NJ5 Motion Functions I 20120316 E

Motion Control Functions
infoPLC.net
142 - 1
Automation Systems
•Motion Control Functions are the technological part of the NJ engine

(implemented in the MC Module) used to control axis.
•Motion Control FunctionBlocks are the ‘IEC-61131-3 FB’s’ in the Logic
Controller that to invoque Motion Control Functions of the MC
•MC and PLC are so highly integrated, that in this training will make no
difference between the IEC-61131-3 Motion FB and the MC function itelf.
IEC FB MC Function M
142 - 2
Automation Systems
•Motion Functions can be used by:
Motion Commands •Those commands would generate a

change in the Motion Position, Speed or
Torque Profiler.
Administrative Commands •Administrative Commands: Those

commands will not directly generate a
change in the Profiler.
Single Axis Commands •Commands directly affecting to a

single axis.
Axis Group Commands •Commands directly affecting to a group

of axes: interpolation, coordination,etc..
142 - 3
Automation Systems
•Some Single Axis Commands :
Discrete MC_Home MC_Move/Relative/Absolute
MC_MoveZero MC_MoveFeed MC_Stop
MC_MoveJog MC_MoveVelocity MC_Torque

Continuous
MC_CombineAxes MC_GearOut
Synchronized MC_Phasing MC_MoveLink MC_GearIn
MC_GearInPo MC_CamIn MC_CamOut

s
Other… MC_Power MC_SetPosition
MC_TouchProbe MC_ZoneSwitch
MC_SetOverride
142 - 4
Automation Systems
Motion Control Functions: Power
MC_Power: Description
Energizes or deenergizes servo drive
142 - 5
Automation Systems
MC_Power: Input Variables
MC_Power: Output Variables
MC_Power: Input/Output Variables
142 - 6
Automation Systems
MC_Power: Function Details
•When Enable changes to TRUE, the axis specified by Axis is made ready to operate.
• You can control the axis when it is ready to operate.
• When Enable changes to FALSE, the ready status is cleared for the axis specified by
Axis.
• You cannot control the axis after the ready status is cleared because it will not
acknowledge operation commands. An operation command will result in an error. You can
execute the MC_Power and MC_Reset instructions even for axes that are not ready.
• You can use this instruction to disable the operation of axes while they are in motion. In
this case,
142 - 7
Automation Systems
MC_Power: Function Details
•CommandAborted will change to TRUE. Output of the operation command will stop and
the axis will not longer be ready for operation.
• If home is not defined for a Servomotor with an absolute encoder, compensation is
performed using the absolute encoder home offset value to define home.
•You can use this instruction for servo axes and virtual servo axes only. If the instruction is
used for encoder axes, virtual encoder axes, or unused axes, an error will occur.
•This instruction has no Buffer Mode, but in fact is acting as BuffereMode=Aborting. Latest
MC_Power inmediatelly overrides previous instance for same axis.
142 - 8
Automation Systems
MC_Power: Timing diagram
Status is the reflection of the real

Enabling state of the Axis,that’s
why not always match with the
FB’s Input ‘Enable’
142 - 9
Automation Systems
MC_Power: Ladder Example
MC_Power: ST Example
142 - 10
Automation Systems
Motion Control Functions: Reset
MC_Reset: Description
Clears the existing errors in MCE FBs or in Drives
142 - 11
Automation Systems
MC_Reset: Input Variables
MC_Reset: Output Variables
MC_Reset: input/Output Variables
142 - 12
Automation Systems
Motion Control Functions: Homing
MC_Home: Description
The MC_Home instruction operates the axis to determine home (axis origin
reference).
It may use the limit signals, home proximity signal, and home signal.
The Home sequence is defined in the Axis Variable parameters.
142 - 13
Automation Systems
MC_Home: Input Variables
MC_Home: Output Variables
MC_Home: Input/Output Variables
142 - 14
Automation Systems
MC_Home: Function Details

•Sysmac Studio provides an easy way to configure Homing
Method.
Double Click
on Axis
Homing
142 - 15
Automation Systems
Homing Mode
Overtravel
Sensor Settings
Directions
Simulation
Dynamics
Others…
142 - 16
Automation Systems
1. Proximity Signal Falling Edge(Off)

