of terms related to motion control.

A-6-1 NJ/NX-series Controller

Term Description
main memory The memory inside the CPU Unit that is used by the CPU Unit to execute the
OS and user program.
periodic task Tasks for which user program execution and I/O refreshing are performed each
period.
primary periodic task The task with the highest priority.
task period The interval at which the primary periodic task or a periodic task is executed.
I/O refreshing Cyclic data exchange with external devices that is performed with predeter-
mined memory addresses.
program One of three POUs. The others are functions and function blocks.
Programs are assigned to tasks to execute them.
user program All of the programs in one project.
Inline ST ST programming that is included within a ladder diagram program.
system-defined variable A variable for which all attributes are defined by the system and cannot be
changed by the user.
global variable Reading and writing global variables are possible from all POUs (programs,
functions, and function blocks).
local variable A variable that can be accessed only from the POU in which it is defined.
Local variables include internal variables, input variables, output variables, in-
out variables, and external variables.
download To transfer data from the Sysmac Studio to the Controller with the synchroniza-
tion operation of the Sysmac Studio.
upload To transfer data from the Controller to the Sysmac Studio with the synchroniza-
tion operation of the Sysmac Studio.
major fault level Controller error An error for which all control operations from the NJ/NX-series Controller are
not possible.
The CPU Unit stops user program execution immediately and turns OFF the
loads for all slaves and Units (including remote I/O).
partial fault level Controller error An error for which all control operations for one of the function modules in the
NJ/NX-series Controller are stopped.
The NJ/NX-series CPU Unit continues operation even after a partial fault level
Controller error occurs.
minor fault level Controller error An error for which some of the control operations for one of the function mod-
ules in the NJ/NX-series Controller are stopped.
The NJ/NX-series CPU Unit continues operation even after a minor fault level
Controller error occurs.
observation One of the event levels for Controller information and user-defined information.
Observations represent minor errors that do not affect control operations. They
are recorded in an event log to inform the user.

A-30 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

A-6-2 Motion Control

Term Description
used real axis Axis of which axis type is set to Servo Axis or Encoder Axis and axis use is
set to Used Axis.
used virtual axis Axis of which axis type is set to Virtual Servo Axis or Virtual Encoder Axis
and axis use is set to Used Axis.
Motion Control Function Module A software component that executes motion control.

A-6 Terminology
It performs motion control based on commands from the motion control instruc-
tions that are executed in the user program. (Abbreviation: MC Function Mod-
ule)
motion control instruction An instruction that is defined as a function block to execute a motion control
function.
The MC Function Module supports instructions that are based on function
blocks for PLCopen® motion control as well as instructions developed specifi- A
cally for the MC Function Module.
motion control axes Axes for which all motion control functions can be used.

A-6-2 Motion Control

single-axis position control axes Axes for which only single-axis position control can be used.
single-axis position control Controlling the position of one axis.
single-axis velocity control Controlling the velocity of one axis.
For single-axis velocity control, the MC Function Module sometimes outputs ve-
locity commands to the Servo Drive and sometimes outputs position com-
mands to the Servo Drive.
single-axis torque control Controlling the torque of one axis.
single-axis synchronized control Synchronizing the control of one slave axis with one master axis.
There are two types of single-axis synchronized control: gear operation, in
which the axes are synchronized with a gear ratio, and cam operation, in which
the axes are synchronized according to the relationship between phases and
displacements in a cam table.
single-axis manual operation Controlling an axis with manual operation, such as jogging.
auxiliary functions for single-axis control Functions that aid in controlling an axis, such as override factor settings and re-
setting errors.
multi-axes coordinated control Controlling the motion of more than one axis, such as linear interpolation and
circular interpolation.
You specify an axes group to specify the axes to coordinate.
auxiliary functions for multi-axes coordi- Functions that aid in controlling an axes group, such as override factor settings
nated control and resetting errors.
motion control parameters Parameters that define the operation of the MC Function Module.
The motion control parameters include the MC common parameters, axis pa-
rameters, and axes group parameters.
axis parameters Parameters that apply to a single axis.
axes group parameters Parameters that apply to an axes group.
system-defined variables for motion con- System-defined variables that provide status information for the MC Function
trol Module.
The system-defined variables for motion control include the MC Common Vari-
able, Axis Variables, and Axes Group Variables.
MC common variable A system-defined variable that is defined as a structure and provides status in-
formation for the overall operation of the MC Function Module.
axis variables System-defined variables that are defined as structures and provide status in-
formation and some of the axis parameters for individual axes.
axes group variables System-defined variables that are defined as structures and provide status in-
formation and some of the axes group parameters for individual axes groups.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-31

Appendices

Term Description
homing The process of defining home.
Homing is also called home positioning, home searching, calibration, and da-
tum.
home The zero position of the mechanical system.
Home is determined by the home input signal during the homing operation.
zero position The position that is based on home and is treated as the zero position in the
user program.
This is the same position as home if the home position is not changed.
following error The difference between the command current position and actual current posi-
tion.
There is a following error only in position control mode. (Other modes do not
have a command current position.)
The following error is also called the following error counter value and the re-
maining pulses.
following error reset Setting the following error to zero.
cam profile curve A curve that shows the relationship between phases and displacements in a
cam operation.
The cam profile curve is created on the Sysmac Studio.
cam data Data made up of phases (master axis) and displacements (slave axis) for cam
operation.
cam data variable A structure array variable for cam data.
It contains phases and displacements and is defined as a structure array.
cam table A data table that contains cam data.
Use the Sysmac Studio to download the cam profile curves that you created
with the Cam Editor to the CPU Unit to save them as cam tables in the non-
volatile memory in the CPU Unit.
override A function that allows the operator to temporarily change programmed values
during operation.
jerk The rate of change in the acceleration or deceleration rate.
If you specify the jerk, the velocity graph will form an S-curve for acceleration
and deceleration.
Jerk is also called jolt, surge, and lurch.
Multi-motion Performing the motion controls in parallel using both of the primary periodic
task and the priority-5 periodic task.

