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Machine Automa tion Controller NX1P 21 Motion Control Single Axes Single-Axis Position Control Absolute Positioning Positioning is performed for a target position that i s specifie d with an absolute value. Relative Posi…

Machine Automation Controller NX1P

Function Specifications

Item NX1P2

Tasks

Function

I/O refresh and the user program are executed in units that are called tasks.

Tasks are used to specify execution conditions and execution priority.

Periodically

Executed Tasks

Maximum Number

of Primary Periodic

Tasks

Maximum Number

of Periodic Tasks

Conditionally

Executed Tasks

Maximum Number

of Event Tasks

Execution Condition

When Activate Event Task instruction is executed or when condition

expression for variable is met

Setup System Service Monitoring Settings Not supported

Programming

POUs

(programorganization

units)

Programs POUs that are assigned to tasks.

Function Blocks POUs that are used to create objects with specific conditions.

Functions

POUs that are used to create an object that determine unique outputs for the

inputs, such as for data processing.

Programming

Languages

Types Ladder diagrams * and structured text (ST)

Namespaces Namespaces are used to create named groups of POU definitions.

Variables

External Access of

variables

Network Variables

The function which allows access from the HMI, host computers, or other

Controllers

Data Types

Data types

Boolean BOOL

Bit Strings BYTE, WORD, DWORD, LWORD

Integers INT, SINT, DINT, LINT, UINT, USINT, UDINT, ULINT

Real Numbers REAL and LREAL

Durations TIME

Dates DATE

Times of Day TIME_OF_DAY

Date and Time DATE_AND_TIME

Text Strings STRING

Derivative Data Types Structures, Unions, and Enumerations

Structures

Function A derivative data type that groups together data with different data types.

Maximum Number

of Members

2048

Nesting Maximum

Levels

Member Data Types Basic data types, structures, unions, enumerations, array variables

Specifying Member

Offsets

You can use member offsets to place structure members at any memory

locations.

Union

Function

A derivative data type that enables access to the same data with different data

types.

Maximum Number

of Members

Member Data Types BOOL, BYTE, WORD, DWORD, and LWORD

Enumeration Function

A derivative data type that uses text strings called enumerators to express

variable values.

Data Type Attributes

Array

Specifications

Function

An array is a group of elements with the same data type. You specify the

number (subscript) of the element from the first element to specify the

element.

Maximum Number

of Dimensions

Maximum Number

of Elements

65535

Array Specifications

for FB Instances

Supported

Range Specifications

You can specify a range for a data type in advance. The data type can take

only values that are in the specified range.

Libraries You can use user libraries.

Motion

Control

Control Modes Position control, Velocity control, and Torque control

Axis Types Servo axes, Virtual servo axes, Encoder axes, and Virtual encoder axes

Positions that can be managed Command positions and actual positions

Machine Automation Controller NX1P

Motion

Control

Single Axes

Single-Axis

Position Control

Absolute

Positioning

Positioning is performed for a target position that is specified 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 external input.

Cyclic Synchronous

Absolute

Positioning

A positioning command is output each control period in Position Control

Mode.

Single-axis

Velocity Control

Velocity Control Velocity control is performed in Position Control Mode.

Cyclic Synchronous

Velocity Control

A velocity command is output each control period in Velocity Control Mode.

Single-axis

Torque Control

Torque Control The torque of the motor is controlled.

Single-axis

Synchronized

Control

Starting Cam

Operation

A cam motion is performed using the specified cam table.

Ending Cam

Operation

The cam motion for the axis that is specified with the input parameter is

ended.

Starting Gear

Operation

A gear motion with the specified gear ratio is performed between 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.

Combining Axes

The command positions of two axes are added or subtracted and the result is

output as the command position.

Single-axis

Manual Operation

Powering the Servo The Servo in the Servo Drive is turned ON to enable axis motion.

Jogging An axis is jogged at a specified target velocity.