2. Homing Aproach Speed reached
3. Origin Signal Detection
Reverse Start is allowed
142 - 17
Automation Systems
1. Proximity Signal Rising Edge(On)

Reverse Start is allowed
142 - 18
Automation Systems
1. Proximity Signal Falling Edge(Off)

Direction can’t change
142 - 19
Automation Systems
1. Proximity Signal Rising Edge(On)

Direction can’t change
142 - 20
Automation Systems
1. The Overtravel oposed to the Home Definition is Detected

Positive Homing  Negative Overtravel Limit
Negative Homing  Positive Overtravel Limit
2. Stops First Origin Input after Overtravel falling edge
142 - 21
Automation Systems
1. Proximity Rising Edge is detected
2. After Distance stops.
Masked
Distance
142 - 22
Automation Systems
1. Stops on Proximity Signal Rising Edge
2. Stops after Fixed TIme
Time
142 - 23
Automation Systems
Origin Input Only
142 - 24
Automation Systems
Define Actual Position as

Home Position
142 - 25
Automation Systems
Additional Motion Profile Offset to the Home Position.

after Home is
No Motion, but system is shifted.
reached
142 - 26
Automation Systems
MC_Home: Timing diagram
142 - 27
Automation Systems
MC_Home: Timing diagram
142 - 28
Automation Systems
MC_Home: EXAMPLE
142 - 29
Automation Systems
Motion Control Functions: Set Position
MC_SetPosition: Description
Redefines axis position to a new position value.
142 - 30
Automation Systems
MC_SetPosition: Input Parameters
MC_SetPosition: Output and I/O Parameters
142 - 31
Automation Systems
MC_SetPosition: Description
When MC_SetPosition is executed:

•New Value for Actual and Command position is Set.
•The actual current position changes at the same time as the command current position changes.
•The Following Error (Command Position – Actual Position) is kept the same before and after the
change. If you execute this instruction on a command
Position Cmd.pos
Act.pos
360
0
time
MC_SetPosition
Automation Systems
142 - 32
MC_SetPosition: Timing Diagram
MC_MoveAbsolute
Position -> 400
Actual position =200

MC_SetPosition
Position -> 800
Actual position =800
Motion is Actual position =400

reversed in order
to go from 800 to
400 Automation Systems
142 - 33
MC_SetPosition: Example
142 - 34
Automation Systems
Motion Control Functions: Move
MC_Move: Description
Performs a relative or absolute positioning
142 - 35
Automation Systems
MC_Move: Input Variables
142 - 36
Automation Systems
MC_Move: Input Variables
142 - 37
Automation Systems
MC_Move: Output Variables
MC_Move: Input/Output Variables
142 - 38
Automation Systems
MC_Move: Function Details
•MC_Move will perform a relative (distance) or absolute (position) profile, according to the
defined Velocity, Acceleration and Jerk
•Jerk Value different than ZERO will generate a trapezoidal acceleration profile and smooth
velocity profile.
142 - 39
Automation Systems
MC_Move: Function Details: Effect of Jerk
Jerk=0 (ignore jerk) Jerk= 500 unit/s3
Changing Jerk will affect to MAX Speed and Acceleration Values and the profile total time!
142 - 40
Automation Systems
MC_Move: Function Details (Relative vs Absolute)

Relative Positioning generates an Absolute Positioning generates a
incremental/decremental distance positioning profile to an absolute
movement from the actual position position from the axis origin.
0 90 180 360 0 90 180 270 360
Move Absolute 180º Move Relative 180º

90 90
180 0 180 0
270 270
142 - 41
Automation Systems
MC_Move: Timing Example
142 - 42
Automation Systems
Motion Control Functions: Move Feed
MC_MoveFeed: Description
The MC_MoveFeed instruction performs

positioning for the specified travel distance
from the position where an external device
triggers an interrupt input.
Interrupt feeding is possible for absolute
positioning, relative positioning, and velocity
control.
142 - 43
Automation Systems
MC_MoveFeed: Input parameters
142 - 44
Automation Systems
142 - 45
Automation Systems
142 - 46
Automation Systems
MC_MoveFeed: Output Parameters
142 - 47
Automation Systems
MC_MoveFeed: I/O Parameters
142 - 48
Automation Systems
MC_MoveFeed : Function Details
•The axis travels with absolute travel, relative travel, or velocity control depending on the
MoveMode setting when Execute changes to TRUE.
• The initial target position is set in Position (Target Position) for absolute travel and the target
distance is set in Position (Target Distance) for relative travel.
• When the external input (touchprobe) is triggered previous positioning is cancelled and
Relative positioning (feed distance) is performed at the (feed velocity)
Target
Velocity Position/Distance
Feed
Latch Distance
142 - 49
Automation Systems