A-6-3 EtherCAT Communications

Term Description
CAN application protocol over EtherCAT A CAN application protocol service implemented on EtherCAT.
(CoE)
CAN in Automation (CiA) CiA is the international users' and manufacturers' group that develops and sup-
ports higher-layer protocols.
EtherCAT Technology Group The ETG is a global organization in which OEM, End Users and Technology
Providers join forces to support and promote the further technology develop-
ment.
Object An abstract representation of a particular component within a device, which
consists of data, parameters, and methods.
Object Dictionary A data structure addressed by Index and Subindex that contains description of
data type objects, communications objects and application objects.
Process Data Collection of application objects designated to be transferred cyclically or
acyclically for the purpose of measurement and control.

A-32 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Term Description
Process Data Object A process data (I/O data) object that exchanges data at regular periods with
CoE.
Service Data Object CoE asynchronous mailbox communications where all objects in the object dic-
tionary can be read and written.
Receive PDO A process data object received by an EtherCAT slave.
Transmit PDO A process data object sent from an EtherCAT slave.
Device Profile A collection of device dependent information and functionality providing consis-

A-6 Terminology
tency between similar devices of the same device type.

A-6-3 EtherCAT Communications

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-33

Appendices

A-7 Version Information

This section describes the functions that are supported for each unit version.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the relationship be-
tween the unit versions of CPU Units and the Sysmac Studio versions.

Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for version
information on the motion control instructions.

Motion Control Functions That Were Added for Unit Version 1.01
Version 1.02 or higher of the Sysmac Studio is required to use the functions that were added for unit
version 1.01 of the CPU Unit.

Function Overview
Changing the axes in an axes You can use the MC_ChangeAxesInGroup (Change Axes in Group) in-
group struction to temporarily change the Composition Axes axes group pa-
rameter for an axes group.
Reading axes group positions You can use the MC_GroupReadPosition (Read Axes Group Position) in-
struction to read the command current positions and the actual current
positions of an axes group.
Axes group cyclic synchronous ab- You can use the MC_GroupSyncMoveAboslute (Axes Group Cyclic Syn-
solute positioning chronous Absolute Positioning) instruction to cyclically output the speci-
fied target positions for the axes.
Controllable Servo Drives Support was added for OMRON G5-series Linear Motor Type Servomo-
tors/Servo Drives with built-in EtherCAT communications.

Motion Control Functions That Were Added for Unit Version 1.02
Version 1.03 or higher of the Sysmac Studio is required to use the functions that were added for unit
version 1.02 of the CPU Unit.

No motion control functions were added for unit version 1.02, but the specifications of some instruc-
tions were improved. Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat.
No. W508) for version information on the motion control instructions.

Motion Control Functions That Were Added for Unit Version 1.03
Version 1.04 or higher of the Sysmac Studio is required to use the functions that were added for unit
version 1.03 of the CPU Unit.

Function Overview
Cyclic synchronous absolute posi- The MC_SyncMoveAbsolute (Cyclic Synchronous Absolute Positioning)
tioning instruction can be used to output a command position each control period
in Position Control Mode.

A-34 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Function Overview
Homing with parameters The MC_HomeWithParameter (Home with Parameters) instruction can be
used to specify the homing parameters and operate the motor to deter-
mine home. It uses the limit signals, home proximity signal, and home
signal.

A-7 Version Information

Motion Control Functions That Were Added for Unit Version 1.04
Version 1.05 or higher of the Sysmac Studio is required to use the functions that were added for unit
version 1.04 of the CPU Unit.

Function Overview
Changing axis use You can use the MC_ChangeAxisUse (Change Axis Use) instruction to
temporarily change the setting of the Axis Use axis parameter.
A

Motion Control Functions That Were Added for Unit Version 1.05
Version 1.06 or higher of the Sysmac Studio is required to use the functions that were added for unit
version 1.05 of the CPU Unit.

Function Overview
Start velocity You can set the initial velocity when axis motion starts.
Input signal logic inversion You can inverse the logic of immediate stop input signal, positive limit in-
put signal, negative limit input signal, or home proximity input signal.

Note With a CPU Unit with unit version 1.05 or later, you can perform motion control by assigning axes to NX-
series Position Interface Units.

Motion Control Specifications That Were Added or Changed for

Unit Version 1.06
Version 1.07 or higher of the Sysmac Studio is required to use the performance specifications and
function specifications that were added or changed for unit version 1.06 of the CPU Unit.

