IntroductionThis article provides details for the use and application of the Move Absolute Real function block. Using this function block with the CJ2M-MD21/MD212 provides an easy means of controlling a servo in an absolute positioning manner. This function block can be of particular use in PLC-based motion control applications often found in packaging machinery. To download a machine case study of a packaging application that controls servos with the CJ2-Series Pulse Output Unit, visit the packaging solutions area.
Move Absolute(REAL) |
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| Name | Move Absolute(REAL): MD_CPU010_MoveAbsolute_REAL |
| Basic Function | Executes positioning using absolute movement. | ||
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| Originates from | Tsunagi Lab Europe | ||
| Created by | OEE-HQ HvB (creation and testing) | ||
| File Name | MD_CPU010_MoveAbsolute_REAL.cxf | ||
| Applicable models | CPU Unit | CJ2M-CPU Unit version 2.0 or higher with max. two CJ2M-MD211 (NPN) or CJ2M-MD212 (PNP) |
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| CX-Programmer | Version 9.1.2 or higher | ||
| Conditions for usage | None. | ||
| Function Description | 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) when Start (Execute) is turned ON (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). The Error flag (Error) will be turned ON and Error code (ErrorID) will be output when an error related to this FB occurs. These statuses, Positioning completed (Done)/ Error flag (Error)/ Error code (ErrorID), will be reset when Start (Execute) is turned OFF. If Start (Execute) was turned OFF before positioning is completed, the status will be set for at least one cycle when a corresponding condition occurs.
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| Kind of FB definition | Connect Always ON type Connect the EN input to the Always ON Flag (P_ON). The same instance cannot be used in two or more places. |
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| FB Precautions | When using the Pulse output 0&1 or 2&3 simultaneously, use the same Pulse output method for them. The MD_CPU* function blocks are offered 'as is' and may serve as a basis for development. Users should previously test its adequacy to the final application. Omron can not be held responsible in case of malfunction. |
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| EN input condition | • Connect the EN input to the Always ON Flag (P_ON). • If a different type of bit is connected to EN, the FB outputs will be maintained when the connected bit is turned OFF. |
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| Application example | Turning the start trigger from OFF to ON will start operating the Servomotor connected to the Pulse output 0 on the CJ2M-MD21* Unit with absolute movement.
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| Related manuals | CJ2M Pulse I/O User Manual (W486) CJ2 Hardware User Manual (W472) |
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Variable Table
Input Variables
| Name | Variable name | Data type | Default | Range | Description |
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| EN | EN | BOOL | 1 (ON): Starts FB 0 (OFF): Does not start FB |
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| xis No. | Axis | INT | &0 | &0 to &3 | &0: Pulse output 0, &1: Pulse output 1 &2: Pulse output 2, &3: Pulse output 3 |
| Start | Execute | BOOL | 0(OFF) | OFF -> ON (rising edge) starts absolute movement | |
| Position command | Position | REAL | +0.0 | -2.147483e+00 9 to +2.147483e+00 9 | Specifies the target position. Unit: Pulses |
| Speed command | Velocity | REAL | +1.0 | +1.0 to +100000.0 | Specifies the target speed. Unit: Hz |
| Acceleration rate | Acceleration | REAL | +1.0 | +1.0 to +65535.0 | Specifies the acceleration rate. Unit: Hz/4ms (Increase (Hz) in frequency per Pulse control period (4ms)) |
| Deceleration rate | Deceleration | REAL | +1.0 | +1.0 to +65535.0 | Specifies the deceleration rate. Unit: Hz/4ms (Decrease (Hz) in frequency per Pulse control period (4ms)) |
| Pulse output method | OutPulseSelect | INT | &0 | &0 to &1 | &0: CW/CCW output &1: Pulse + direction output |
Output Variables
| Name | Variable name | Data type | Range | Description |
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| ENO | ENO | BOOL | 1(ON) :FB operating normally 0(OFF): FB not operating normally |
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| 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) | ErrorID | WORD | The error code of the error occurred in the FB will be output. For details of the errors, refer to the sections of the manual listed in the Related manuals above. When Unit No. or Axis. No. is out of the range, #0000 will be output. |
Revision History
| Version | Date | Contents |
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| 1.00 | 15-Feb-2012 | Based on Function Block: _NCCPU010_MoveAbsolute_REAL |
Note
This manual is a reference that explains the function block functions. It does not explain the operational limitations of Units, components, or combinations of Units and components. Always read and understand the Operation Manuals for the system’s Units and other components before using them.