•If you specify an error output, Error changes to TRUE and Busy (Executing) and
Active (Controlling) change to FALSE.
• If you Change WindowOnly to TRUE, then specify FirstPosition and LastPosition to
use interrupt masks. Interrupt feeding is performed for the first interrupt signal
generated by the actual position between the FirstPosition and the LastPosition.
Window
Velocity
Feed
Latch Distance
142 - 50
Automation Systems
142 - 51
Automation Systems
Motion Control Functions: Move Velocity
MC_MoveVelocity: Description
•The MC_MoveVelocity instruction performs velocity control with

the Position Control Mode of the Servo Drive.
142 - 52
Automation Systems
MC_MoveVelocity: Input Variables
142 - 53
Automation Systems
MC_MoveVelocity: Output Variables
MC_MoveVelocity: Input/Output Variables
142 - 54
Automation Systems
Motion Control Functions: Stop
MC_Stop: Description
Decelerates an axis to a stop
142 - 55
Automation Systems
MC_Stop: Input parameters
MC_Stop: Output parameters
142 - 56
Automation Systems
MC_Stop: I/O Variables
MC_Stop: Function Description
The MC_Stop instruction decelerates an axis from the current velocity to a velocity of 0
• The stop operation starts when Execute changes to TRUE.
• An in-position check is not performed when stopping for this instruction.
• CommandAborted for the instruction that is currently in operation will change to TRUE when
MC_Stop is executed.
142 - 57
Automation Systems
Motion Control Functions: TouchProbe
MC_TouchProbe: Description
Captures Axis registration (latch) position.
142 - 58
Automation Systems
MC_TouchProbe: Input parameters
142 - 59
Automation Systems
MC_TouchProbe: Output Parameters
MC_TouchProbe: I/O Parameters
142 - 60
Automation Systems
MC_TouchProbe: Function Details

•G5 EtherCAT Servo (or OMRON EtherCAT Encoder) can transmit up to 2 High
Precission captures of Register Positions, triggered by 2 different fast servo inputs.
•NJ501 can use Servo Register Function (highest accuracy) or user NJ’s general
purpose Input to store actual Axis Position (Not high accuracy).
•Up to 2 independent registration positions can be stored per axis.
•MC_TouchProbe can define a ‘window’ zone to limit captures to the desired position
range.
•In case of G5 Servo, Axis can also be stoped when StopMode is defined
90
180 0
Captured Latch Position = 178º

270
142 - 61
Automation Systems
MC_TouchProbe: Window Settings
When Window is enabled Position is captured within

the window defined area:
First Positon < Last Position First Positon > Last Position
Enabled
142 - 62
Automation Systems
MC_TouchProbe: Stop Mode

