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)