Sysmac Library User`s Manual for MC Command

Sysmac Library

User’s Manual for MC Command Table Library

SYSMAC-XR002

W545-E1-04

NOTE

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because

OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.

• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of

Microsoft Corporation in the United States and other countries.

• EtherCAT

®

is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

Copyrights

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Introduction

Introduction

Thank you for purchasing an NJ/NX-series CPU Unit or an NY-series Industrial PC.

This manual provides information required to use the function blocks in the MC Command Table

Library. (“Function block” is sometimes abbreviated as “FB.”) Please read this manual and make sure you understand the functionality and performance of the NJ/NX-series CPU Unit before you attempt to use it in a control system.

This manual contains the specifications of the Function Block. It does not include restrictions on use of the Controller, Units, or components, or restrictions due to combinations. Make sure to read the user's manual for each product before use.

Keep this manual in a safe place where it will be available for reference during operation.

Features of the Library

The MC Command Table Library is used to continuously perform positioning that the MC Function Module is used. You can use this library together with motion control instructions of the NJ/NX/NY-series

Controller.

The program that multiple motion control instructions are used will be unnecessary by using this library.

Refer to the motion control instructions reference manual for details on motion control instructions of the NJ/NX/NY-series Controller.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of introducing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of installing and maintaining FA systems.

• Personnel in charge of managing FA systems and facilities.

For programming, this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.

Sysmac Library User’s Manual for MC Command Table Library (W545)

1

Introduction

Applicable Products

This manual covers the following products.

Item

Sysmac Library

Product name

MC Command Table Library

Automation Software Sysmac Studio

Device CPU Unit

Model numbers

SYSMAC-XR002

SYSMAC-SE

NX701-

Version

Version 1.1.0 or higher

Version 1.14 or higher

Version 1.10 or later

Industrial PC

NJ101-10

*1*2

NJ501-

NJ301-

NX1P2-(1)

NY5-1

*3*4


Version.1.13 or later


*1. You cannot use this function block with the NJ101-90.

*2. If you use this function block in the NJ101-10, you can only use the maximum two used motion control servo axes.

*3. You cannot use this function block with the NX1P2-90.

*4. If you use this function block in the NX1P2-10, you can only use the maximum two used motion control servo axes.

Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to

Related Manuals on page 11.

2


Manual Structure

Manual Structure

Special Information

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Version Information

Information on differences in specifications and functionality for CPU Units and Industrial PCs with different unit versions and for different versions of the Sysmac Studio are given.

Note References are provided to more detailed or related information.


3

CONTENTS

CONTENTS

Introduction ..............................................................................................................1

Features of the Library................................................................................................................................. 1

Intended Audience....................................................................................................................................... 1

Applicable Products ..................................................................................................................................... 2

Manual Structure ......................................................................................................3

Special Information ...................................................................................................................................... 3

CONTENTS................................................................................................................4

Terms and Conditions Agreement ..........................................................................6

Warranty, Limitations of Liability .................................................................................................................. 6

Application Considerations .......................................................................................................................... 7

Disclaimers .................................................................................................................................................. 7

Safety Precautions ...................................................................................................8

Definition of Precautionary Information........................................................................................................ 8

Symbols ....................................................................................................................................................... 8

Cautions....................................................................................................................................................... 9

Precautions for Correct Use..................................................................................10

Related Manuals ..................................................................................................... 11

Revision History .....................................................................................................13

Procedure to Use Sysmac Libraries ........................................................................................... 1-15

Procedure to Use Sysmac Libraries Installed Using the Installer ........................................................... 1-16

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC............................. 1-20

Common Specifications of Function Blocks.............................................................................. 1-23

Common Variables ................................................................................................................................. 1-24

Precautions............................................................................................................................................. 1-30

Individual Specifications of

Function Blocks.................................................................................................................. 1-31

MCCmdTbl.............................................................................................................................................. 1-32

Appendix ....................................................................................................................................... 1-59

Referring to Library Information .............................................................................................................. 1-60

Referring to Function Block and Function Source Codes....................................................................... 1-63

4


CONTENTS


5

6

Terms and Conditions Agreement

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties



Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.



Limitations

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT

NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF

THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE

PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.



Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-

SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY

WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,

WARRANTY, NEGLIGENCE OR STRICT LIABILITY.

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.


Terms and Conditions Agreement

Application Considerations

Suitability of Use

Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At

Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR

PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO

ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND

INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of

Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.


7

8

Safety Precautions

Safety Precautions

Definition of Precautionary Information

The following notation is used in this user’s manual to provide precautions required to ensure safe usage of an NJ/NX-series CPU Unit and an NY-series Industrial PC.

The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions.

The following notation is used.

WARNING

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

Caution

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

Symbols

The circle and slash symbol indicates operations that you must not do.

The specific operation is shown in the circle and explained in text.

This example indicates prohibiting disassembly.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.

This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.

This example indicates a general precaution.

The filled circle symbol indicates operations that you must do.

The specific operation is shown in the circle and explained in text.

This example shows a general precaution for something that you must do.


Cautions

Caution

Read all related manuals carefully before you use this library.

Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

Check the user program, data, and parameter settings for proper execution before you use them for actual operation.

Safety Precautions


9

Precautions for Correct Use


Using the Library

• When you use the library, functions or function blocks that are not described in the library manual may be displayed on the Sysmac Studio. Do not use functions or function blocks that are not described in the manual.

Using Sample Programming

• The sample programming shows only the portion of a program that uses the function or function block from the library.

• When using actual devices, also program safety circuits, device interlocks, I/O with other devices, and other control procedures.

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

Operation

• When you use the NX-series CPU Unit, use the _MC_AX[0..63] (Axis Variable) system-defined variable. If you use the axis variables _MC_AX1 and _MC_AX2, unintended operation may occur for the system.

• When you use the NX-series CPU Unit, do not use this function block for other than the specified tasks. Unintended operation may occur for the system.

• When you perform memory operation, make sure that servo is ON at all times. When you set the servo to OFF during memory operation, set Enable to FALSE in the function block. If you do not set

Enable to FALSE in the function block, unintended operation may occur.

• When you stop memory operation and then restart it again, retain CurrentSeqNo (Executing

Sequence Number) in order to start from the sequence number at which memory operation was stopped.

• During memory operation, do not perform the multi-execution of instructions regarding the axis/axes group used for memory operation.

• If you execute the MC_Stop or MC_GroupStop instruction during M Code output, the axis/axes group will start motion again after M Code reset. For a deceleration stop during memory operation, set Stop

(Stop Execution) to TRUE in the function block, and do not use the MC_Stop or MC_GroupStop instruction.

• If you perform an immediate stop for memory operation, execute the MC_ImmediateStop instruction for all axes being used in memory operation. During a single-axis discrete motion, the axis will not stop even if you execute the MC_GroupImmediateStop instruction.

10


Related Manuals

Related Manuals

The following are the manuals related to this manual. Use these manuals for reference.

Manual name

NX-series CPU Unit

Hardware User’s Manual

NX-series NX1P2 CPU

Unit Hardware User’s

Manual

NJ-series CPU Unit

Hardware User’s Manual

NY-series IPC Machine

Controller Industrial

Panel PC Hardware

User’s Manual


Controller Industrial Box

PC Hardware User's

Manual

Cat. No. Model numbers

W535

W578

W500

W557

W556

NX701-

Application

Learning the basic specifications of the NX-series

NX701 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided

NX1P2- Learning the basic specifications of the NX-series

NX1P2 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided

NJ501-

NJ301-

NJ101-

NY532-

Learning the basic specifications of the NJ-series

CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided

Learning the basic specifications of the NY-series

Industrial Panel PCs, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided

NY512- Learning the basic specifications of the NY-series

Industrial Box PCs, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided

Description

An introduction to the entire NX701 CPU Unit system is provided along with the following information on the CPU Unit.