Auxiliary

Functions for

Single-axis

Control

Resetting Axis

Errors

Axes errors are cleared.

Homing

A motor is operated and the limit signals, home proximity signal, and home

signal are used to define home.

Homing with

specified

parameters

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 Position

The command current position or actual current position of an 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).

Enabling Digital

Cam Switches

You can turn a digital output ON and OFF according to the position of an axis

Monitoring Axis

Following Error

You can monitor whether the difference between the command positions or

actual positions of two specified axes exceeds a threshold value.

Resetting the

Following Error

The error between the command current position and actual 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 output torque.

Slave Axis Position

Compensation

This function compensates the position of the slave axis currently in

synchronized control.

Cam monitor Outputs the specified offset position for the slave axis in synchronous control.

Start Velocity You can set the initial velocity when axis motion starts.

Item NX1P2

Machine Automation Controller NX1P

Motion

Control

Axes Groups

Multi-axes

Coordinated

Control

Absolute Linear

Interpolation

Linear interpolation is performed to a specified absolute position.

Relative Linear

Interpolation

Linear interpolation is performed to a specified relative position.

Circular 2D

Interpolation

Circular interpolation is performed for two axes.

Axes Group Cyclic

Synchronous

Absolute

Positioning

A positioning command is output each control period in Position Control

Mode.

Auxiliary

Functions for

Multi-axes

Coordinated

Control

Resetting Axes

Group Errors

Axes group errors and axis errors are cleared.

Enabling Axes

Groups

Motion of an axes group is enabled.

Disabling Axes

Groups

Motion of an axes group is disabled.

Stopping Axes

Groups

All axes in interpolated motion are decelerated to a stop.

Immediately

Stopping Axes

Groups

All axes in interpolated motion are stopped immediately.

Setting Axes Group

Override Factors

The blended target velocity is changed during interpolated motion.

Reading Axes

Group Positions

The command current positions and actual current positions of an axes group

can be read.

Changing the Axes

in an Axes Group

The Composition Axes parameter in the axes group parameters can be

overwritten temporarily.

Common Items

Cams

Setting Cam Table

Properties

The end point index of the cam table that is specified in the 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

The cam table is generated from the cam property and cam node that is

specified in input parameters.

Parameters

Writing MC Settings

Some of the axis parameters or axes group parameters are overwritten

temporarily.

Changing Axis

Parameters

You can access and change the axis parameters from the user program.

Auxiliary Functions

Count Modes

You can select either Linear Mode (finite length) or Rotary Mode (infinite length).

Unit Conversions You can set the display unit for each axis according to the machine.

Acceleration/

Deceleration

Control

Automatic

Acceleration/

Deceleration

Control

Jerk is set for the acceleration/deceleration curve for an axis motion or axes

group motion.

Changing the

Acceleration and

Deceleration Rates

You can change the acceleration or deceleration rate even 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 signal or limit input signal.

Re-execution of Motion Control

Instructions

You can change the input variables for a motion control instruction during

execution and execute the instruction again to change the target values

during operation.

Multi-execution of Motion Control

Instructions (Buffer Mode)

You can specify when to start execution and how to connect the velocities

between operations when another motion control instruction is executed

during operation.

Continuous Axes Group Motions

(Transition Mode)

You can specify the Transition Mode for multi-execution of instructions for

axes group operation.

Monitoring

Functions

Software limits The movement range of an axis is monitored.

Following Error

The error between the command current value and the actual current value is

monitored for each axis.

Velocity,

Acceleration Rate,

Deceleration Rate,

Torque,

Interpolation

Velocity,

Interpolation

Acceleration Rate,

and Interpolation

Dceleration Rate

You can set and monitor warning values for each axis and each axes group.

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.

Input Signal Logic Inversion

You can inverse the logic of immediate stop input signal, positive limit input

signal, negative limit input signal, or home proximity input signal.

Item NX1P2