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NJ系列 指令基准手册(运动篇)

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  • 开发语言:Others
  • 实例大小:10.84M
  • 下载次数:7
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  • 发布时间:2022-03-15
  • 实例类别:一般编程问题
  • 发 布 人:pawaluodi
  • 文件格式:.pdf
  • 所需积分:3
 相关标签: 指令 运动 手册

实例介绍

【实例简介】NJ系列 指令基准手册(运动篇)

【实例截图】

【核心代码】NJ系列 指令基准手册(运动篇).pdf

目录
前言............................................................................................................................ 1
分册构成..................................................................................................................... 2
手册的阅读方法.......................................................................................................... 3
目录构成..................................................................................................................... 5
使用期间的承诺事项................................................................................................. 12
安全注意事项............................................................................................................ 14
安全要点................................................................................................................... 15
使用注意事项............................................................................................................ 16
法规与标准 ............................................................................................................... 17
单元版本................................................................................................................... 19
相关手册................................................................................................................... 23
手册修订履历............................................................................................................ 25
第 1 章 运动控制指令的概要
1-1 运动控制指令...........................................................................................................................1-2
PLCopen 运动控制用功能块 .....................................................................................................................................1-2
运动控制指令概要 .....................................................................................................................................................1-3
同步控制的主轴及辅轴的注意事项 ........................................................................................................................1-6
1-2 运动控制指令的基本知识.........................................................................................................1-8
运动控制指令的名称 .................................................................................................................................................1-8
运动控制指令的语言 .................................................................................................................................................1-8
运动控制指令的配置 .................................................................................................................................................1-9
运动控制指令的同时启动 .......................................................................................................................................1-18
运动控制指令的在线编辑 .......................................................................................................................................1-19
CPU 单元的动作模式切换 ......................................................................................................................................1-19
第 2 章 变量和指令
2-1 变量一览表 ..............................................................................................................................2-2
MC 通用变量 ..............................................................................................................................................................2-4
轴变量 .........................................................................................................................................................................2-5
轴组变量 .....................................................................................................................................................................2-9
运动控制指令的输入变量 .......................................................................................................................................2-11
运动控制指令的输出变量 .......................................................................................................................................2-21
运动控制指令的输入输出变量 ..............................................................................................................................2-23
2-2 指令一览................................................................................................................................2-24
通用指令 ...................................................................................................................................................................2-24
轴指令 .......................................................................................................................................................................2-25
轴组指令 ...................................................................................................................................................................2-26
7
NJ 系列 指令基准手册 运动篇 (SBCE-364)
目录
2-3 PDO 映射 ..............................................................................................................................2-27
必需对象 ...................................................................................................................................................................2-27
不同指令的设定对象 ...............................................................................................................................................2-28
第 3 章 轴指令
MC_Power .......................................................................................................................................3-3
变量 .............................................................................................................................................................................3-3
功能说明 .....................................................................................................................................................................3-4
MC_MoveJog ..................................................................................................................................3-8
变量 .............................................................................................................................................................................3-8
功能说明 .....................................................................................................................................................................3-9
MC_Home .....................................................................................................................................3-15
变量 ...........................................................................................................................................................................3-15
功能说明 ...................................................................................................................................................................3-17
MC_HomeWithParameter .............................................................................................................3-36
变量 ...........................................................................................................................................................................3-36
功能说明 ...................................................................................................................................................................3-39
MC_Move ......................................................................................................................................3-41
变量 ...........................................................................................................................................................................3-41
功能说明 ...................................................................................................................................................................3-43
MC_MoveAbsolute ........................................................................................................................3-47
变量 ...........................................................................................................................................................................3-47
功能说明 ...................................................................................................................................................................3-49
示例程序 1 ................................................................................................................................................................3-57
示例程序 2 ................................................................................................................................................................3-64
MC_MoveRelative .........................................................................................................................3-73
变量 ...........................................................................................................................................................................3-73
功能说明 ...................................................................................................................................................................3-75
MC_MoveVelocity ..........................................................................................................................3-80
变量 ...........................................................................................................................................................................3-80
功能说明 ...................................................................................................................................................................3-82
示例程序 ...................................................................................................................................................................3-87
MC_MoveZeroPosition ..................................................................................................................3-95
变量 ...........................................................................................................................................................................3-95
功能说明 ...................................................................................................................................................................3-97
MC_MoveFeed ............................................................................................................................3-102
变量 .........................................................................................................................................................................3-103