Function Overview
Maximum number of controlled ax- The maximum number of controlled axes for NJ301-££££ was in-
es creased to 15 axes.
(No change in maximum number of used real axes.)
Maximum number of axes for sin- The maximum number of axes for single-axis control for NJ301-££££
gle-axis control was increased to 15 axes.
(No change in maximum number of used real axes.)
Enable digital cam switch You can use the MC_DigitalCamSwitch (Enable Digital Cam Switch) in-
struction to turn the digital outputs ON or OFF according to the axis posi-
tion.
Time stamp to axis position calcula- You can use the MC_TimeStampToPos (Time Stamp to Axis Position Cal-
tion culation) instruction to calculate the position of the axis for the specified
time stamp.
Adding blending options to Start The blending options were added to Buffer Mode Selection for the
Cam Operation MC_CamIn (Start Cam Operation) instruction.
_sMC_POSITION_REF You can use this data type to display the path of user coordinate systems
in 3D Motion Monitor Display Mode.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-35

Appendices

Motion Control Functions That Were Added or Changed for Unit

Version 1.08
Version 1.09 or higher of the Sysmac Studio is required to use the functions that were added or
changed for unit version 1.08 of the CPU Unit.

Function Overview
Generating cam tables You can use the MC_GenerateCamTable (Generate Cam Table) instruc-
tion and generate the cam table according to the cam property and cam
node specified for the input parameters.
Changing axis parameters You can access and change the axis parameters from the MC_WriteAxis-
Parameter (Write Axis Parameters) instruction and the MC_ReadAxis-
Parameter (Read Axis Parameters) instruction in the user program.
Assigning device variables You can assign the device variables to the I/O ports of slaves and Units
that are assigned to the Axis Variables. *1
Refer to 2-4-2 Relationship between EtherCAT Master Function Module
and MC Function Module on page 2-19 for details.
*1. This function is independent of the version of the CPU Unit. Using the Sysmac Studio version 1.09 or higher
allows you use this assignment function.

Motion Control Functions That Were Added or Changed for Unit

Version 1.09
Version 1.10 or higher of the Sysmac Studio is required to use the functions that were added for unit
version 1.09 of the CPU Unit.

No motion control functions were added for unit version 1.09, but the specifications of some instruc-
tions were improved. Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat.
No. W508) for version information on the motion control instructions.

Motion Control Functions That Were Added or Changed for Unit

Version 1.10
Version 1.12 or higher of the Sysmac Studio is required to use the following functions that were added
for unit version 1.10 of the CPU Unit.

Function Overview
Slave axis position compensation This function compensates the position of the slave axis currently in
synchronized control.
Change in the blending operation The maximum acceleration/deceleration rate is used and the blending op-
eration is continued even if you set the Acceleration/Deceleration Over
parameter to Use rapid acceleration/deceleration (Blending is
changed to Buffered) or Minor fault stop.
Home definition timing for absolute In addition to the existing home definition timing, home is also defined
encoders when EtherCAT slave process data communications change from a non-
established to an established state.
Current position when process data The actual current position and the command current position axis varia-
communications are in a non-es- bles will contain the actual current position output that is just before proc-
tablished state ess data communications change to a non-established state.

A-36 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Appendices

Function Overview
With or without Modes of Operation The operation depends on whether Modes of Operation (6060 hex) and
(6060 hex) and Modes of Operation Modes of Operation Display (6061 hex) are mapped.
Display (6061 hex) mapping
PDS state control method You can set the state to which PDS state changes when Servo is turned
OFF by the MC_Power instruction.

A-7 Version Information

Main circuit power supply OFF de- You can select whether to detect the OFF state of the main circuit power
tection supply while the Servo is ON or when the Servo ON command is sent.

Version 1.13 or higher of the Sysmac Studio is required to use the following functions that were added
for unit version 1.10 of the CPU Unit.

Function Overview
Synchronized control in multi-mo- You can execute the synchronized control instructions between axes as-
tion signed to different tasks in the multi-motion.
A

Motion Control Functions That Were Added or Changed for Unit

Version 1.11
Version 1.15 or higher of the Sysmac Studio is required to use the following functions that were added
for unit version 1.11 of the CPU Unit.

Function Overview
Adding the parameters for the unit The following parameters were added: Reducer Use, Work Travel
conversion settings Distance Per Rotation, Work Gear Ratio, and Motor Gear Ratio.

Version 1.16 or higher of the Sysmac Studio is required to use the following functions that were added
for unit version 1.11 of the CPU Unit.

Function Overview
Controllable Servo Drives Support was added for OMRON 1S-series Servo Drives with built-in
EtherCAT communications.

Motion Control Functions That Were Added or Changed for Unit

Version 1.13
Version 1.17 or higher of the Sysmac Studio is required to use the following functions that were added
for unit version 1.13 of the CPU Unit.

Function Overview
Control Function Select the function of axis to control.
Commands to I/O devices during The MC Function Module operation differs depending on the setting that
the download process specifies to stop or continue sending commands to the I/O devices when
the download process starts.

Motion Control Functions That Were Added for Unit Version 1.21 or
1.32
The specified unit version of the CPU Unit and version 1.28 or higher of the Sysmac Studio are re-
quired to use the functions described below.