• If mcNonStop is specified, the axis will not stop even if a trigger occurs.
• If mcImmediatelyStop is specified, the axis stops at the latched position when a trigger
occurs CommandAborted of the instruction that was moving the axis changes to TRUE due to
this stop.
•mcImmediatelyStop functions in CSP Mode ONLY.
• If mcImmediatelyStop is specified in CSV/CST Mode, an error occurs when the instruction is
executed.
•If you change to CSV/CST Mode during execution formcImmediatelyStop, Command-
Aborted changes to TRUE
Note:- This Option is NOT applicable to EtherCAT Encoder
142 - 63
Automation Systems
MC_TouchProbe: Timing Diagram
142 - 64
Automation Systems
MC_TouchProbe: Timing Diagram (Aborting)
142 - 65
Automation Systems
Mc_TouchProbe: Example
d
0 d
1. TouchProbe is enabled
2. Puch starts performing an horizontal absolute movement “d”
3. When registration (edge detection) occurs, a MC_SetPosition
is used to modify the current position and then to reach the right
position ,so Drill will stop at “d” mm from the edge detection
142 - 66
Automation Systems
Motion Control Functions: Abort Trigger
MC_AbortTrigger: Description
Aborts a current latch (touchProbe) operation
142 - 67
Automation Systems
MC_AbortTrigger: Input parameters
MC_AbortTrigger: Output parameters
142 - 68
Automation Systems
MC_AbortTrigger: I/O parameters
MC_AbortTrigger: TRIGGER_REF
142 - 69
Automation Systems
MC_AbortTrigger: Time Chart
142 - 70
Automation Systems
Motion Control Functions: Combine Axes
MC_CombineAxes:
Generates Slave Axis profile from the addition or Substraction of the Master
and Auxiliary axes.
142 - 71
Automation Systems
MC Combine Axes: Input parameters
_mcAddAxes
Leave it Blank!
142 - 72
Automation Systems
MC Combine Axes: Input parameters
142 - 73 Leave it Blank! Automation Systems

MC Combine Axes: Output parameters
MC Combine Axes: Input/Output parameters
142 - 74
Automation Systems
Function Details, CombineMode:mcAddAxes / mcSubAxes
V Master
V Slave
+ =
V Auxiliar
t
V Master
V Slave
-
=
V Auxiliar
t
142 - 75
Automation Systems
Function Details, Reference Type: LastestCommand / Feedback
•NJ allows to to choose the calculated (Lastestcommand)

value or the encoder(feedback) value for Master and Auxiliary
axis.
mcLastestComman
d
mcFeedback
142 - 76
Automation Systems
Example
Servo 0
Servo 1
Virtual
142 - 77
Automation Systems
Example
Master
+ Aux
Slave
142 - 78
Automation Systems
Motion Control Functions: Torque Control
MC_Torque
The MC_TorqueControl instruction uses the Torque Control Mode of the
Servo Drive to control the torque.
142 - 79
Automation Systems
Function Details:
•MC_Torque will apply a Torque Ramp in order to achieve the desired target Torque
•MC_Torque will use Velocity Input parameter to limit axis speed.
POSITION CONTROL (CSP) TORQUE CONTROL (CST)
Speed
Torque Ramp
142 - 80
Automation Systems
MC Torque: Input parameters
142 - 81
Automation Systems
MC Torque: Output parameters
MC Torque: Input/Output parameters
142 - 82
Automation Systems
MC Torque: PDO Mapping
142 - 83
Automation Systems
Synchronized Motion
142 - 84
Automation Systems
Motion Control Functions: Synchronism
• Synchronized Motion defines a Master-Slave Relation

• Slave Motion Profile is generated based on the Master Profile
Examples of Synchronized Motion in mechanical engineering are:
• Gearing mechanisms: There is a fix ratio

between master and slave position
• Cam mechanisms: There is a geometric

function that defines slave position based
on master position
142 - 85
Automation Systems
Motion Control Functions: Gears
MC_GearIn: Description
Stablishes a gear ratio between Master and Slave axis
142 - 86
Automation Systems
MC_GearIn: Input parameters
142 - 87
Automation Systems
MC_GearIn: Output parameters
MC_GearIn: I/O parameters
142 - 88
Automation Systems
MC_GearIn: Function Details
When Gear operation begins, Slave axis changes it’s speed

according to the defined acceleration, deceleration and jerk in
order to achieve the the defined gear ratio with the master
(InGear).
Master
Slave
142 - 89
Automation Systems
MC_GearIn: Function Details (Reference Type)

Master Command Reference can be:
•The actual encoder Position Feedback (encoder value).
•The previous cycle Commanded value (profiler value)
Master Gear Slave

Actual Position (FBK)
Numerator Command
Latest Command Position
Denominator Position
Command Position*
Remainder
*Only possible when Master Axis number < Slave Axis Number
142 - 90
Automation Systems
MC_GearIn: Function Details (Example)