Features and system configuration

Overview

Part names and functions

General specifications

Installation and wiring

Maintenance and inspection

An introduction to the entire NX1P2 CPU Unit system is provided along with the following information on the CPU Unit.


Overview




Maintenance and Inspection

An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.


Overview





An introduction to the entire NY-series system is provided along with the following information on the Industrial Panel PC.


Introduction





An introduction to the entire NY-series system is provided along with the following information on the Industrial Box PC.


Introduction






11

Related Manuals tions

Manual name

NJ/NX-series CPU Unit

Software User’s Manual



Panel PC / Industrial Box

PC Software User’s

Manual

NJ/NX-series Instruc-

Reference Manual

NY-series Instructions

Reference Manual

NJ/NX-series CPU Unit

Motion Control User's

Manual



Panel PC / Industrial Box

PC Motion Control

User’s Manual

NJ/NX-series Motion

Control Instructions Reference Manual

NY-series Motion Control

Instructions Reference

Manual

Sysmac Studio Version 1

Operation Manual

Cat. No. Model numbers

W501 NX701-

NJ501-

NJ301-

NJ101-

NX1P2-

Application

Learning how to program and set up an NJ/NX-series

CPU Unit.

Mainly software information is provided

W558

W502

W560

W507

W559

W508

W561

W504

NY532-

NY512-

NX701-

NJ501-

NJ301-

NJ101-

NX1P2-

NY532-

NY512-

NX701-

NJ501-

NJ301-

NJ101-

NX1P2-

NY532-

NY512-

NX701-

NJ501-

NJ301-

NJ101-

NX1P2-

NY532-

NY512-

SYSMAC

-SE2

Learning how to program and set up the Controller functions of an NY-series

Industrial PC

Learning detailed specifications on the basic instructions of an NJ/NX-series

CPU Unit

Learning detailed specifications on the basic instructions of an NY-series

Industrial PC

Learning about motion control settings and programming concepts of an

NJ/NX-series CPU Unit.

Learning about motion control settings and programming concepts of an

NY-series Industrial PC.

Learning about the specifications of the motion control instructions of an

NJ/NX-series CPU Unit.

Learning about the specifications of the motion control instructions of an

NY-series Industrial PC.

Learning about the operating procedures and functions of the Sysmac Studio.

Description

The following information is provided on a Controller built with an NJ/NX-series CPU Unit.

CPU Unit operation

CPU Unit features

Initial settings

Programming based on IEC 61131-3 language specifications

The following information is provided on NY-series

Machine Automation Control Software.

Controller operation

Controller features

Controller settings

Programming based on IEC 61131-3 language specifications

The instructions in the instruction set (IEC 61131-3 specifications) are described.

The instructions in the instruction set (IEC 61131-3 specifications) are described.

The settings and operation of the CPU Unit and programming concepts for motion control are described.

The settings and operation of the Controller and programming concepts for motion control are described.

The motion control instructions are described.

The motion control instructions are described.

Describes the operating procedures of the Sysmac

Studio.

12


Revision History

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

Cat. No.

W545-E1-04

Revision code

Revision code

01

02

03

04

Date Revised content

April 2015 Original production

December 2015 Made changes of structure of the manual.

July 2016 Changed the manual name.

November 2016 Changed the manual name.


13

Revision History

14


Procedure to Use Sysmac Libraries


15

16

Procedure to Use Sysmac Libraries Installed Using the Installer

Procedure to Use Sysmac Libraries Installed Using the Installer

This section describes the procedure to use Sysmac Libraries that you installed using the installer.

There are two ways to use libraries.

• Using newly installed Sysmac Libraries

• Using upgraded Sysmac Libraries


To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.

Using Newly Installed Libraries

1

Start the Sysmac Studio and open or create a new project in which you want to use Sysmac

Libraries.


If you create a new project, be sure to configure the settings as follows to enable the use of

Sysmac Libraries. If you do not configure the following settings, you cannot proceed to the step

2 and later steps.

• Set the project type to Standard Project or Library Project.

• Set the device category to Controller.

• Set the device version to 1.01 or later.



2

Select Project – Library – Show References.

Device


If you have more than one registered device in the project, make sure that the device selected currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. If you do not select an

NJ/NX-series CPU Unit or an NY-series Industrial PC as the device, Library References does not appear in the above menu. When the device selected currently is an NJ/NX-series CPU

Unit or an NY-series Industrial PC, the device icon is displayed in the Multiview Explorer.

3

Add the desired Sysmac Library to the list and click the OK Button.

The Sysmac Library file is read into the project.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included in a Sysmac Library appear in the Toolbox.

For the procedure for adding and setting libraries in the above screen, refer to the Sysmac Stu-

dio Version 1 Operation Manual (Cat. No. W504).

4

Insert the Sysmac Library’s function blocks and functions into the circuit using one of the following two methods.

• Select the desired function block or function in the Toolbox and drag and drop it onto the programming editor.

Drug & Drop


17


• Right-click the programming editor, select Insert Function Block in the menu, and enter the fully qualified name (\\name of namespace\name of function block).


After you upgrade the Sysmac Studio, check all programs and make sure that there is no error of the program check results on the Build Tab Page.

Select Project

–

Check All Programs from the Main Menu.

Using Upgraded Libraries

1

Start the Sysmac Studio and open a project in which any old-version Sysmac Library is included.

2

Select Project – Library – Show References.

Device


If you have more than one registered device in the project, make sure that the device selected currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. Otherwise, Library References does not appear in the above menu. When the device selected currently is an

NJ/NX-series CPU Unit or an NY-series Industrial PC, the device icon is displayed in the

Multiview Explorer.

3

Select an old-version Sysmac Library and click the Delete Reference Button.

18



4

Add the desired Sysmac Library to the list and click the OK Button.


19

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

You can use Sysmac Libraries uploaded from a CPU Unit or an Industrial PC to your computer if they are not installed.

The procedure to use uploaded Sysmac Libraries from a CPU Unit or an Industrial PC is as follows.


To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.

1

Start the Sysmac Studio and create a new project in which you want to use Sysmac Libraries.

20

2

Connect the computer to the CPU Unit or the Industrial PC and place it online.

3

Upload POUs in which any Sysmac Library is used to the computer.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included in the Sysmac Library used in the uploaded POUs appear in the Toolbox.

4

Insert the Sysmac Library’s function blocks and functions into the circuit using one of the following two methods.

• Select the desired function block or function in the Toolbox and drag and drop it onto the Ladder Editor.

Drug & Drop



• Right-click the programming editor, select Insert Function Block in the menu, and enter the fully qualified name (\\name of namespace\name of function block).


• The Sysmac Studio installs library files of the uploaded Sysmac Stutio to the specified folder on the computer if they are not present. However, the Sysmac Studio does not install library files to the specified folder on the computer if they are present.

The specified folder here means the folder in which library files are installed by the installer.

• Note that uploading Sysmac Libraries from a CPU Unit or an Industrial PC does not install the manual and help files for the Sysmac Libraries, unlike the case where you install then using the installer. Please install the manual and help files using the installer if you need them.


21


22


Common Specifications of Function Blocks


23

Common Variables

Common Variables

This section describes the specifications of variables (EN, Execute, Enable, Abort, ENO, Done, Cal-

cRslt, Enabled, Busy, CommandAborted, Error, ErrorID, and ErrorIDEx) that are used for more than one function or function block. The specifications are described separately for functions, for execute-type function blocks, and for enable-type function blocks.

Definition of Input Variables and Output Variables

Variable

EN

Common input variables and output variables used in functions and function blocks are as follows.