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) A-37

Appendices

CPU Unit Unit version

NX102 CPU Unit Version 1.32 or later
NX1P2 CPU Unit Version 1.21 or later
NJ-series CPU Unit Version 1.21 or later

Function Overview
Cam Monitor You can use the MC_CamMonitor (Cam Monitor) instruction to monitor
the phase and displacement of the cam table based on the current mas-
ter axis position and the position and displacement of the current slave
axis.
Slave axis position compensation You can use the MC_OffsetPosition (Position Offset Compensation) to
add the specified position offset with the acceleration/deceleration curve
to the slave axis currently in synchronized control and compensates the
command position.
Controllable Servo Drives Support was added for OMRON 1S-series Servo Drives with built-in
EtherCAT Communications and Safety Functionality.

A-38 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 I
Index

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) I-1

Index

Index
A axis parameters................................................................. 3-2
Axis Ready-to-execute.................................................... 6-25
aborting.................................................................. 9-49, 9-67 axis states
absolute encoder Axis Disabled................................................................. 6-8
applicable Servomotors............................................... 8-16 Continuous Motion......................................................... 6-9
Home Offset................................................................. 8-16 Coordinated Motion........................................................6-9
Rotary Mode................................................................ 8-17 Deceleration Stopping....................................................6-9
setup............................................................................ 8-17 Discrete Motion.............................................................. 6-8
absolute positioning...........................................................9-4 Error Deceleration Stopping...........................................6-8
acceleration and deceleration..........................................9-36 Homing...........................................................................6-9
Acceleration Warning Value................................... 5-21, 9-37 Stopped..........................................................................6-8
Acceleration/Deceleration Over..............................5-21, 9-37 Synchronized Motion..................................................... 6-9
Actual Current Position....................................................6-28 Axis Status.......................................................................6-25
Actual Current Torque......................................................6-29 Axis Type..................................................................5-8, 6-29
Actual Current Velocity.................................................... 6-29 axis types.........................................................................5-10
actual position........................................................ 6-19, 9-33 Axis Use................................................................... 5-8, 6-29
actual velocity.................................................................. 9-35 Axis Variable names.......................................................... 3-6
Actual Velocity Filter Time Constant.......................5-22, 9-35 Axis Variables........................................................... 3-3, 6-25
Axes Group Basic Settings..............................................6-35
Axes Group Command Values........................................ 6-35 B
Axes Group Control Status..............................................6-34
Axes Group Disabled.......................................................6-34 basic data types...............................................................6-22
Axes Group Minor Fault...................................................6-35 blending..................................................................9-51, 9-69
Axes Group Minor Fault Code......................................... 6-35 Buffer Mode............................................................ 9-48, 9-67
Axes Group Minor Fault Occurrence............................... 6-35 buffered.................................................................. 9-50, 9-68
Axes Group Number...............................................5-35, 6-35
Axes Group Observation................................................. 6-35 C
Axes Group Observation Code........................................6-35
Axes Group Observation Occurrence..............................6-35 cam block........................................................................ 9-17
axes group parameters....................................................3-21 cam block end point.........................................................9-17
axes group states cam block start point........................................................9-17
Deceleration Stopping..................................................6-10 cam curves...................................................................... 9-17
Error Deceleration Stopping.........................................6-10 cam data..........................................................................9-17
Moving......................................................................... 6-10 cam data index................................................................ 9-17
Standby........................................................................6-10 cam data variables.......................................................... 9-17
Axes Group Status.......................................................... 6-34 cam end point.................................................................. 9-17
Axes Group Stop Method................................................ 5-38 cam operation.........................................................9-15, 9-16
Axes Group Use..................................................... 5-35, 6-36 cam profile curves.................................................. 6-37, 9-17
Axes Group Variable names............................................ 3-23 names.......................................................................... 6-40
Axes Group Variables.............................................3-21, 6-33 cam start point................................................................. 9-17
Axis Basic Settings.......................................................... 6-29 cam table................................................................9-17, 9-18
Axis Command Values.....................................................6-28 Cam Table File Save Busy.............................................. 6-24
axis composition of axes group....................................... 5-35 cam table start position....................................................9-18
Axis Control Status.......................................................... 6-26 cam tables
Axis Current Value........................................................... 6-28 cam table names..........................................................6-40
Axis Disabled...................................................................6-25 cam table specifications...............................................9-19
axis following error monitoring.........................................9-82 data type of cam tables................................................9-20
Axis Minor Fault...............................................................6-29 generating cam tables..................................................9-22
Axis Minor Fault Code..................................................... 6-29 saving cam tables........................................................ 9-21
Axis Minor Fault Occurrence........................................... 6-29 specifying in the user program.....................................6-40
Axis Number.............................................................5-8, 6-29 switching cam tables....................................................9-20
axis numbers..................................................................... 5-9 updating properties...................................................... 9-21
Axis Observation............................................................. 6-29 changing acceleration rate.............................................. 9-46
Axis Observation Code....................................................6-29 changing axes in Axes Groups........................................9-56
Axis Observation Occurrence..........................................6-29 changing axis use............................................................9-84
changing deceleration rate.............................................. 9-46