Master performs discrete trapezoidal profile (MC_Move)
Gear 1:1 (Slave accelerates to reach master speed)
Master
Slave
142 - 91
Automation Systems
Motion Control Functions: Gear in Position
MC_GearInPos: Description
Defines a gear ratio between Master and Slave axis with

position conditions
142 - 92
Automation Systems
MC_GearInPos: Input parameters
142 - 93
Automation Systems
MC_GearInPos: Input parameters
142 - 94
Automation Systems
MC_GearInPos: Output parameters
MC_GearInPos: I/O parameters
142 - 95
Automation Systems
MC_GearInPos: Function Details
The GearIn not only defines gear ratio but also synchonization position of master
and slave when gear ratio is achieved.
142 - 96
Automation Systems
MC_GearInPos: Function Details
Be aware of the following limitations:

•Master axis must have different velocity than zero
•Limitation in distance (not always possible!)
•Others…
142 - 97
Automation Systems
MC_GearInPos: Timing Diagram
142 - 98
Automation Systems
Motion Control Functions: Gear Out
MC_GearOut: Description
Terminates gear opeation initiated with MC_GearIn or

MC_GearInPos
142 - 99
Automation Systems
Motion Control Functions: Gear Out
MC_GearOut: Input parameters
MC_GearOut: Output parameters
142 - 100
Automation Systems
Motion Control Functions: Linked Move
MC_MoveLink:
Slave axis performs a trapezoidal linked move to the master axis.
The trapezoid shape is mainly defined by master acceleration and
deceleration distance.
142 - 101
Automation Systems
MC_MoveLink: Input parameters
142 - 102
Automation Systems
MC_MoveLink: Input parameters
142 - 103
Automation Systems
MC_MoveLink: Output parameters
MC_MoveLink: Input/Output parameters
142 - 104
Automation Systems
MC_MoveLink: Function Details
Slave will perform a trapezoidal speed profile in the following way:

Master Acceleration Distance
Master Deceleration Distance
Master Distance
Slave Distance
Master axis position

*
Master axis position
*When Master is working at constant speed

142 - 105
Automation Systems
MC_MoveLink: Function Details
Usual application is to accelerate Slave Axis in order to achieve Master Speed,

and keep speed linked for a defined distance before deceleration (i.e. to
perform a flyingshear)
When MoveLink is used to achieve Master-Slave speedMatch use following rules:
1.-Master Acc Distance = 2 x Slave Acc Distance

Slave Trapezoid Master Constant Speed
2.-Master Dec Distance = 2 x Slave Dec Distance
3.-Master Ct. Speed Distance = Slave Ct. Speed Distance
142 - 106
Automation Systems
MC_MoveLink: Application Example, Flying Shear
•MoveLink can be used to synchronize Slave at Master speed, at a certain

position.
1) Slave accelerates to catch Master Speed (ACC Dist)
2 3 2) Speed keept Constant (Ct. Dist)
3) Slave decelerates to zero Speed (DEC Dist)
1 4) Before Master pass ‘0’ Slave Move Relative to origin
position
MC_MoveLink
4 Slave
Master
MC_MoveRelative
142 - 107
Automation Systems
Motion Control Functions: Phasing
MC_Phasing: Description
When executed generates a ‘PhaseShift’ offset between Master and Slave axis
142 - 108
Automation Systems
MC_Phasing: Input parameters
142 - 109
Automation Systems
MC_Phasing: Output Parameters
MC_Phasing: I/O Parameters
142 - 110
Automation Systems
Example
MC_Phase
Position
142 - 111
Automation Systems
Motion Control Functions: Cam In
The CAM Function
142 - 112
Automation Systems
•Cam Table defines a relation between Master and Slave Position
Points
•Example: Simple harmonic Cam Table defines a smooth profile for position Velocity,
Acceleration, and Jerk, based on the Master Position change rate.
142 - 113
Automation Systems
(1) Cam is ALWAYS Created in CAM Editor
(2) Download (3) Execute with MC_CamIn
MyCam
Flash Memory RAM Memory

Boot
MCE PLC
142 - 114
Automation Systems
•In the Logic Controller Cam Tables are defined as an array of Master-Slave Points
Master Slave
0.0 0.0
1.0 2.3
2.0 4.7
•NJ has predefined Datatype struct sMC_CAM_REF CAM Points

•Each indiviual point of the Cam is a CAM_REF point.
•The complete Cam is an Array of CAM_REF points.
TYPE
SMC_CAM_REF :
STRUCT
Phase : REAL;
Distance : REAL;
END_STRUCT;
END_TYPE
142 - 115
Automation Systems
•Cam Editor Automatically creates GLOBAL Variable (i.e.

