MotionControl.CAT

Hi Lam, I don't want to start an industrial EtherNet discussion, but as you stated OMRON (who is ODVA member since very early stage, and knows very well CIP technology....) took the decission (for some good reasons...) to use EtherNet/IP for non time critical communications, and EtherCAT for RealTime control with a deterministic jitter of 1 us. EtherCAT is designed or "realtime" with neglectible jitter communications, and the Sysmac Motion Control Engine is designed to work with EtherCAT in synchronous mode. EtherNet/IP Technology simply... can't do it..., so "motion control" based on CIP.... requires of different 'strategies'.. that can be Ok in some cases... but fail when high performance is required. Sysmac uses DS402 Can Over EtherCAT Drive Profile, so... normally Drives following that standar (99% of EtherCAT Drives) should work. Said that, I advice you to check 1) ethercat.org  list of compatible EtheCAT Drives, and check for it's conformance tests. 2) OMRON has it's own "test" laboratory, named 'tsunagi', purpose of this lab is to test and certify compatibility between OMRON Controller and 3rd Party Drives, therefore please ask your OMRON representative if the specific Drive has been tested by this 'tsunagi' laboratory, since normally they'd document any 'special' thing to be considered when combining NJ/NX with 3rd Party EtherCAT Slave. Best Regards

Please use Broken Line IAG to represent X-Y data plots

SS 1.18 autoupdate was released 3rd of April. 

Dear Andrew1. Regarding IEC-61131-3 please be aware that interface variables are  not local variables. By definition local variables exist and are accessible inside the POU only. Sysmac defines the interface variables of a program as "External Variables", and are indeed one to one global variables. Following standards allows higher compatibility  with other systems, reduces programming mistakes, and learning curve. Some times standards are not the 'perfect' solution, but... usually are the result of a consensus of experts and the result of deep expert discussions. Bypassing standards or making an 'open' interpretation of the standard... can be 'cool', but... it's in general a potential source of problems.

Hi, NX_ECC* is an EtherCAT Adapter for NX I/O, and you have 'simple' Input and Output Cards, so the probability of having an error in the configuration of the NX I/O is really low... as there's few to configure..., so... I'd point to the NX-EC coupler itself configuration. The 'Slave Application Error' is a 'generic' EtherCAT Error, so please you should provide more details on the error  from the troubleshooter function in Sysmac, I'd check the basics... that the ECC coupler configuration mathces with the hardware, that the version of the units matches, etc..., I'm sure you'll fix the problem quick, because you are not using hardware that requires advanced configuration

It is clear that Sigma II is more expensive than Junma series, therefore has more features, in this specific topic EN-954 certification for Safe Stop. (-F series) The principle of safety is to achieve Safe systems. I've seen a lot of machines where power is CUT before the Amplifier, of course in the past it was cheapper and easier than putting a well dimensioned 2 contactors between Drive and Motor. But in this case, machine designe MUST ensure that Actuator (Motor) is not receiving power from motor before operator is allowed to enter into hazarous area. I'm quite PRO Junma, since this is the 1st really PLUG'n'PLAY servo that I've ever seen (tuningless algorithm). Also performance/price is really GOOD.

Junma Drives have one input called E-Stop. However according to manual the drive is not certified for STO (Stop Category 0), according EN standards. If you are targeting an EN-954 CAT 3 or higher, STO, you will need additional contactors (TWO) between Amplifier and Motor. (I assume you have Safety Relay in your machine). If you don't want to use Additional contactors, you have the chance to use Sigma II (-F) which is compliant with STO according to NE standards. (2 Emergency inputs and EDM Outputs). According to the web (google), the next generation of OMRON-YASKAWA drives (SIGMA V) has embedded safety for all sizes.

The SwitchCAM function you mention belongs to ELAU's Motion Library. At this moment CJ1 has PLCOpen 1.0 Motion Library (for the NCF), ELAU's SwitchCAM is nor part of this library. My recomendation, (today) for Flexible Motion Control is to use Trajexia based systems.

Hello, I think maybe there's a missunderstood. 1st of all notice that Unit version 2.0 has more homing modes than previous NCF units. Refere to I554-E1-05, and latest CX-ONE. Homing procedure for NCF is in 2 steps: (1) Proximity switch (that in Unit version 2.0 or higher is optional). (2) Mark detection (Z, or external). I assume you are trying to do the home, but only using (1) -> I'ts not possible. Procedure for units prior to 2.0 is (1)+(2) Procedure for units 2.0 or ahigher is (1 optional) +(2). Please read carefully the manual. Usage of Function Blocks and CX-Motion NCF (last version) will help you