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Sysmac Library for NJ/NX Machine Automation Controller
SYSMAC-XR002
MC Command Table Library
Make programming for continuous positioning easy.
Issue 1
PLCopen® Function Blocks for Motion Control do not support the familiar command table
(memory operation) that is an efficient method for simple continuous operation
Issue 2
The program must be modified to change the operation pattern.
MC Command Table Library offers solution!
The Command Table (Memory Operation) Function Block allows you to program motion control using the familiar
command table (memory operation). No program modification is required to change he operation pattern.
System configuration
NJ/NX
Machine Automation Controller
NA/NS
Programmable Terminal
FB
Continuously executes positioning that is
specified in memory operation data
Y
Ethernet
Start/Stop
Z
G5
Servo Drives
X
Execute
Done
Stop
Busy
MCodeRset
CmdTbl
PTP
Circular
interpolation
Linear
interpolation
X axis (Ball screw etc.)
Error
ErrorID
MStrobe
X
MCode
Motion
Y axis (Ball screw etc.)
Item
Specification
Positioning points
Auxiliary functions
Y
Z axis, θ axis (Assembly axis etc.)
Arrayed position data
(Table)
Create/Edit
Available functions
θ
600 points max.
PTP
4 axes max.
Linear interpolation
4 axes max.
Circular interpolation
2 axes
Operation pattern
Independent Positioning/Consecutive Positioning/Consecutive Trajectory
Others
M Code, Dwell Time, etc.
[Example] Path control using the Command Table (Memory Operation) Function Block
MCC mdTbl_Instance
With a single Command Table (Memory Operation) Function Block, you can
perform path control with multi-execution of PTP, linear interpolation, and
circular interpolation instructions as shown below.
800
3
Y axis(MC_Axis001)
[mm]
2
\\OmronLib\MC_ComdTblMCCmdTbl
Axes Group
CmdTbl
Ensble
Ensbled
StepMode
600
5
200
Step
Arrayed position data
(Table)
1
0
CmdTbl
Execute
4
400
SeqNoSet
0 01: X1 Y 1
SeqNo
0 02 : X 2 Y 2
MCodeReset
0
9 8
0
CurrentSeqNo
MStrobe
MCode
DigitalOutputs
Busy
Error
600
400
200
Done
CommandAborted
0 0 5: X 0 Y 0
6
7
Axes Group
ErrorID
X axis(MC_Axis000)
[mm]
ErrorID Ex
Compatible Models
Name
Model
Version
NX701-□□□□/ NJ101-□□□□* *
Version 1.10 or later
NJ501-□□□□/ NJ301-□□□□
Version 1.10 or later
Automation Software
Sysmac Studio
SYSMAC-SE2□□□
Version 1.14 or higher
G5 Servo Drive
with Built-in EtherCAT Communications
R88D-KN□□□-ECT
Version 2.10 or later
1 2
Machine Automation Controller
NJ/NX CPU Unit
*1. This Library is not available for NJ101-90□□ CPU Units.
*2. When you use this function block with NJ101-10□□, you can use a maximum of two real servo axes.
Function Block (FB) Specifications
Name
FB name
Command Table
(Memory Operation)
MCCmdTbl
Description
Continuously executes positioning that is specified in memory operation data
for axes groups that are defined in the MC Function Module.
Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
EtherNet/IP™ is a trademark of the ODVA.
Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.
Note: Do not use this document to operate the Unit.
OMRON Corporation
Kyoto, JAPAN
Industrial Automation Company
Authorized Distributor:
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
OMRON ELECTRONICS LLC
2895 Greenspoint Parkway, Suite 200
Hoffman Estates, IL 60169 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
© OMRON Corporation 2015 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
CSM_1_1_1115
Cat. No. P092-E1-01
1115(1115)
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