My_CAM), consisting in an ARRAY of _sMC_CAM_REF
points
•All Calculated CAM points are copied to the array.
My_CAM: ARRAY [0..N] OF sMC_CAM_REF
Cam Editor
142 - 116
Automation Systems
MC_CamIn: Description
Executes Predefined Master-Slave Cam Table
142 - 117
Automation Systems
MC_CamIn: Input parameters
142 - 118
Automation Systems
142 - 119
Automation Systems
142 - 120
Automation Systems
MC_CamIn: Output Parameters
MC_CamIn: I/O Parameters
142 - 121
Automation Systems
Start Position, Distance and Mode.
Start
Distance
Note.-Start Mode: Defines Absolute or Relative ‘Start Distance’
142 - 122
Automation Systems
Periodic, Non-Periodic
Periodic
Non-Periodic
Execute
142 - 123
Automation Systems
Scaling
Table can be Scaled from Phase and Distance perspective.
142 - 124
Automation Systems
Offset
Table can be Offset in Phase and Distance
Phase Offset
Distance Offset
142 - 125
Automation Systems
Motion Control Functions: Cam Out
MC_CamOut: Description
Disenganges Master-Slave Cam
142 - 126
Automation Systems
MC_CamOut: Input Parameters
142 - 127
Automation Systems
MC_CamOut: Output Parameters
142 - 128
Automation Systems

NJ5 Motion Functions I 20120316 E

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

NJ5 Motion Functions I 20120316 E

Uploaded by

Copyright:

Available Formats

Motion Control Functions

•Motion Control Functions are the technological part of the NJ engine

•Motion Functions can be used by:

Motion Commands •Those commands would generate a

Administrative Commands •Administrative Commands: Those

Single Axis Commands •Commands directly affecting to a

Axis Group Commands •Commands directly affecting to a group

•Some Single Axis Commands :

Discrete MC_Home MC_Move/Relative/Absolute

MC_MoveZero MC_MoveFeed MC_Stop

MC_MoveJog MC_MoveVelocity MC_Torque

Synchronized MC_Phasing MC_MoveLink MC_GearIn

MC_GearInPo MC_CamIn MC_CamOut

Other… MC_Power MC_SetPosition

Energizes or deenergizes servo drive

MC_Power: Input Variables

MC_Power: Output Variables

MC_Power: Input/Output Variables

MC_Power: Function Details

MC_Power: Function Details

MC_Power: Timing diagram

Status is the reflection of the real

MC_Power: Ladder Example

Clears the existing errors in MCE FBs or in Drives

MC_Reset: Output Variables

MC_Reset: input/Output Variables

MC_Home: Input Variables

MC_Home: Output Variables

MC_Home: Input/Output Variables

MC_Home: Function Details

1. Proximity Signal Falling Edge(Off)

Reverse Start is allowed

1. Proximity Signal Rising Edge(On)

Reverse Start is allowed

1. Proximity Signal Falling Edge(Off)

Direction can’t change

1. Proximity Signal Rising Edge(On)

Direction can’t change

1. The Overtravel oposed to the Home Definition is Detected

Origin Input Only

Define Actual Position as

Additional Motion Profile Offset to the Home Position.

MC_Home: Timing diagram

MC_Home: Timing diagram

MC_SetPosition: Output and I/O Parameters

When MC_SetPosition is executed:

MC_SetPosition: Timing Diagram

Actual position =200

Motion is Actual position =400

MC_Move: Input Variables

MC_Move: Input Variables

MC_Move: Output Variables

MC_Move: Input/Output Variables

MC_Move: Function Details

MC_Move: Function Details: Effect of Jerk

Jerk=0 (ignore jerk) Jerk= 500 unit/s3

MC_Move: Function Details (Relative vs Absolute)

0 90 180 360 0 90 180 270 360

Move Absolute 180º Move Relative 180º

MC_Move: Timing Example

The MC_MoveFeed instruction performs

MC_MoveFeed: Input parameters