I/O

Data type

Input BOOL

Function/function block type to use

Function block

Executetype

Enabletype

Function

OK

Meaning

Execute

Definition

Execute

Enable

Abort BOOL

OK

OK

OK

Execute

Run

Abort

The processing is executed while the variable is TRUE.

The processing is executed when the variable changes to TRUE.

The processing is executed while the variable is TRUE.

The processing is aborted.

You can select the aborting method.

24


Common Variables

Variable

ENO

Done

Busy

CalcRslt

Enabled

Command

Aborted

Error

ErrorID

ErrorIDEx

I/O

Data type

Output BOOL

BOOL

BOOL

LREAL

BOOL

BOOL

BOOL

WORD

DWORD

Function/function block type to use

Function block

Executetype

Enabletype

Function

OK

OK

OK

OK

OK

OK

OK

OK

OK

OK

OK

OK

OK

Meaning Definition

Done

Done

Executing

The variable changes to TRUE when the processing ends normally.

It is FALSE when the processing ends in an error, the processing is in progress, or the execution condition is not met.

The variable changes to TRUE when the processing ends normally.

It is FALSE when the processing ends in an error, the processing is in progress, or the execution condition is not met.

The variable is TRUE when the processing is in progress.

It is FALSE when the processing is not in progress.

The calculation result is output.

Calculation

Result

Enabled

Command

Aborted

Error

The variable is TRUE when the output is enabled. It is used to calculate the control amount for motion control, temperature control, etc.

The variable changes to TRUE when the processing is aborted.

It changes to FALSE when the processing is re-executed the next time.

This variable is TRUE while there is an error.

It is FALSE when the processing ends normally, the processing is in progress, or the execution condition is not met.

Error Code An error code is output.

Expansion

Error Code

An expansion error code is output.

Execute-type Function Blocks

• Processing starts when Execute changes to TRUE.

• When Execute changes to TRUE, Busy also changes to TRUE. When processing is completed normally, Busy changes to FALSE and Done changes to TRUE.

• When continously executes the function blocks of the same instance, change the next Execute to

TRUE for at least one task period after Done changes to FALSE in the previous execution.

• If the function block has a CommandAborted (Instruction Aborted) output variable and processing is aborted, CommandAborted changes to TRUE and Busy changes to FALSE.

• If an error occurs in the function block, Error changes to TRUE and Busy changes to FALSE.

• For function blocks that output the result of calculation for motion control and temperature control, you can use the BOOL input variable Abort to abort the processing of a function block. When Abort changes to TRUE, CommandAborted changes to TRUE and the execution of the function block is aborted.


25

Common Variables

26

In-out variables

Input variables

Abcd_instance

Abcd

InOut_Val InOut_Val

Execute Done

Busy

CommandAborted

Error

ErrorID

ErrorIDEx

In-out variables

Output variables

• If Execute is TRUE and Done, CommandAborted, or Error changes to TRUE, Done, Command-

Aborted, and Error changes to FALSE when Execute is changed to FALSE.

• If Execute is FALSE and Done, CommandAborted, or Error changes to TRUE, Done,Command-

Aborted, and Error changes to TRUE for only one task period.

• If an error occurs, the relevant error code and expansion error code are set in ErrorID (Error Code) and ErrorIDEx (Expansion Error Code). The error codes are retained even after Error changes to

FALSE, but ErrorID is set to 16#0000 and ErrorIDEx is set to 16#0000 0000 when Execute changes to TRUE.

Timing Charts

This section provides timing charts for a normal end, aborted execution, and errors.



Normal End

Execute

Done

Busy

CommandAborted

Error

ErrorID

ErrorIDEx



Canceled Execution

Execute

Abort

16#0000

16#00000000

Busy

CommandAborted

Error

ErrorID

ErrorIDEx

16#0000

16#00000000


Common Variables



Aborted Execution

Execute

Done

Busy

CommandAborted

Error

ErrorID



Errors

ErrorIDEx

Execute

Done

Busy

CommandAborted

Error

ErrorID

ErrorIDEx

16#0000

16#00000000

16#0000

16#00000000

ErrorIDEx

16#0000 ErrorID

16#00000000 ErrorIDEx


27

Common Variables

Enable-type Function Blocks

• Processing is executed while Enable is TRUE.

• When Enable changes to TRUE, Busy also changes to TRUE. Enabled is TRUE during calculation of the output value.

• If an error occurs in the function block, Error changes to TRUE and Busy and Enabled change to

FALSE. When Enable changes to FALSE, Enabled, Busy, and Error change to FALSE.

In-out variables

Input variables

Abcd_instance

Abcd

InOut_Val InOut_Val

Enable Enabled

CalcRslt

Busy

Error

ErrorID

ErrorIDEx

In-out variables

Output variables

• If an error occurs, the relevant error code and expansion error code are set in ErrorID (Error Code) and ErrorIDEx (Expansion Error Code). The error codes are retained even after Error changes to

FALSE, but ErrorID is set to 16#0000 and ErrorIDEx is set to 16#0000 0000 when Enable changes to

TRUE.

• For function blocks that calculate the control amount for motion control, temperature control, etc.,

Enabled is FALSE when the value of CalcRslt (Calculation Result) is incorrect. In such a case, do not use CalcRslt. In addition, after the function block ends normally or after an error occurs, the value of

CalcRslt is retained until Enable changes to TRUE. The control amount will be calculated based on the retained CalcRslt value, if it is the same instance of the function block that changed Enable to

TRUE. If it is a different instance of the function block, the control amount will be calculated based on the initial value.

Timing Charts

This section provides timing charts for a normal end and errors.



Normal End

Enable

Enabled

CalcRslt

Busy

Error

ErrorID

ErrorIDEx

Retained

16#0000

16#00000000

Retained

28




Errors

Enable

Enabled

CalcRslt

Busy

Error

ErrorID

ErrorIDEx

16#00000000

Retained

Retained

16#0000 ErrorID

16#00000000

ErrorID

Common Variables


29

Precautions

Precautions

This section provides precautions for the use of this function block.

Nesting

You can nest calls to this function block for up to four levels.

For details on nesting, refer to the software user’s manual.

Instruction Options

You cannot use the upward differentiation option for this function block.

Re-execution of Function Blocks

Execute-type function blocks cannot be re-executed by the same instance.

If you do so, the output value will be the initial value.

For details on re-execution, refer to the motion control user’s manual.

30


Individual Specifications of

Function Blocks

Function block name

MCCmdTbl

Name

Memory Operation

Page

P.32


31

32

MCCmdTbl

MCCmdTbl

This is a function block to continuously execute positioning that is specified in memory operation data for axes groups that are defined in the MC Function Module.

Function

Block Name

Name

MCCmdTbl Memory

Operation

Function block/FUN

Function block

Graphic expression

MCCmdTbl_Instance

ST expression

\\OmronLib\MC_CmdTbl\MCCmdTbl

AxesGroup AxesGroup

CmdTbl CmdTbl

Enable Enabled

Execute Done

StepMode CurrentSeqNo

Stop MStrobe

SeqNoSet MCode

SeqNo DigitalOutputs

MCodeReset Busy

CommandAborted

Error

ErrorID

ErrorIDEx

MCCmdTbl_Instance(

AxesGroup:=parameter,

CmdTbl:=parameter,

Enable:=parameter,

Execute:=parameter,

StepMode:=parameter,

Stop:=parameter,

SeqNoSet:=parameter,

SeqNo:=parameter,

MCodeReset:=parameter,

Enabled=>parameter,

Done=>parameter,

CurrentSeqNo=>parameter,

MStrobe=>parameter,

MCode=>parameter,

DigitalOutputs=>parameter,

Busy=>parameter,

CommandAborted=>parameter,

Error=>parameter,

ErrorID=>parameter,

ErrorIDEx=>parameter

);

Function Block and Function Information

Item

Library file name

Namespace

Function block and function number

Source code published/not published

Function block and function version

Applicable tasks

OmronLib_MC_CmdTbl_V1_1.slr

Description

OmronLib\MC_CmdTbl

00002

Not published

1.01

Primary periodic task and priority-16 periodic tasks

Does not support the priority-5 periodic task for the NX-series CPU Unit.