I-2 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Index

changing target position.................................................. 9-43 Drive Warning Input......................................................... 6-27

excessive deceleration patterns...................................9-44
triangular control patterns............................................ 9-44 E
when a reverse turn does not occur for the new command
value.........................................................................9-44 electronic gear ratio (unit conversion formula)................ 5-16
when a reverse turn occurs for the new command value.... enable digital cam switch.................................................9-85
................................................................................. 9-44 enabling and disabling axes groups................................ 9-56
changing target velocity...................................................9-46 encoder axis.................................................... 3-2, 5-10, 5-11
changing the current position.......................................... 9-76 Encoder Type......................................................... 5-26, 5-28
changing torque command.............................................. 9-47 enumerated data types....................................................6-22
changing travel distance..................................................9-45 Error Deceleration Stopping................................... 6-26, 6-34
circular interpolation........................................................ 9-58 EtherCAT........................................................................... 1-2
combining axes................................................................9-25 EtherCAT Master Function Module....................................2-2
Command Current Acceleration/Deceleration................. 6-28 Execution ID........................................................... 6-29, 6-36
Command Current Jerk................................................... 6-28 External Latch Input 1......................................................6-27
Command Current Position............................................. 6-28 External Latch Input 2......................................................6-27
Command Current Torque............................................... 6-28
Command Current Velocity..............................................6-28 F
Command Direction.........................................................6-27
Command Interpolation Acceleration/Deceleration......... 6-35 finite length axis...............................................................5-27
Command Interpolation Velocity......................................6-35 following error counter reset............................................ 9-81 I
command position.................................................. 6-19, 9-33 following error monitoring................................................ 9-80
Command Pulse Count Per Motor Rotation........... 5-13, 6-30 Following Error Over Value..............................................5-26
command velocity............................................................9-35 Following Error Warning Value........................................ 5-26
Command Velocity Saturation......................................... 6-27
common functions for single-axis control........................ 9-33 G
Composition........................................................... 5-35, 6-36
gear operation................................................................. 9-13
Composition Axes.................................................. 5-35, 5-36
Generating Cam Table.....................................................6-24
Composition Axis for Axis A0.......................................... 6-36
Composition Axis for Axis A1.......................................... 6-36
Composition Axis for Axis A2.......................................... 6-36
H
Composition Axis for Axis A3.......................................... 6-36 high-speed homing.......................................................... 8-19
connecting acceleration...................................................9-18 home..................................................................................8-2
connecting velocity.......................................................... 9-18 Home Defined..................................................................6-26
Continuous Motion...........................................................6-26 Home Input...................................................................... 6-27
Control Function....................................................... 5-8, 5-11 Home Input Detection Direction............................... 5-29, 8-8
Coordinated Motion......................................................... 6-26 Home Input Mask Distance.................................... 5-30, 8-10
Correction Allowance Ratio............................................. 5-38 Home Input Signal....................................................5-29, 8-7
Count Mode............................................................5-26, 6-30 Home Offset........................................................... 5-30, 8-10
current direction...............................................................9-40 Home Proximity Input...................................................... 6-27
Cyclic Synchronous Position (CSP) Control Mode..........6-27 Home Proximity Input Logic Inversion............................. 5-25
cyclic synchronous positioning.......................................... 9-6 homing...............................................................................8-2
Cyclic Synchronous Torque (CST) Control Mode............6-27 Homing............................................................................ 6-26
Cyclic Synchronous Velocity (CSV) Control Mode.......... 6-27 Homing Acceleration................................................ 5-30, 8-9
cyclic synchronous velocity control..................................9-30 Homing Approach Velocity....................................... 5-30, 8-9
Homing Compensation Value................................. 5-30, 8-11
D Homing Compensation Velocity..............................5-30, 8-11
Homing Deceleration..............................................5-30, 8-10
data types........................................................................ 6-22
Homing Holding Time............................................. 5-30, 8-10
Deceleration Stopping............................................ 6-26, 6-34
Homing Jerk........................................................... 5-30, 8-10
Deceleration Warning Value................................... 5-22, 9-37
Homing Method........................................................ 5-29, 8-6
derivative data types........................................................6-22
homing parameters............................................................8-5
Discrete Motion................................................................6-26
Homing Start Direction............................................. 5-29, 8-8
displacement................................................................... 9-17
Homing Velocity........................................................5-30, 8-9
displaying 3D motion monitoring for user coordinate system.
..................................................................................... 9-86
Drive Error Input.............................................................. 6-27
I
Drive Error Reset Monitoring Time.................................. 5-25 Idle (Axes Group Control Status).....................................6-35
Drive Internal Limiting......................................................6-27 Idle (Axis Control Status).................................................6-26

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) I-3

Index

Immediate Stop Input...................................................... 6-27 MC Common Partial Fault Code......................................6-25

