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Function Block Position Controller - _NCCPU011_MoveAbsolute_DINT


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 outut 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) is turned ON, executes positioning on the axis of the specified Axis No. (Axis) with the specified Position command (Position), 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 (i.e., target position reached). 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.
Example
Basic function Executes positioning using absolute movement
Symbol  
File name Lib\FBL\omronlib\PositionController\NC-CPU(CJ1MCPU2x)\_NCCPU011_MoveAbsolute_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)
Position command Position DINT +0 -2,147,483,648 to +2,147,483,647 Specifies the target position (Unit: Pulses)
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))
Deceleration rate Deceleration INT &1 &1 to &65535 Specifies the deceleration 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
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.




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Created 2009-05-27
Modified 2009-05-28
Views 3602

 

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