MCCmdTbl

Compatible Models

Device

Item Name

OMRON G5-series AC Servomotors/Servo Drives with built-in EtherCAT Communications

Model numbers

R88D-KN-ECT Ver.2.1

Version


• When you use this function block with NJ101-10



, you can use a maximum of two real servo axes.

• You cannot use this function block with NJ101-90



.

Hardware Configuration Diagram

This function block performs positioning for a maximum of 4 axes.

You can specify the operating axes with sequence data.

A configuration example when connecting 4 axes with the OMRON G5-series AC Servomotors/Servo

Drives with built-in EtherCAT Communications is given below.

G5-series

Servo Drive

EtherCAT

EtherCAT

EtherCAT

EtherCAT

NJ/NX-series CPU Unit or NY-series Industrial PC

R88A-CAKA003S

Power Cable

Node

Address 1

Axis 1

Power

Cable

R88A-CRKA003C

Node

Address 2

Axis 2

Power

Cable

Encoder

Cable

Node

Address 3

Axis 3

Encoder

Cable

Power

Cable

Node

Address 4

Axis 4

Encoder

Cable

R88M-K10030L

Servomotor


33

MCCmdTbl

Variables

Input Variables

Name

Enable

Meaning

Memory Operation

Enable

Data type

BOOL

Valid range

TRUE or

FALSE

Execute

StepMode

Stop

SeqNoSet

SeqNo

Execute

Operation Mode BOOL

Stop Execution

Sequence Number

Set

BOOL

Sequence Number UINT

MCodeReset M Code Reset

BOOL

BOOL

BOOL

TRUE or

FALSE

TRUE or

FALSE

TRUE or

FALSE

TRUE or

FALSE

0 to 599

TRUE or

FALSE

Default

FALSE

FALSE

FALSE

FALSE

FALSE

0

FALSE

Description

The memory operation function block is enabled when Enable is TRUE.

The memory operation function block processing stops and a deceleration stop is performed for all axes when

Enable is FALSE.

Positioning starts according to sequence numbers.

Positioning restarts according to sequence numbers while Enable is

TRUE.

Selects the operation mode.

TRUE: Manual operation (sequence data executed one by one)

FALSE: Automatic operation (sequence data executed consecutively)

Executes operation stop.

The axis decelerates to a stop and the sequence number being executed is retained.

Starts operation from the sequence number specified to the Sequence

Number (SeqNo).

Specify sequence number to be set.

Uses the value when SeqNoSet changes to TRUE.

Executes M Code reset.

34


MCCmdTbl

ErrorIDEx

Output Variables

Name

Enabled

Done

CurrentSeqNo

MStrobe

MCode

DigitalOutputs

Busy

CommandAborted

Error

ErrorID

Meaning

Memory

Operation

Enabled

Done

Data type

BOOL

BOOL

Executing

Sequence

Number

UINT

Valid range

TRUE or

FALSE

TRUE or

FALSE

0 to 599

M Strobe

Enabled

M Code

Digital

Output

Executing

Command

Aborted

Error

BOOL TRUE or

FALSE

0 to 65535 UINT

DWORD 16#00000000 to

16#FFFFFFFF

BOOL

BOOL

BOOL

TRUE or

FALSE

TRUE or

FALSE

TRUE or

FALSE

Error

Code

Expansion

Error

Code

WORD

DWORD

*1

Default

---

---

---

---

---

---

---

---

---

---

---

Description

Enabled is TRUE while Enable is

TRUE.

TRUE when memory operation is completed.

Displays executing sequence number. When the function block is

Done, it displays the sequence number subsequent to the number whose execution is complete.

TRUE during M Strobe output.

Displays M Code.

The value set to sequence data digital output is displayed while executing the relevant sequence.

TRUE while executing memory operation.

TRUE when the function block execution is aborted.

TRUE while there is an error.

Contains the error code when an error occurs. A value of 16#0000 indicates normal execution.

Contains the error code when an error occurs. A value of

16#00000000 indicates normal execution.

*1. Refer to Troubleshooting on page 1-49 for details.

In-Out Variables

Name

AxesGroup

Meaning

Axes Group

Data type

_sGROUP_REF

CmdTbl Memory Operation

Data

OmronLib\MC_CmdTbl\sCMD_-

DATA

*1. Refer to Memory Operation Data on page 1-40 for details.

Valid range

---

*1

Description

Specifies the axes group.

Specify the enabled axes group.

Specifies the memory operation data

(operation parameters, sequence data).


35

MCCmdTbl

Function

This is a function block to continuously execute positioning that is specified in memory operation data for axes groups that are defined in the MC Function Module.

It performs the following functions.

• Automatic operation mode which executes sequence data consecutively

• Manual operation mode which executes sequence data one by one

• Setting the sequence number from which operation is started

• M Code output and M Code reset functions

• Stop function which stops operation

Execution Conditions

The following conditions must be met to execute the memory operation function block.

• Setting axes and axes groups

Use the Sysmac Studio to set the axes.

When you perform interpolation, set the axes group consisting of these axes.

• Creating memory operation data

Create operation parameters and sequence data.

Refer to Sample Programming on page 1-50 for a creation example of memory operation data.

• Assigning variables to the function block

Assign the created axes group variables, memory operation data variables, and other required variables to the inputs and outputs variables of the memory operation function block.

• Servo ON and homing

Change the axes to control to the Servo ON status, and then define home.

36


• When you execute the memory operation function block, check that the axes to control are in servo ON status and the home is defined. If these conditions are not met, a Memory Operation Execution Error (error code: 16#3C09 and expansion error code: 16#00000001) will occur.

• The memory operation function block confirms servo ON status and home defined when started, but not after confirmation. If an error occurs in the MC Function Module due to these factors, an axis/axes group error (error code: 16#3C09 and expansion error code:

16#00000002) will occur in the function block.

Details



Memory Operation Enable (Enable)

If you set Enable to TRUE and Enabled is TRUE, the commands of Execute and Stop will be enabled.

When Enable is FALSE, the commands will not be sent and the output variable will be initialized.

If you set Enable to FALSE during axis motion, the axes will decelerate to a stop following the executing command profile deceleration pattern.


MCCmdTbl



Execute

When you set Execute to TRUE during Enabled, operation starts according to the content defined in sequence data SeqData (sSEQ_DATA type).



Operation Mode (StepMode)

This variable is used to switch the operation mode between automatic and manual operation.

The automatic operation mode executes sequence data consecutively.

The conditions to stop the automatic operation are given below.

• The END instruction execution

• The sequence data operation pattern is set to independent positioning.

• Stop execution

• Detection of an error or an interruption

The sequence number will return to 0 after the sequence number 599 is executed.

Conversely, the manual operation mode executes sequence data one by one.

When Execute changes to TRUE, the mode is defined according to the specified Operation Mode

(StepMode). When you switch modes, set Execute to TRUE again after executing Stop.



Stop Execution (Stop)

If the operation stop is executed, the axis will decelerate to a stop in accordance with the deceleration time of the current memory operation data.

The MC_Stop instruction will be executed in the function block during PTP operation and the

MC_GroupStop instruction is executed in the function block during interpolation operation.

When the axis stops, the instruction is interrupted and the executing sequence number is not updated.