Immediate Stop Input Logic Inversion............................. 5-25 MC Common Partial Fault Occurrence............................6-25
Immediate Stop Input Stop Method................................. 5-25 MC Common Status........................................................ 6-24
In Home Position............................................................. 6-27 MC Common Variable......................................................6-24
in-position check..............................................................9-82 MC parameter settings...................................................... 5-2
In-position Check Time.................................................... 5-22 MC Run........................................................................... 6-24
In-position Range............................................................ 5-22 MC Test Run....................................................................6-24
In-position Waiting (Axes Group Control Status)............. 6-35 MC Test Run functions...................................................... 4-2
In-position Waiting (Axis Control Status)......................... 6-26 _MC_AX[*] (Axis Variable)...............................................6-25
infinite length axis............................................................ 5-27 _MC_AX[*].Act.Pos (Actual Current Position)................. 6-28
Input Device............................................................. 5-8, 5-12 _MC_AX[*].Act.Timestamp (Time Stamp)....................... 6-29
Interpolation Acceleration Warning Value........................5-37 _MC_AX[*].Act.Trq (Actual Current Torque).................... 6-29
Interpolation Acceleration/Deceleration Over.................. 5-37 _MC_AX[*].Act.Vel (Actual Current Velocity)...................6-29
Interpolation Deceleration Warning Value....................... 5-37 _MC_AX[*].Cfg.AxEnable (Axis Use).............................. 6-29
Interpolation Velocity Warning Value............................... 5-37 _MC_AX[*].Cfg.AxNo (Axis Number).............................. 6-29
interrupt feeding.................................................................9-4 _MC_AX[*].Cfg.AxType (Axis Type)................................ 6-29
invalid cam data...............................................................9-17 _MC_AX[*].Cfg.ExecID (Execution ID)............................6-29
_MC_AX[*].Cfg.NodeAddress (Node Address)............... 6-29
J _MC_AX[*].Cmd.AccDec (Command Current Acceleration/
Deceleration)................................................................6-28
jerk............................................................................1-2, 9-38 _MC_AX[*].Cmd.Jerk (Command Current Jerk)..............6-28
jerk unit............................................................................ 9-38 _MC_AX[*].Cmd.Pos (Command Current Position)........ 6-28
_MC_AX[*].Cmd.Trq (Command Current Torque)........... 6-28
K _MC_AX[*].Cmd.Vel (Command Current Velocity)..........6-28
_MC_AX[*].Details.Homed (Home Defined)....................6-26
Kinematics Transformation Settings................................ 6-36 _MC_AX[*].Details.Idle (Idle)...........................................6-26
_MC_AX[*].Details.InHome (In Home Position).............. 6-27
L _MC_AX[*].Details.InPosWaiting (In-position Waiting).... 6-26
_MC_AX[*].Details.VelLimit (Command Velocity Saturation)..
latching............................................................................ 9-77
..................................................................................... 6-27
Limit Input Stop Method...................................................5-25
_MC_AX[*].Dir.Nega (Negative Direction)....................... 6-27
linear interpolation........................................................... 9-57
_MC_AX[*].Dir.Posi (Positive Direction).......................... 6-27
Linear Mode.....................................................................5-27
_MC_AX[*].DrvStatus.CSP (Cyclic Synchronous Position
loading and saving cam data...........................................9-21
(CSP) Control Mode)................................................... 6-27
losing defined home.......................................................... 8-2
_MC_AX[*].DrvStatus.CST (Cyclic Synchronous Torque
(CST) Control Mode)....................................................6-27
M _MC_AX[*].DrvStatus.CSV (Cyclic Synchronous Velocity
Main Power......................................................................6-27 (CSV) Control Mode)................................................... 6-27
master axis...................................................................... 9-17 _MC_AX[*].DrvStatus.DrvAlarm (Drive Error Input)........ 6-27
master axis phase shift....................................................9-26 _MC_AX[*].DrvStatus.DrvWarning (Drive Warning Input)......
master following distance................................................ 9-18 ..................................................................................... 6-27
Maximum Acceleration........................................... 5-21, 9-36 _MC_AX[*].DrvStatus.Home (Home Input)..................... 6-27
Maximum Current Position.............................................. 6-30 _MC_AX[*].DrvStatus.HomeSw (Home Proximity Input).6-27
Maximum Deceleration...........................................5-21, 9-36 _MC_AX[*].DrvStatus.ILA (Drive Internal Limiting)......... 6-27
Maximum Interpolation Acceleration............................... 5-37 _MC_AX[*].DrvStatus.ImdStop (Immediate Stop Input).. 6-27
Maximum Interpolation Deceleration............................... 5-37 _MC_AX[*].DrvStatus.Latch1 (External Latch Input 1)....6-27
Maximum Interpolation Velocity.......................................5-37 _MC_AX[*].DrvStatus.Latch2 (External Latch Input 2)....6-27
Maximum Jog Velocity............................................5-21, 9-35 _MC_AX[*].DrvStatus.MainPower (Main Power).............6-27
Maximum Negative Torque Limit..................................... 5-25 _MC_AX[*].DrvStatus.N_OT (Negative Limit Input)........ 6-27
maximum number of cam data........................................ 9-17 _MC_AX[*].DrvStatus.P_OT (Positive Limit Input).......... 6-27
Maximum Positive Torque Limit.......................................5-25 _MC_AX[*].DrvStatus.Ready (Servo Ready).................. 6-27
Maximum Velocity......................................... 5-21, 5-23, 9-35 _MC_AX[*].DrvStatus.ServoOn (Servo ON)....................6-27
MC Common Minor Fault................................................ 6-25 _MC_AX[*].MFaultLvl.Active (Axis Minor Fault Occurrence)..
MC Common Minor Fault Code.......................................6-25 ..................................................................................... 6-29
MC Common Minor Fault Occurrence.............................6-25 _MC_AX[*].MFaultLvl.Code (Axis Minor Fault Code)......6-29
MC Common Observation............................................... 6-25 _MC_AX[*].Obsr.Active (Axis Observation Occurrence). 6-29
MC Common Observation Code..................................... 6-25 _MC_AX[*].Obsr.Code (Axis Observation Code)............ 6-29
MC Common Observation Occurrence........................... 6-25 _MC_AX[*].Scale.CountMode (Count Mode).................. 6-30
MC Common Partial Fault............................................... 6-24