功能说明 .................................................................................................................................................................3-106
示例程序 .................................................................................................................................................................3-118
MC_Stop ......................................................................................................................................3-129
变量 .........................................................................................................................................................................3-129
功能说明 .................................................................................................................................................................3-131
MC_ImmediateStop .....................................................................................................................3-138
变量 .........................................................................................................................................................................3-138
功能说明 .................................................................................................................................................................3-139
MC_SetPosition ...........................................................................................................................3-143
变量 .........................................................................................................................................................................3-143
功能说明 .................................................................................................................................................................3-145
MC_SetOverride ..........................................................................................................................3-149
变量 .........................................................................................................................................................................3-149
功能说明 .................................................................................................................................................................3-150
MC_ResetFollowingError .............................................................................................................3-154
变量 .........................................................................................................................................................................3-154
功能说明 .................................................................................................................................................................3-156
8
NJ 系列 指令基准手册 运动篇 (SBCE-364)
目录
MC_CamIn ...................................................................................................................................3-161
变量 .........................................................................................................................................................................3-161
功能说明 .................................................................................................................................................................3-164
示例程序 1 ..............................................................................................................................................................3-181
示例程序 2 ..............................................................................................................................................................3-192
MC_CamOut ................................................................................................................................3-208
变量 .........................................................................................................................................................................3-208
功能说明 .................................................................................................................................................................3-209
MC_GearIn ..................................................................................................................................3-213
变量 .........................................................................................................................................................................3-213
功能说明 .................................................................................................................................................................3-215
示例程序 .................................................................................................................................................................3-223
MC_GearInPos ............................................................................................................................3-233
变量 .........................................................................................................................................................................3-233
功能说明 .................................................................................................................................................................3-236
示例程序 .................................................................................................................................................................3-244
MC_GearOut ...............................................................................................................................3-255
变量 .........................................................................................................................................................................3-255
功能说明 .................................................................................................................................................................3-257
MC_MoveLink ..............................................................................................................................3-260
变量 .........................................................................................................................................................................3-260
功能说明 .................................................................................................................................................................3-263
示例程序 .................................................................................................................................................................3-271
MC_CombineAxes .......................................................................................................................3-281
变量 .........................................................................................................................................................................3-281
功能说明 .................................................................................................................................................................3-283
MC_Phasing ................................................................................................................................3-292
变量 .........................................................................................................................................................................3-292
功能说明 .................................................................................................................................................................3-294
MC_TorqueControl ......................................................................................................................3-298
变量 .........................................................................................................................................................................3-298
功能说明 .................................................................................................................................................................3-300
MC_SetTorqueLimit .....................................................................................................................3-309
变量 .........................................................................................................................................................................3-309
功能说明 .................................................................................................................................................................3-311
MC_ZoneSwitch ..........................................................................................................................3-316
变量 .........................................................................................................................................................................3-316
功能说明 .................................................................................................................................................................3-317
MC_TouchProbe ..........................................................................................................................3-322
变量 .........................................................................................................................................................................3-322
功能说明 .................................................................................................................................................................3-324
示例程序 .................................................................................................................................................................3-335
MC_AbortTrigger .........................................................................................................................3-342
变量 .........................................................................................................................................................................3-342
功能说明 .................................................................................................................................................................3-344
MC_AxesObserve .......................................................................................................................3-346
变量 .........................................................................................................................................................................3-346
功能说明 .................................................................................................................................................................3-348
MC_SyncMoveVelocity ................................................................................................................3-352
变量 .........................................................................................................................................................................3-352