In dwell time waiting status, the instruction goes to an interruption status without waiting for the dwell time.

If Stop is executed while the M code is output, the M code output changes to OFF and the instruction is interrupted.


• To decelerate an axis/axes group to a stop, set Stop to TRUE in the function block. For deceleration stop during memory operation through function block execution, do not use the

MC_Stop or MC_GroupStop instruction.

• If you perform an immediate stop for memory operation, execute the MC_ImmediateStop instruction for all axes being used in memory operation. Use the MC_GroupImmediateStop instruction to perform a multi-axes coordinated control motion.

• During a single-axis discrete motion, the axis will not stop even if you execute the

MC_GroupImmediateStop instruction.

• During memory operation, make sure that the axes are in servo ON status at all times. When you set the servo to OFF during memory operation, set Enable to FALSE in the function block.



Sequence Number Set (SeqNoSet)

This variable is used to specify the sequence number from which to start operation.

Enter the sequence number from which you want to start operation into Sequence Number (SeqNo) and set SeqNoSet to TRUE.

When Execute changes to TRUE, operation is started from the entered sequence number.


37

MCCmdTbl



Lookahead

When the lookahead conditions are met in automatic operation mode, next sequence data is read in advance and the operation starts in the pattern specified in the sequence data (SeqData) operation pattern (Ope).

Lookahead processing is executed when all the following conditions are met.

• The command currently executing is linear interpolation or circular interpolation

• The command for the next sequence data is linear interpolation or circular interpolation

• The command currently executing is not specified to dwell time

• The command currently executing is not specified to M Code

• The operation pattern is specified to either of the consecutive trajectories

If memory operation is interrupted during lookahead by a stop command, disabling the memory operation, or an error detected, the sequence data looked ahead to is discarded.



M Code Reset (MCodeReset)

While MStrobe (M Strobe Enabled) is TRUE, if you set MCodeReset (M Code Reset) to TRUE,

MStrobe will be FALSE and the operation will move on to the next sequence number.


• If you execute the MC_ImmediateStop or MC_ImmediateGroupStop instruction during M

Code output, an error will occur in the function block and M Code output will stop.

• If you execute the MC_Stop or MC_GroupStop instruction during M Code output, the axis/axes group will start motion again after M Code reset. For a deceleration stop during memory operation, set Stop to TRUE in the function block, and do not use the MC_Stop or

MC_GroupStop instruction.



Error End

When a motion control instruction error or an axis/axes group error is detected during memory operation, the executing motion is interrupted and the function ends abnormally. As well, when during lookahead, the sequence data looked ahead to is discarded. The executing sequence number is not updated.



Operation Restart

• When you restart memory operation, change Enable to TRUE, enter the sequence number from which you want to restart into SeqNo, set Execute to TRUE when SeqNoSet is TRUE.

• If an error occurs in an axis/axes group, restart memory operation after clearing the error.

• If an undefined home error occurs, restart memory operation after clearing the error and defining home.


When you stop memory operation and then restart it again, retain CurrentSeqNo (Executing

Sequence Number) in order to start from the sequence number at which memory operation was stopped.

38


MCCmdTbl

Re-execution of Instruction

This function block cannot be re-executed.

In this function block, a re-execution refers to setting Execute to TRUE again during axis motion by executing this function block.

Multi-execution of Instructions

A restriction applies to the instructions that can be used while this function block is in execution.

The MC_Move, MC_MoveLinear, and MC_MoveCircular2D motion control instructions are used in this function block so that multi-execution of instructions depends on the specifications of these instructions.

For details, refer to the CPU Unit motion control user's Manual.


• For a deceleration stop during memory operation, do not use the MC_Stop or MC_Group-

Stop instruction.

• For a immediate stop during memory operation, use the MC_ImmediateStop and MC_ImmediateGroupStop instructions.

• During memory operation, do not perform the multi-execution of instructions regarding the axis/axes group used for memory operation.


When you execute the MC_SetOverride and MC_GroupSetOverride instructions during memory operation, check the effect of overriding the target velocity before use.


39

MCCmdTbl

Timing Charts

• Enabled (Memory Operation Enabled) changes to TRUE at the same time as Enable (Memory Operation Enable) changes to TRUE.

• Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE, and memory operation starts.

• When memory operation is completed, Done (Done) changes to TRUE.

• When an interruption occurs in the Motion Control Function Module during memory operation execution, or when Stop (Stop Execution) is executed, CommandAborted (Command Aborted) changes to

TRUE.

• When an error occurs during memory operation execution, Error will change to TRUE and Busy (Executing) will change to FALSE. As well, you can find out the cause of the error by referring to the values that are output to ErrorID (Error Code) and ErrorIDEx (Expansion Error Code).

?

Enable

Execute

Stop

Enabled

Busy

Done

Error

CommandAborted

ErrorID

Error code

Memory Operation Data

0

Error code

0

Memory operation data includes operation parameters related to memory operation (velocity, acceleration/deceleration time etc.) and sequence data (position, operation pattern).

You can register up to 600 sequence data.

The memory operation data structure is composed as follows.

Memory Operation Data

(sCMD_DATA type)

Operation Parameters

(sCMD_PARA type)

Group Parameters

(sCMD_PARA_TSK type)

Command Profile

(sCMD_PARA_PROFILE type)

Axis Parameters

(sCMD_PARA_AXIS type)

Command Profile

(sCMD_PARA_PROFILE type)

Sequence Data

(sSEQ_DATA type)

Positioning Data

(sSEQ_DATA_PARA type)

40


MCCmdTbl

Operation Parameter

Para

Operation parameters are one of the member variables of memory operation data, with a data type of sCMD_PARA type as defined in this library. This section describes their composition and details.

Name

TskPara

Profile

AxisPara

Profile

Velocity

AccTime UINT

DecTime UINT

SCurve

Dir

Velocity

Data type

sCMD_PARA sCMD_PARA_TSK

ARRAY[0..3] OF sCM-

D_PARA_PROFILE

LREAL

UINT

UINT

ARRAY[0..3] OF sCM-

D_PARA_AXIS

ARRAY[0..3] OF sCM-

D_PARA_PROFILE

LREAL

AccTime UINT

DecTime UINT

SCurve

Dir

UINT

UINT

Meaning

Operation Parameter

Group Parameter

Command Profile

Command Velocity (unit/s)

Acceleration Time

(ms)

Deceleration Time

(ms)

S-shaped Curve

Specification

Rotation Direction

Designation

Axis Parameter

Valid range Description

Specifies the operation parameters for memory operation.

Specifies the axes group operation parameters.

Specifies the acceleration/deceleration patterns

(4 patterns) for circular and linear interpolation operation.

Positive number

Specifies the command velocity.

0 to 65535 Specifies the acceleration time.

0 to 65535 Specifies the deceleration time.

Reserved

Reserved

Command Profile

Command Velocity (unit/s)

Acceleration Time

(ms)

Deceleration Time

(ms)

S-shaped Curve

Specification

Rotation Direction

Designation

Specifies the XYZU axes single-axis operation parameters.

Specifies the acceleration/deceleration patterns

(4 patterns) for PTP operation.

Positive number

Specifies the command velocity.

0 to 65535 Specifies the acceleration time.

0 to 65535 Specifies the deceleration time.

Reserved

Specifies the direction of rotation when the operation command is set to

PTP operation (absolute travel) and the Count

Mode is Rotary Mode.

0: Positive direction

1: Shortest way

2: Negative direction

3: Current direction

4: No direction specified


41

MCCmdTbl



Command Profile (Profile)

Sets four command profile patterns (velocity, acceleration time, deceleration time) in advance for

PTP, circular interpolation, and linear interpolation operation. You can specify the profile number for each operation command to select which pattern to use.

