Item
NX1P2-@ CPU Unit
Motion
control
Control modes
Axis types
Positions that can be managed
Position control, velocity control, torque control
Servo axes, virtual servo axes, encoder axes and virtual encoder axes
Command positions and actual positions
*2
Single-axis
Single-axis
position
contol
Absolute
positioning
Relative
Positioning is performed for a target position that is specified with an absolute value.
Positioning is performed for a specified travel distance from the command current position.
positioning
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- A positioning command is output each control period in the position control mode.
nous absolute
positioning
Single-axis
velocity
control
Velocity control Velocity control is performed in position control mode.
Cyclic
A velocity command is output each control period in the velocity control mode.
synchronous
velocity control
Single-axis
Torque control The torque of the motor is controlled.
torque control
Single-axis
Starting cam
A cam motion is performed using the specified cam table.
synchronized operation
control
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 A gear motion with the specified gear ratio and sync position is performed between a master
operation
axis and slave axis.
Ending gear
operation
The specified gear motion or positioning gear motion is ended.
Synchronous
positioning
Master axis
phase shift
Positioning is performed in sync with a specified master axis.
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
Powering the
servo
The servo in the servo drive is turned ON to enable axis motion.
operation
Jogging
Resetting axis
An axis is jogged at a specified target velocity.
Axes errors are cleared.
Auxiliary
functions for errors
single-axis
control
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
Immediately
stopping
An axis is decelerated to a stop at the specified rate.
An axis is stopped immediately.
Override factors The target velocity of an axis can be changed.
Changing the
The command current position or actual current position of an axis can be changed to any
current position position.
Enabling
The position of an axis is recorded when a trigger occurs.
external latches
Disabling
The current latch is disabled.
external latches
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 You can turn a digital output ON and OFF according to the position of an axis.
cam switches
Monitoring axis You can monitor whether the difference between the command positions or actual positions of
following error two specified axes exceeds a threshold value.
Resetting the
The error between the command current position and actual current position is set to 0.
following error
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
The function which compensate the position for the axis in operation.
compensation
Start velocity
You can set the initial velocity when axis motion starts.
56
Machine automation controller
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