Introduction
The OMRON FB library for position controller provide a collection of Function Blocks developed for simple open loop axis positioning.
Most of the FBs share the same interface (I/O) regardless of the output device employed for positioning (CJ1M CPUs, CP1H, NC or NCF units).
All the FBs relay on the functionalities built-in in the CPUs and NC units.
None of the functions employ the feedback from an encoder for positioning.
Function description
- When Start (Execute) is turned ON, executes speed control for the output specified with Axis No. using the Speed command for speed control (Velocity)
- The Speed reached (InVelocity) will be turned ON once the speed reaches the target speed (i.e., Speed command) specified in this FB.
- If the speed control is interrupted by a deceleration stop caused by another instance or error, the Speed reached (InVelocity) will be turned OFF.
- The Error flag (Error) and Error code (ErrorID) will be output when an error related to this FB occurs. They will be turned OFF when Start (Execute) is turned OFF.
- If Start (Execute) is turned OFF before speed control is completed, they will be turned ON at least for one cycle when a corresponding condition occurs.
| Basic function | Controls speed | |
| Symbol |  |
|
| File name | Lib\FBL\omronlib\PositionController\NC-CPU(CJ1MCPU2x)\_NCCPU031_MoveVelocity_DINT10.cxf | |
| Applicable models | CPU Unit | CJ1M-CPU21/22/23 Unit version 3.0 or higher |
| CX-Programmer | Version 5.0 or higher | |
Variable Table
Input Variables
| Name | Variable Name | Data type | Default | Range | Description |
| EN | EN | BOOL |
1(ON): Starts FB 0(OFF): Does not start FB |
||
| Axis No. | Axis | INT | &0 | &0to&1 |
&0: PulseOutput 0 &1: PulseOutput 1 |
| Start | Execute | BOOL | 0(OFF) | Starts speed control | |
| Speed command | Velocity | DINT | +0 | -100000 to +100000 | Specifies the target speed (Hz) |
| Acceleration rate | Acceleration | INT | &1 | &1 to &65535 | Specifies the acceleration rate Unit: Hz/4ms (increase (Hz) in pulse frequency per Pulse Control period (4ms)) |
| Pulse method output | OutputPulseSelect | INT | &0 | &0 to &1 |
&O: CW/CCW Output &1: Pulse + direction output |
Output Variables
| Name | Variable Name | Data type | Range | Description |
| ENO | ENO | BOOL |
1(ON): FB operating normally 0(OFF): FB not operating normally |
|
| Speed reached | InVelocity | BOOL | 1(ON) indicates that the target speed has not been reached | |
| Error flag | Error | BOOL | 1(ON) indicates that an error has occurred in the FB | |
| Error code (may be omitted) | Error ID | WORD | The error code of the error in the FB will be output.For details of the errors refer to the sections of the manuals listed in the manuals mentioned above. When Unit No. or Axis No. is out of the range 0000 will be output. |