Further, when you set the Start Velocity of the axis parameter operation settings to a value other than 0, it will accelerate and decelerate from the start velocity. In this case, the acceleration/deceleration rates used in calculation are those for acceleration and deceleration to velocity 0 and to command velocity. Therefore, the acceleration and deceleration times are shorter than specified.

Velocity

Command

Velocity

0

Acceleration Time Deceleration Time

Time

42


MCCmdTbl

Sequence Data

Sequence data are one of the member variables of memory operation data. The data type of sequence data is array of sSEQ_DATA as defined in this library. This section describes their composition and details.

SeqData

Cmd

Ope

Name Data type

ARRAY[0..599]

OF sSEQ_DATA

WORD

UINT

Meaning

Sequence Data

Operation

Command

Operation Pattern

Valid range

0 to 4

Description

Sequence data consist of an array of 600 of the following data.

Specifies the operation command.

*1

Specifies the operation pattern.

0: Independent Positioning

1: Consecutive Positioning

2: Consecutive Trajectory

(BlendingNext)


(BlendingPrevious)


(CornerSuperimposed)

Specifies positioning data.

SeqDataPara

Axis

Position

Velocity

ProfileNo

Aux

DwellTime

MCode

DigitalOutputs sSEQ_DATA_

PARA

ARRAY[0..3] OF

SINT

ARRAY[0..3] OF

LREAL

LREAL

ARRAY[0..3] OF

USINT

ARRAY[0..1] OF

LREAL

UINT

UINT

DWORD

Positioning Data

Specifying Axis

Target Position

(unit)

Interpolation

Velocity

Command Profile

Number

Auxiliary Position

(unit)

Dwell Time (ms)

M Code

Digital Outputs

0, 1

Negative number, positive number, or 0

0, Positive

Sets the operating axis.

0: Does not operate.

1: Operation specification

Sets the target position and travel distance.

0 to 3

Sets interpolation velocity.

For 0, the function block operates with the interpolation velocity set in the command profile.

Sets the command profile number set with parameters.

Sets the auxiliary position at circular interpolation.

Negative number, positive number, or 0

0 to 65535

0 to 65535

16#00000000 to

16#FFFFFFFF

Specifies the wait time from axis motion positioning finished until operation completed.

Sets the M Code in position.

Outputs the DigitalOutputs output variable of the memory operation function block.

*1. Refer to Operation Command (Cmd) on page 1-44 for details.


43

MCCmdTbl



Operation Command (Cmd)

Sets the positioning commands to operate.

The list of commands is as follows. Refer to the motion control instructions reference manual for detailed command operation.

NOP

Operation command Setting value

16#0000

PTP (ABS)

PTP (INC)

Linear interpolation (ABS)

Linear interpolation (INC)

16#0100

16#0101

16#0200

16#0201

16#0300

Description and definition

No operation to be executed. As well, the sequence number of this operation command does not output to CurrentSeqNo (Executing

Sequence Number).

Executes up to 4 axes simultaneous PTP operation (absolute travel).

Executes up to 4 axes simultaneous PTP operation (relative movement).

Executes up to 4 axes linear interpolation operation (absolute travel).

Executes up to 4 axes linear interpolation operation (relative movement).

Executes circular interpolation (border point/absolute travel).

Circular interpolation

(Border point/ABS)


(Border point/INC)


(Center/CW/ABS)


(Center/CW/INC)


(Center/CCW/ABS)


(Center/CCW/INC)


(Radius/CW/ABS)


(Radius/CW/INC)


(Radius/CCW/ABS)


(Radius/CCW/INC)

END

16#0301

16#0310

16#0311

16#0312

16#0313

16#0320

16#0321

16#0322

16#0323

16#1000

Executes circular interpolation (border point/relative movement).

Executes circular interpolation (center/CW direction/absolute travel).

Executes circular interpolation (center/CW direction/relative movement).

Executes circular interpolation (center/CCW direction/absolute travel).

Executes circular interpolation (center/CCW direction/relative movement).

Executes circular interpolation (radius/CW direction/absolute travel).

Executes circular interpolation (radius/CW direction/relative movement).

Executes circular interpolation (radius/CCW direction/absolute travel).

Executes circular interpolation (radius/CCW direction/relative movement).

Ends automatic operation. After you execute this operation command, the function block changes to Done. As well, the sequence number of this operation command does not output to CurrentSe-

qNo (Executing Sequence Number).


If you specify a setting value that is not in the command list, it is treated as a NOP operation command. An error does not occur.

44


MCCmdTbl



Consecutive Positioning in Operation Pattern (Ope)

The data N operation pattern follows the following trajectory when you specify Consecutive Positioning.

When data N is PTP, data N+1 is started after waiting for all axes to finish positioning.

Velocity

Data N

Data N+1

Time

0



Consecutive Trajectory (BlendingNext) in

Operation Pattern (Ope)

When both data N and data N+1 are either linear interpolation or circular interpolation, if you specify

Consecutive Trajectory (BlendingNext) for the data N operation pattern, it will operate at the target position in the current instruction and the target velocity in the buffered instruction as in the following figure.

The operation pattern will be Consecutive Positioning instead of Consecutive Trajectory when at least one of data N and data N+1 is PTP.

Velocity

Data N

Data N+1

Time

0



Consecutive Trajectory (BlendingPrevious) in

Operation Pattern

(Ope)


Consecutive Trajectory (BlendingPrevious) for the data N operation pattern, it will operate at the target velocity in the current instruction up to the target position in the current instruction as in the following figure. Operation is performed after acceleration/deceleration to the target velocity of the buffered instruction once the target position is reached.


Velocity

Data N

0


Data N+1

Time

45

MCCmdTbl



Consecutive Trajectory (CornerSuperimposed) in Operation Pattern (Ope)


Consecutive Trajectory (CornerSuperimposed) for the data N operation pattern, it will superimpose the current instruction for deceleration and the buffered instruction for acceleration as in the following figure. Operation is executed in the same amount of time as for the deceleration of the current instruction, no matter what is specified as the acceleration for the buffered instruction.


Velocity

Data N

Data N+1

Time

0

Specifying Axis (Axis)

Specifies which axis is used for positioning with Axis (Specifying Axis) in the sequence data.

When you specify 0: Does not operate, the target axis stays at the current position.

Target Position (Position)

Sets the target position data with long reals (LREAL).



For Single-axis Control

Sets Position (Target Position) of the operating axis. Simultaneous operation is up to 4 axes.

Specify the target position as an absolute position when the position specification is absolute.

Specify the target position as a relative position when the position specification is relative.



For Linear Interpolation Operation

Sets Position (Target Position) of the operating axis in linear interpolation. Simultaneous operation is up to 4 axes.

Specify the target position as an absolute position when the position specification is absolute.

Specify the target position as a relative position when the position specification is relative.



For Circular Interpolation

Sets the target position data (end point) of the operating axis in circular interpolation.

Specify the end point/border point as an absolute position when the position specification is absolute.

Specify the end point/border point as a relative position from the start point when the position specification is relative.

46


MCCmdTbl

Interpolation Velocity (Velocity)

Sets the interpolation velocity for linear and circular interpolations. Do not use this variable for PTP.

When you set the interpolation velocity to 0.0, the velocity specified in the command profile is treated as interpolation velocity.

Command Profile Number (ProfileNo)

Specifies the command profile pattern with parameters set to PTP, linear interpolation, and circular interpolation.

The command profile pattern for each axis is used for PTP operation.

The command profile pattern for a group is used for linear and circular interpolation operation.

Auxiliary Position (Aux)

Sets the auxiliary position for circular interpolation.

• When you select the center, set Auxiliary Position 1 (Aux[0]) to center X coordinates and Auxiliary

Position 2 (Aux[1]) to center Y coordinates.

