Speed Control (REAL) |
 |
| Name | Speed Control (REAL): MD_CPU030_MoveVelocity_REAL |
| Basic Function | Controls speed. | ||
| Symbol |  |
||
| Originates from | Tsunagi Lab Europe | ||
| Created by | OEE-HQ HvB (creation and testing) | ||
| File Name | MD_CPU030_MoveVelocity_REAL.cxf | ||
| Applicable models | CPU Unit | CJ2M-CPU Unit version 2.0 or higher with max. two CJ2M-MD211 (NPN) or CJ2M-MD212 (PNP) |
|
| CX-Programmer | Version 9.1.2 or higher | ||
| Conditions for usage | None. | ||
| Function Description | Executes speed control for the output specified with the Axis No. (Axis) using the Speed command (Velocity) when Start (Execute) is turned ON. The Speed reached (InVelocity) will be turned ON once the speed reaches the target speed 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 reset. 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.
|
||
| 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. |
||
| FB Precautions | • When using the Pulse output 0&1 or 2&3 simultaneously, use the same Pulse output method for them. • When speed is changed by the other command before the speed reaching, this FB will output an error. • Turning ON the input to the Start (Execute) during speed control will cause multistart, which then leads to speed control with the speed set in Speed command (Velocity). • When already in speed control operation, direction specification (sign of the Speed command (Velocity)) will be ignored and only the speed will be changed. To reverse the direction of the operation, stop the operation once and execute the speed command with the opposite direction specified. 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. |
||
| 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. |
||
| Restrictions other | • During positioning operation, this FB can not be executed. • During operations by ACC, discrete, commands, this FB cannot be executed during the Origin Search operation. |
||
| 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 relative movement.
|
||
| Related manuals | CJ2M Pulse I/O User Manual (W486) CJ2 Hardware User Manual (W472) |
||
-
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 | &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 speed control | |
| Speed command | Velocity | REAL | +0.0 | -100000.0 to +1000000. 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 Pulse 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 |
|---|---|---|---|---|
| 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 been reached. | |
| 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 |
|---|---|---|
| 1.00 | 16-Feb-2012 | Based on Function Block: _NCCPU030_MoveVelocity_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.
