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NX-TS3201 Datasheet(PDF) 6 Page - Omron Electronics LLC |
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NX-TS3201 Datasheet(HTML) 6 Page - Omron Electronics LLC |
6 / 19 page 56 Machine automation controller Motion control*2 Control modes Position control, velocity control, torque control Axis types Servo axes, virtual servo axes, encoder axes and virtual encoder axes Positions that can be managed Command positions and actual positions Single-axis Single-axis position contol Absolute positioning Positioning is performed for a target position that is specified with an absolute value. Relative positioning Positioning is performed for a specified travel distance from the command current position. Interrupt feeding Positioning is performed for a specified travel distance from the position where an interrupt input was received from an external input. Cyclic synchro- nous absolute positioning A positioning command is output each control period in the position control mode. Single-axis velocity control Velocity control Velocity control is performed in position control mode. Cyclic synchronous velocity control A velocity command is output each control period in the velocity control mode. Single-axis torque control Torque control The torque of the motor is controlled. Single-axis synchronized control Starting cam operation A cam motion is performed using the specified cam table. Ending cam operation The cam motion for the axis that is specified with the input parameter is ended. Starting gear operation A gear motion with the specified gear ratio is performed between a master axis and slave axis. Positioning gear operation A gear motion with the specified gear ratio and sync position is performed between a master axis and slave axis. Ending gear operation The specified gear motion or positioning gear motion is ended. Synchronous positioning Positioning is performed in sync with a specified master axis. Master axis phase shift The phase of a master axis in synchronized control is shifted. Combining axes The command positions of two axes are added or subtracted and the result is output as the command position. Single-axis manual operation Powering the servo The servo in the servo drive is turned ON to enable axis motion. Jogging An axis is jogged at a specified target velocity. Auxiliary functions for single-axis control Resetting axis errors Axes errors are cleared. Homing A motor is operated and the limit signals, home proximity signal, and home signal are used to define home. Homing with parameters The parameters are specified, the motor is operated and the limit signals, home proximity sig- nal and home signal are used to define home. High-speed homing Positioning is performed for an absolute target position of 0 to return to home. Stopping An axis is decelerated to a stop at the specified rate. Immediately stopping An axis is stopped immediately. Override factors The target velocity of an axis can be changed. Changing the current position The command current position or actual current position of an axis can be changed to any position. Enabling external latches The position of an axis is recorded when a trigger occurs. Disabling external latches The current latch is disabled. Zone monitoring You can monitor the command position or actual position of an axis to see when it is within a specified range (zone). Enabling digital cam switches You can turn a digital output ON and OFF according to the position of an axis. Monitoring axis following error You can monitor whether the difference between the command positions or actual positions of two specified axes exceeds a threshold value. Resetting the following error The error between the command current position and actual current position is set to 0. Torque limit The torque control function of the servo drive can be enabled or disabled and the torque limits can be set to control the output torque. Position compensation The function which compensate the position for the axis in operation. Start velocity You can set the initial velocity when axis motion starts. Item NX1P2- @ CPU Unit |
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