• When you select the border point, set Auxiliary Position 1 (Aux[0]) to border point X coordinates and

Auxiliary Position 2 (Aux[1]) to border point Y coordinates.

• When you select the radius, set Auxiliary Position 1 (Aux[0]) to arc radius.

Dwell Time (DwellTime)

When the dwell time of data N is set to a value other than 0 ms, it will wait the specified time before executing data N+1. After the dwell time, it executes data N+1.

When the operation pattern is Consecutive Trajectory and the dwell time is set, the operation pattern changes to Consecutive Operation. As well, when the operation pattern is Independent Operation and the dwell time is set, operation ends after dwell time.

Velocity

Data N

Data N+1

Time

0

Dwell Time


You can set the dwell time in units of ms, but the elapsed time monitoring will exceed the specified time by a maximum of one task period, because it is executed in the task period for which the memory operation function block is allocated.


47

MCCmdTbl

M Code (MCode)

If you set the M Code of data N to a value other than 16#0000, MCode (M Code) is output and MStrobe

(M Strobe Enabled) changes to TRUE. It waits to execute data N+1 until MCodeReset (M Code Reset) is executed. While waiting for execution, the function block is in Busy (Executing) status. After M Code reset, it transitions to the next sequence number.

When the operation pattern is Consecutive Trajectory and the M Code is set, the operation pattern changes to Consecutive Operation. As well, when the operation pattern is Independent Operation and the M Code is set, operation ends after M Code reset.

Velocity

Data N

Data N+1

Time

0

M Code

Reset

M Strobe

Enabled

M Code

16#0000

16#XXXX 16#0000

Digital Outputs (DigitalOutputs)

During target sequence execution, the value set to data N digital output is output as the DigitalOutputs output variable in the function block.

You can use this for Out Control of valves and cylinders interlocked with axis operation, among other things.

Velocity

0

Digital Outputs

Data N

Data N+1

Dwell

Time

16#XXXXXXXX 16#XXXXXXXX

Time

48


MCCmdTbl

Troubleshooting

Error code

16#0000

16#3C09

16#3C09

16#3C09

Expansion error code

16#00000000

16#00000001

16#00000002

16#00000003

Normal end

Memory operation execute error

Axis/axes group error detected

Operation parameter error

Status Cause Correction

---

Conditions for enabling the memory operation function block are not met.

• Composition axis is undefined home

• Composition axis is not in

StandStill status

An axis error or an axes group error occurred.

The operation parameter settings are not correct.

---

Correct the cause at left.

*1

Check the settings of the memory operation parameters.

Set the sequence number within range.

16#3C09

16#3C09

16#00000004

16#00000005

Sequence number error In setting the sequence number, the set sequence number is out of range.

Sequence data error The sequence data settings are not correct.

*1. For details, refer to the motion control user's manual.

Check the settings of the operation data.


49

MCCmdTbl

Sample Programming

The sample programming below is implemented to execute the memory operation function block for the

hardware configuration that is given in Hardware Configuration Diagram on page 1-33.

Control contents are set with sequence data.


• The sample programming shows only the portion of a program that uses the function or function block from the library.

• When using actual devices, also program safety circuits, device interlocks, I/O with other devices, and other control procedures.

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

• When you execute the memory operation function block, confirm the axis settings, axes group settings, memory operation data, and user program. As well, implement an external emergency stop circuit so that you can stop the motor safely if needed.


• This function block has four levels of interior function block nesting. The depth of the nesting levels is limited by the CPU Unit version or the Industrial PC version. When you nest this function block, refer to the software user's manual to confirm the depth limits on nesting levels.

• The Name space OmronLib\MC_CmdTbl is set for the memory operation function block and the data type of memory operation data. Declare and use namespace with reference to the software user's manual.

The sample performs processes in the following order.

1

When you set Start to TRUE, the control targets (4 axes) execute servo ON and homing.

2

When servo is ON and home is completed, Ready changes to TRUE.

3

If Ready is not TRUE and the function block is not in Immediate Stop status, set Enable to

TRUE.

4

Execute memory operation by setting Execute to TRUE.

5

If an immediate stop event occurs, execute the MC_GroupImmediateStop instruction and, for each axis, the MC_ImmediateStop instruction.

50


MCCmdTbl

Ladder Diagram



External Variables

Variable name

MC_Group000

MC_Axis000

MC_Axis001

MC_Axis002

MC_Axis003

_EC_PDSlavTbl

_EC_CommErrTbl

Data type

_sGROUP_REF

_sAXIS_REF

_sAXIS_REF

_sAXIS_REF

_sAXIS_REF

ARRAY[1..512] OF BOOL

*1


*1

Constant















Comment

Process Data Communicating Slave Table

Communications Error Slave Table

*1. The data type is ARRAY[1..192] OF BOOL for the NJ501- or NJ301- and ARRAY[1..64] OF

BOOL for the NJ101-10.



Internal Variables

Variable name

MCCmdTbl_instance

MC_Power_instance

MC_Home_instance

MC_ImmediateStop_instance

MC_GroupImmediateStop_instance

ServoOn

Tmp

ImmediateStop

ClearImmediateStop

ImmediateStoped

Ready

CmdTbl

Execute

MCodeReset

SeqNo

SeqNoSet

StepMode

Stop

Start

RetainCurrentSeqNo

Data type

OmronLib\MC_CmdTbl\MCCmdTbl

ARRAY[0..3] OF MC_Power

ARRAY[0..3] OF MC_Home

ARRAY[0..3] OF MC_ImmediateStop

MC_GroupImmediateStop

ARRAY[0..3] OF BOOL

Comment

ServoOn State

ARRAY[0..3] OF BOOL

BOOL

BOOL

BOOL

Immediate Stop

Clear Immediate Stop State

Immediate Stop State

BOOL Ready State

OmronLib\MC_CmdTbl\sCMD_DATA Memory Operation Data

BOOL

BOOL

Execute Memory Operation

MCodeReset

UINT

BOOL

BOOL

BOOL

BOOL

UINT

Squence No.

Set Sequence No.

Run Mode

Stop

Start

Retain Sequence No.


51

MCCmdTbl



Programs

52


MCCmdTbl


53

MCCmdTbl

54


MCCmdTbl

Structured text (ST)



External Variables

Variable name

MC_Group000

MC_Axis000

MC_Axis001

MC_Axis002

MC_Axis003

_EC_PDSlavTbl

_EC_CommErrTbl

Data type

_sGROUP_REF

_sAXIS_REF

_sAXIS_REF

_sAXIS_REF

_sAXIS_REF


*1


*1

Constant















Comment

Process Data Communicating Slave Table

Communications Error Slave Table

*1. The data type is ARRAY[1..192] OF BOOL for the NJ501- or NJ301- and ARRAY[1..64] OF

BOOL for the NJ101-10.



Internal Variables

Variable name

MCCmdTbl_instance

MC_Power_instance

MC_Home_instance

MC_ImmediateStop_instance

MC_GroupImmediateStop_instance

ServoOn

ImmediateStop

ClearImmediateStop

ImmediateStoped

Ready

CmdTbl

Execute

MCodeReset

SeqNo

SeqNoSet

StepMode

Stop

Start

RetainCurrentSeqNo

Tmp1

Tmp2

Tmp3

Data type

OmronLib\MC_CmdTbl\MCCmdTbl

ARRAY[0..3] OF MC_Power

Comment

ARRAY[0..3] OF MC_Home

ARRAY[0..3] OF MC_ImmediateStop

MC_GroupImmediateStop

ARRAY[0..3] OF BOOL

BOOL

BOOL

BOOL

BOOL

ServoOn State

Immediate Stop

Clear Immediate Stop State

Immediate Stop State

Ready State

OmronLib\MC_CmdTbl\sCMD_DATA Memory Operation Data

BOOL Execute Memory Operation

BOOL

UINT

BOOL

BOOL

BOOL

BOOL

UINT

ARRAY[0..3] OF BOOL

ARRAY[0..3] OF BOOL

ARRAY[0..3] OF BOOL

MCodeReset

Squence No.