I-4 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

 Index

_MC_AX[*].Scale.Den (Work Travel Distance Per Motor Ro- _MC_GRP[*].MFaultLvl.Code (Axes Group Minor Fault
tation)........................................................................... 6-30 Code)........................................................................... 6-35
_MC_AX[*].Scale.MaxPos (Maximum Current Position). 6-30 _MC_GRP[*].Obsr.Active (Axes Group Observation Occur-
_MC_AX[*].Scale.MinPos (Minimum Current Position)... 6-30 rence)...........................................................................6-35
_MC_AX[*].Scale.Num (Command Pulse Count Per Motor _MC_GRP[*].Obsr.Code (Axes Group Observation Code)....
Rotation)...................................................................... 6-30 ..................................................................................... 6-35
_MC_AX[*].Scale.Units (Unit of Display)......................... 6-30 _MC_GRP[*].Status.Disabled (Axes Group Disabled).... 6-34
_MC_AX[*].Status.Continuous (Continuous Motion)....... 6-26 _MC_GRP[*].Status.ErrorStop (Error Deceleration Stopping)
_MC_AX[*].Status.Coordinated (Coordinated Motion).... 6-26 ..................................................................................... 6-34
_MC_AX[*].Status.Disabled (Axis Disabled)................... 6-25 _MC_GRP[*].Status.Moving (Moving)............................. 6-34
_MC_AX[*].Status.Discrete (Discrete Motion)................. 6-26 _MC_GRP[*].Status.Ready (Ready-to-execute)............. 6-34
_MC_AX[*].Status.ErrorStop (Error Deceleration Stopping)... _MC_GRP[*].Status.Standby (Standby)..........................6-34
..................................................................................... 6-26 _MC_GRP[*].Status.Stopping (Deceleration Stopping)...6-34
_MC_AX[*].Status.Homing (Homing).............................. 6-26 Minimum Current Position............................................... 6-30
_MC_AX[*].Status.Ready (Axis Ready-to-execute).........6-25 Modulo Maximum Position Setting Value............... 5-26, 5-28
_MC_AX[*].Status.Standstill (Standstill).......................... 6-25 Modulo Minimum Position Setting Value................ 5-26, 5-28
_MC_AX[*].Status.Stopping (Deceleration Stopping)......6-26 Motion Control...................................................5-8, 5-9, 5-35
_MC_AX[*].Status.Synchronized (Synchronized Motion)6-26 Motion Control Function Module........................................2-2
_MC_COM (MC Common Variable)................................ 6-24 motion control instructions
_MC_COM.MFaultLvl.Active (MC Common Minor Fault Oc- Enable-type instructions...............................................6-14
currence)......................................................................6-25 exclusiveness of outputs..............................................6-12 I
_MC_COM.MFaultLvl.Code (MC Common Minor Fault Execute-type instructions.............................................6-14
Code)........................................................................... 6-25 input parameters.......................................................... 6-12
_MC_COM.Obsr.Active (MC Common Observation Occur- operation of output variable Busy................................ 6-13
rence)...........................................................................6-25 operation of output variable CommandAborted........... 6-13
_MC_COM.Obsr.Code (MC Common Observation Code)..... operation of output variable Done................................6-13
..................................................................................... 6-25 output status................................................................ 6-12
_MC_COM.PFaultLvl.Active (MC Common Partial Fault Oc- output variable Active...................................................6-13
currence)......................................................................6-25 timing charts for enable-type instructions.................... 6-16
_MC_COM.PFaultLvl.Code (MC Common Partial Fault timing charts for execute-type instructions...................6-15
Code)........................................................................... 6-25 motion control parameter settings..................................... 5-2
_MC_COM.Status.CamTableBusy (Cam Table File Save motion control period....................................................... 2-22
Busy)............................................................................6-24 motion control programs....................................................6-2
_MC_COM.Status.GenerateCamBusy (Generating Cam Ta- Moving............................................................................. 6-34
ble)............................................................................... 6-24 multi-axes coordinated control.........................................9-55
_MC_COM.Status.RunMode (MC Run).......................... 6-24 multi-execution....................................................... 9-48, 9-67
_MC_COM.Status.TestMode (MC Test Run)...................6-24
_MC_GRP[*] (Axes Group Variable)................................6-34 N
_MC_GRP[*].Cfg.ExecID (Execution ID).........................6-36
_MC_GRP[*].Cfg.GrpEnable (Axes Group Use)............. 6-36 Negative Direction.................................................. 6-27, 9-40
_MC_GRP[*].Cfg.GrpNo (Axes Group Number)............. 6-35 Negative Limit Input.........................................................6-27
_MC_GRP[*].Cmd.AccDec (Command Interpolation Accel- Negative Limit Input Logic Inversion................................5-25
eration/Deceleration)....................................................6-35 Negative Software Limit...................................................5-26
_MC_GRP[*].Cmd.Vel (Command Interpolation Velocity)...... Negative Torque Warning Value...................................... 5-22
..................................................................................... 6-35 no direction specified.......................................................9-40
_MC_GRP[*].Details.Idle (Idle)........................................6-35 Node Address..................................................................6-29
_MC_GRP[*].Details.InPosWaiting (In-position Waiting). 6-35 null cam data................................................................... 9-18
_MC_GRP[*].Kinematics.Axis[0] (Composition Axis for Axis number of valid cam data................................................ 9-17
A0)............................................................................... 6-36
_MC_GRP[*].Kinematics.Axis[1] (Composition Axis for Axis O
A1)............................................................................... 6-36
_MC_GRP[*].Kinematics.Axis[2] (Composition Axis for Axis object dictionary...............................................................2-19
A2)............................................................................... 6-36 Operation Selection at Negative Limit Input............. 5-30, 8-9
_MC_GRP[*].Kinematics.Axis[3] (Composition Axis for Axis Operation Selection at Positive Limit Input...............5-29, 8-9
A3)............................................................................... 6-36 Operation Selection at Reversing....................................5-21
_MC_GRP[*].Kinematics.GrpType (Composition)........... 6-36 original cam data............................................................. 9-17
_MC_GRP[*].MFaultLvl.Active (Axes Group Minor Fault Oc- Output Device...........................................................5-8, 5-12
currence)......................................................................6-35 overrides................................................................. 9-11, 9-61

