Introduction
The OMRON FB library for position controllers provides 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 or 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) turns ON, positioning will be performed with relative movement on the axis specified with Axis No. (Axis) using the specified Position command (Distance).
- Speed command values are automatically determined based on Position command (Position), Total positioning time (PositioningTime), Acceleration time (Acceleration) and Deceleration time (Deceleration).
- The Positioning completed (Done) will turn ON when positioning by this FB is completed (the target position specified is reached).
- The Error Flag (Error) will be turned ON and the Error Code (Error code) will be output if an error occurs for this FB.
- These statuses will be reset when the Start (Execute) turns OFF.
- If Start (Execute) turns OFF before a positioning operation is completed, the status will be set for at least one cycle when a corresponding condition occurs.
Example
| Basic function | Positioning is preformed with relative movement in a specified time period. |
| Symbol | |
| File name | Lib\FBL\omronlib\PositionController\NC-CPU(CJ1MCPU2x)\_NCCPU141_MoveTimeRelative_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 relative movement | |
| Position command | Distance | DINT | +0 | -2,147,483,647 to +2,147,483,647 | Specifies the relative travel distance (Pulses) |
| Total positioning time | PositioningTime | INT | &1 | &1 to &65535 | Specify a positioning time unit ms |
| Acceleration time | Acceleration | INT | &1 | &1 to &65535 | Specify an acceleration time unit ms |
| Deceleration time | Deceleration | INT | &1 | &1 to &65535 | Specify a deceleration time unit ms |
| 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 |
|
| Positioning completed | Done | BOOL | 1(ON) indicates that positioning is 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. |