Set Sequence No.

Run Mode

Stop

Start

Retain Sequence No.



Programs

// Servo On

Tmp1[0]:=Start AND _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] AND NOT(_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]);





55

MCCmdTbl

56

// Enable MC_Power

MC_Power_instance[0](Axis:=MC_Axis000, Enable:=Tmp1[0], Status=>ServoOn[0]);




// Check Servo-On and NOT homed

Tmp2[0]:=ServoOn[0] AND NOT(MC_Axis000.Details.Homed);




// Execute MC_Home instance

MC_Home_instance[0](Axis:=MC_Axis000, Execute:=Tmp2[0]);




// Check Servo-On and Homed

Tmp3[0]:=ServoOn[0] AND MC_Axis000.Details.Homed;




// Set MCCmdTbl Enable conditions

Ready:=Tmp3[0] AND Tmp3[1] AND Tmp3[2] AND Tmp3[3];

// Enble MCCmdTbl

MCCmdTbl_instance(

AxesGroup:=MC_Group000,

CmdTbl:=CmdTbl,

Enable:=Ready AND NOT(ImmediateStop) AND NOT(ImmediateStoped),

Execute:=Execute,

StepMode:=StepMode,

Stop:=Stop,

SeqNoSet:=SeqNoSet,

SeqNo:=SeqNo,

MCodeReset:=MCodeReset

);

// Retain current sequence No.

IF (MCCmdTbl_instance.Busy OR MCCmdTbl_instance.Done) AND NOT(MC_Axis000.Status.ErrorStop)

AND NOT(MC_Axis001.Status.ErrorStop)

AND NOT(MC_Axis002.Status.ErrorStop)

AND NOT(MC_Axis003.Status.ErrorStop) THEN

RetainCurrentSeqNo:=MCCmdTbl_instance.CurrentSeqNo;

END_IF;

// Immediate Stop

IF ImmediateStop OR ImmediateStoped THEN

ImmediateStoped:=TRUE;

IF ClearImmediateStop AND NOT(ImmediateStop) THEN

ImmediateStoped:=FALSE;

END_IF;

END_IF;

// Execute Immediate Stop

MC_GroupImmediateStop_instance(AxesGroup:=MC_Group000, Execute:=ImmediateStoped);

MC_ImmediateStop_instance[0](Axis:=MC_Axis000, Execute:=ImmediateStoped);





MCCmdTbl

External Circuits To Retain Executing Sequence Number

Through an external circuit such as the above, the currently executing sequence number is retained in the RetainCurrentSeqNo internal variable.

Even if it is stopped with Stop, the value of this internal variable is not cleared.


57

MCCmdTbl

58


Appendix


59

60

Referring to Library Information

Referring to Library Information

When you make an inquiry to OMRON about the library, you can refer to the library information to identify the library to ask about.

The library information is useful in identifying the target library among the libraries provided by OMRON or created by the user.

The library information consists of the attributes of the library and the attributes of function blocks and functions contained in the library.

• Attributes of libraries

Information for identifying the library itself

• Attributes of function blocks and functions

Information for identifying the function block and function contained in the library

Use the Sysmac Studio to access the library information.

Attributes of Libraries, Function Blocks and Functions

The following attributes of libraries, function blocks and functions are provided as the library information.



Attributes of Libraries

No.

*1

(1)

(2)

(3)

(4)

Attribute

Library file name

Library version

Author

Comment

Description

The name of the library file

The version of the library

The name of creator of the library

The description of the library

*2

*1. These numbers correspond to the numbers shown on the screen images in the next section, Referring

to Attributes of Libraries, Function Blocks and Functions on page 61.

*2. It is provided in English and Japanese.



Attributes of Function Blocks and Functions

(7)

(8)

(9)

No.

*1

(5)

(6)

(10)

FB/FUN name

Name space

FB/FUN version

Author

FB/FUN number

Comment

Attribute Description

The name of the function block or function

The name of name space for the function block or function

The version of the function block or function

The name of creator of the function block or function

The function block number or function number

The description of the function block or function

*2

*1. These numbers correspond to the numbers shown on the screen images in the next section, Referring

to Attributes of Libraries, Function Blocks and Functions on page 61.

*2. It is provided in English and Japanese.



Referring to Attributes of Libraries, Function Blocks and Functions

You can refer to the attributes of libraries, function blocks and functions of the library information at the following locations on the Sysmac Studio.

• Library Reference Dialog Box

• Toolbox Pane

• Ladder Editor

(a) Library Reference Dialog Box

When you refer to the libraries, the library information is displayed at the locations shown below.

(1)Library file name (2)Library version (3)Library author (4)Library comment

(5)FB/FUN name

(6)Name space

(8)FB/FUN author

(7)FB/FUN version

(10)FB/FUN comment


61


(b) Toolbox Pane

Select a function block and function to display its library information at the bottom of the Toolbox

Pane.

The text “by OMRON” which is shown on the right of the library name (1) indicates that this library was provided by OMRON.

(5)

FB/FUN name (6)Name space

(1)

Library file name

(9)

FB/FUN number

(10)

FB/FUN comment

(7)

FB/FUN version

(8)

FB/FUN author

(c) Ladder Editor

Place the mouse on a function block and function to display the library information in a tooltip.

(6)

Name space (5)FB/FUN name

(9)

FB/FUN number

(10)

FB/FUN comment

62


Referring to Function Block and Function Source Codes

Referring to Function Block and

Function Source Codes

You can refer to the source codes of function blocks and functions provided by OMRON to customize them to suit the user’s environment.

User function blocks and user functions can be created based on the copies of these source codes.

The following are the examples of items that you may need to customize.

• Customizing the size of arrays to suit the memory capacity of the user’s Controller

• Customizing the data types to suit the user-defined data types

Note that you can access only function blocks and functions whose Source code published/not published is set to Published in the library information shown in their individual specifications.

Use the following procedure to refer to the source codes of function blocks and functions.

1

Select a function block or function in the program.

2

Double-click or right-click and select To Lower Layer from the menu.

The source code is displayed.


For function blocks and functions whose source codes are not published, the following dialog box is displayed in the above step 2. Click the Cancel button.


63

Referring to Function Block and Function Source Codes

64


OMRON Corporation

Industrial Automation Company

Kyoto, JAPAN

Contact: www.ia.omron.com

Regional Headquarters

OMRON EUROPE B.V.

Wegalaan 67-69, 2132 JD Hoofddorp

The Netherlands

Tel: (31)2356-81-300/Fax: (31)2356-81-388

OMRON ELECTRONICS LLC

2895 Greenspoint Parkway, Suite 200

Hoffman Estates, IL 60169 U.S.A.

Tel: (1) 847-843-7900/Fax: (1) 847-843-7787

OMRON ASIA PACIFIC PTE. LTD.

No. 438A Alexandra Road # 05-05/08 (Lobby 2),

Alexandra Technopark,

Singapore 119967

Tel: (65) 6835-3011/Fax: (65) 6835-2711

OMRON (CHINA) CO., LTD.

Room 2211, Bank of China Tower,

200 Yin Cheng Zhong Road,

PuDong New Area, Shanghai, 200120, China

Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200

Authorized Distributor:

© OMRON Corporation 2015-2016 All Rights Reserved.

In the interest of product improvement, specifications are subject to change without notice.

Cat. No. W545-E1-04

1116