NJ/NX-series CPU Unit Motion Control User’s Manual (W507) I-5

Index

P MC_ImmediateStop instruction......................................9-8
MC_Stop instruction.......................................................9-7
periodic tasks.....................................................................2-6 Servo Drive input signals............................................... 9-6
phase...............................................................................9-17 stop method................................................................... 9-9
phase pitch...................................................................... 9-18 deceleration stop........................................................ 9-9
PLC Function Module........................................................ 2-2 immediate stop......................................................... 9-10
PLCopen............................................................................1-2 immediate stop and error reset................................ 9-10
positioning gear operation............................................... 9-14 immediate stop and Servo OFF............................... 9-10
positions.......................................................................... 9-33 stopping due to errors or other problems.....................9-60
Positive Direction....................................................6-27, 9-40 stopping under multi-axes coordinated control................9-59
Positive Limit Input.......................................................... 6-27 structure data types......................................................... 6-23
Positive Limit Input Logic Inversion................................. 5-25 superimpose corners..............................................9-71, 9-74
Positive Software Limit.................................................... 5-26 synchronized control........................................................9-13
Positive Torque Warning Value........................................5-22 Synchronized Motion....................................................... 6-26
primary period.......................................................... 2-7, 2-23 synchronous positioning.................................................. 9-24
Primary periodic task......................................................... 2-5 system-defined variables.................................................6-21
process data communications cycle................................2-22 system-defined variables for motion control
process data objects (PDOs)...........................................2-19 attributes...................................................................... 6-23
Production Information........................................................26
program-modified cam data.............................................9-17 T

R task period....................................................................... 2-10

tasks.................................................................................. 2-5
re-executing............................................................9-43, 9-66 Test Run functions............................................................. 4-2
read axes group positions............................................... 9-57 Time Stamp..................................................................... 6-29
Ready-to-execute............................................................ 6-34 torque limit....................................................................... 9-77
Relationship between Axis Variables and Axis Types..... 6-31 transition disabled............................................................9-71
relative positioning.............................................................9-4 Transition Modes............................................................. 9-71
resetting axes group errors..............................................9-57 types of positions.............................................................9-33
resetting axis errors........................................................... 9-3 types of velocities............................................................ 9-35
Rotary Mode.................................................................... 5-27
U
S
Unit Conversions............................................................. 6-30
S-curve............................................................................ 9-38 unit of acceleration rate................................................... 9-36
service data objects (SDOs)............................................2-19 unit of deceleration rate................................................... 9-36
servo axis................................................................. 3-2, 5-10 Unit of Display............................................... 5-13, 5-15, 6-30
Servo Drive Status...........................................................6-27
Servo ON.........................................................................6-27 V
Servo Ready....................................................................6-27
shortest way.................................................................... 9-40 valid cam data................................................................. 9-17
single-axis torque control.................................................9-32 velocity control.................................................................9-30
single-axis velocity control...............................................9-30 velocity unit......................................................................9-35
slave axis.........................................................................9-17 Velocity Warning Value...........................................5-21, 9-35
software limits..................................................................9-78 Version................................................................................23
Software Limits................................................................ 5-26 virtual encoder axis..........................................3-2, 5-10, 5-11
specifying axes groups in the user program....................3-21 virtual servo axis.......................................................3-2, 5-10
specifying axes in the user program..................................3-3
specifying the operation direction.................................... 9-39 W
Standby (Axes Group Status)..........................................6-34
Standstill (Axis Status).....................................................6-25 Work Travel Distance Per Motor Rotation.............. 5-13, 6-30
start mode........................................................................9-18
Start Velocity................................................. 5-21, 5-23, 9-35 Z
stop priorities................................................................... 9-10
Zero Position Range........................................................5-22
stopping............................................................................. 9-6
zones............................................................................... 9-78
due to errors or other problems..................................... 9-8
immediate stop input......................................................9-6
limit inputs...................................................................... 9-7
MC_GroupImmediateStop instruction..........................9-60
MC_GroupStop instruction...........................................9-60

I-6 NJ/NX-series CPU Unit Motion Control User’s Manual (W507)

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