Introduction
The OMRON FB library for position controllers provides a collection of function blocks developed for simple open looop positioning.
Most of the FBs share the same interface (I/O) regardless of the output device employed for positioning (CJ1M, CPUs, CP1H, NC units).
All the FBs rely on the functionalities built-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 positioning on the axis of the specified by Axis No. (Axis) with the specified Position command (Distance), Speed command (Velocity), Acceleration rate (Acceleration) and Deceleration rate (Deceleration) using the selected Pulse output method.
- The Positioning completed (Done) is turned ON when positioning by this FB is completed.
- It is not turned ON when positioning is interrupted due to deceleration stop caused by another instance or error.
- 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 positioning is completed, they will be turned ON at least for one cycle when a corresponding condition occurs.
- CW direction is taken as the positive direction while CCW direction is taken as the negative direction.
Example
| Basic function | Executes positioning using relative movement. |
| Symbol | |
| File name | Lib\FBL\omronlib\PositionController\NC-CPU(CJ1MCPU2x)\_NCCPU021_MoveRelative_DINT10.cxf |
| Applicable models | CPU Unit CJ1M-CPU21/22/23 Unit Version 3.0 or higher |
| CX-Programmer Version 5.0 or higher |
Variable Tables
Input variables
| Name | Variable Name | Data Type | Range | Default | Description |
| EN | EN | BOOL | 1(ON): Starts FB
0(OFF): Does not start FB |
||
| Axis No. | Axis | INT | &0 to &1 | &0 | &0: PulseOutput 0
&1: PulseOutput 1 |
| Start | Execute | BOOL | 0(OFF) | Starts relative movement | |
| Position Command | Distance | DINT | -2,147,483,647 to +2,147,483,647 | +0 |
Specifies the relative travel distance Unit: Pulses |
| Speed Command | Velocity | DINT | &1 to &100,000 | &1 | Specifies the target speed (Hz) |
| Acceleration Rate | Acceleration | INT | &1 to &65535 | &1 | Specifies the acceleration rate Unit: Hz/4ms (increase (Hz) in pulse frequency per Pulse Control period (4ms)) |
| Deceleration Rate | Deceleration | INT | &1 to &65535 | &1 | Specifies the deceleration rate Unit: Hz/4ms (increase (Hz) in pulse frequency per Pulse Control period (4ms)) |
| Pulse method output | OutPulseSelect | INT | &0 to &1 | &0 | &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 |
|
| Positioning completed | Done | BOOL | 1(ON) indicates that positioning has been completed | |
| 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. |