功能说明 .................................................................................................................................................................3-354
MC_SyncMoveAbsolute ..............................................................................................................3-361
变量 .........................................................................................................................................................................3-361
功能说明 .................................................................................................................................................................3-363
9
NJ 系列 指令基准手册 运动篇 (SBCE-364)
目录
MC_Reset ....................................................................................................................................3-367
变量 .........................................................................................................................................................................3-367
功能说明 .................................................................................................................................................................3-368
MC_ChangeAxisUse ...................................................................................................................3-371
变量 .........................................................................................................................................................................3-371
功能说明 .................................................................................................................................................................3-372
第 4 章 轴组指令
MC_GroupEnable ............................................................................................................................4-2
变量 .............................................................................................................................................................................4-2
功能说明 .....................................................................................................................................................................4-3
MC_GroupDisable ...........................................................................................................................4-6
变量 .............................................................................................................................................................................4-6
功能说明 .....................................................................................................................................................................4-7
MC_MoveLinear ............................................................................................................................4-11
变量 ...........................................................................................................................................................................4-11
功能说明 ...................................................................................................................................................................4-14
示例程序 ...................................................................................................................................................................4-24
MC_MoveLinearAbsolute ..............................................................................................................4-37
变量 ...........................................................................................................................................................................4-37
功能说明 ...................................................................................................................................................................4-39
MC_MoveLinearRelative ...............................................................................................................4-40
变量 ...........................................................................................................................................................................4-40
功能说明 ...................................................................................................................................................................4-42
MC_MoveCircular2D .....................................................................................................................4-43
变量 ...........................................................................................................................................................................4-43
功能说明 ...................................................................................................................................................................4-46
示例程序 ...................................................................................................................................................................4-55
MC_GroupStop ..............................................................................................................................4-67
变量 ...........................................................................................................................................................................4-67
功能说明 ...................................................................................................................................................................4-69
MC_GroupImmediateStop .............................................................................................................4-75
变量 ...........................................................................................................................................................................4-75
功能说明 ...................................................................................................................................................................4-76
MC_GroupSetOverride ..................................................................................................................4-79
变量 ...........................................................................................................................................................................4-79
功能说明 ...................................................................................................................................................................4-80
MC_GroupReadPosition ................................................................................................................4-83
变量 ...........................................................................................................................................................................4-83
功能说明 ...................................................................................................................................................................4-85
MC_ChangeAxesInGroup .............................................................................................................4-87
变量 ...........................................................................................................................................................................4-87
功能说明 ...................................................................................................................................................................4-89
MC_GroupSyncMoveAbsolute ......................................................................................................4-91
变量 ...........................................................................................................................................................................4-91
功能说明 ...................................................................................................................................................................4-93
MC_GroupReset ............................................................................................................................4-97
变量 ...........................................................................................................................................................................4-97
功能说明 ...................................................................................................................................................................4-98
10
NJ 系列 指令基准手册 运动篇 (SBCE-364)
目录
第 5 章 通用指令
MC_SetCamTableProperty ..............................................................................................................5-2
变量 .............................................................................................................................................................................5-2
功能说明 .....................................................................................................................................................................5-3
MC_SaveCamTable ........................................................................................................................5-8
变量 .............................................................................................................................................................................5-8
功能说明 ...................................................................................................................................................................5-10
MC_Write .......................................................................................................................................5-13
变量 ...........................................................................................................................................................................5-13
功能说明 ...................................................................................................................................................................5-16
附录
A-1 错误代码一览...........................................................................................................................A-2
A-2 错误代码详情.........................................................................................................................A-15
A-2 控制器异常说明的解释........................................................................................................................... A-15
A-2 异常说明.................................................................................................................................................... A-16
A-3 多重启动可否.........................................................................................................................A-66
A-3-1 轴的状态、轴组的状态........................................................................................................................... A-67
A-3-2 状态切换和多重启动的可否................................................................................................................... A-69
A-4 版本相关信息.........................................................................................................................A-74

标签: 指令 运动 手册

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