Table of Contents
Chapter 1 Overview…………………………...............................………………...........……………………… 1-1 ~ 1-10
1.1 Characteristics...........................................................................................................................................1 - 1
1.2 Signal Flow of Positioning Module ...........................................................................................................1 - 3
1.3 Function Overview of Motion Control module............................................................................................1 - 4
1.3.1 Positioning Control...........................................................................................................................1 - 4
1.3.2 Interpolation Control ........................................................................................................................1 - 5
1.3.3 Speed Control................................................................................................................................1 - 10
Chapter 2 Specification………………………….............................................………………………………. 2-1 ~ 2-9
2.1 General Specification.................................................................................................................................2 - 1
2.2 Performance Specifications.......................................................................................................................2 - 2
2.2.1 Function Specifications .................................................................................................................2 – 2
2.2.2 Communication specifications.........................................................................................................2 - 3
2.2.3 Internal input/output specifications ..................................................................................................2 - 4
2.2.4 Encoder Input Specifications .........................................................................................................2 - 5
2.3 The Name of Each Part ...........................................................................................................................2 - 6
2.3.1 The Name of Each Part .................................................................................................................2 - 5
2.3.2 Specification of interface with external device................................................................................2 - 7
Chapter 3 Operation Order and Installation……………........................................................……………… 3-1 ~ 3-8
3.1 Operation Order.........................................................................................................................................3 - 1
3.2 Installation..................................................................................................................................................3 - 2
3.2.1 Installation Environment ................................................................................................................ 3 - 2
3.2.2 Notice in Handling ..........................................................................................................................3 - 2
3.3 Notice in Wiring ...................................................................................................................................... 3 - 3
3.3.1 Notice in Wiring ..........................................................................................................................3 - 3
3.3.2 Connection Example of Servo and Stepping Motor Drive Machine.................................................3 - 4
3.3.3 Encoder Input (DC 5V Voltage Output) Wiring Example............................................................... 3 - 7
3.3.4 Encoder Input (DC 5V Line Driver Output) Wiring Example ..........................................................3 - 8
Chapter 4 Motion Control Operation ……...……………........................................................……………… 4-1 ~ 4-12
4.1 Structure of Motion Control Module........................................................................................................ 4 - 1
4.2 Configuration of Motion Control.............................................................................................................. 4 - 2
4.3 Motion Control Task..................................................................................................................................4 - 3
4.3.1 Types of Tasks ..............................................................................................................................4 - 3
4.3.2 Task motion.....................................................................................................................................4 - 4
4.3.3 Execution of Motion Commands.....................................................................................................4 - 6
4.4 EtherCAT Communication ......................................................................................................................4 - 7
4.4.1 What is EtherCAT ...........................................................................................................................4 - 7
