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CONTENTS4NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)5-1-2Part Names and Functions..........................................................................................................5-25-1-3Terminal Arrangement.................................................................................................................5-35-1-4Input Range and Output Range..................................................................................................5-35-2Procedure...............................................................................................................................5-55-3Settings..................................................................................................................................5-65-3-1Option Board Settings.................................................................................................................5-65-3-2Device Variables.........................................................................................................................5-75-4Programming.........................................................................................................................5-85-4-1I/O Data.......................................................................................................................................5-85-4-2Option Board Status....................................................................................................................5-95-4-3Special Instructions for Analog I/O Option Boards......................................................................5-95-4-4Precautions on Supported Functions........................................................................................5-105-5Wiring...................................................................................................................................5-115-6I/O Refreshing......................................................................................................................5-125-6-1I/O Refresh Operation...............................................................................................................5-125-6-2Response Time.........................................................................................................................5-13Section 6 Introduction of Motion Control Functions6-1Single-axis Position Control.................................................................................................6-36-1-1Outline of Operation....................................................................................................................6-36-1-2Absolute Positioning....................................................................................................................6-46-1-3Relative Positioning.....................................................................................................................6-46-1-4Interrupt Feeding.........................................................................................................................6-56-1-5Cyclic Synchronous Positioning..................................................................................................6-66-1-6Stopping......................................................................................................................................6-76-1-7Override Factors.......................................................................................................................6-136-2Single-axis Synchronized Control.....................................................................................6-146-2-1Overview of Synchronized Control............................................................................................6-146-2-2Gear Operation.........................................................................................................................6-146-2-3Positioning Gear Operation.......................................................................................................6-156-2-4Cam Operation..........................................................................................................................6-166-2-5Cam Tables...............................................................................................................................6-176-2-6Synchronous Positioning...........................................................................................................6-256-2-7Combining Axes........................................................................................................................6-266-2-8Master Axis Phase Shift............................................................................................................6-276-2-9Slave Axis Position Compensation............................................................................................6-276-2-10Achieving Synchronized Control in Multi-motion.......................................................................6-286-3Single-axis Velocity Control...............................................................................................6-306-3-1Velocity Control.........................................................................................................................6-306-3-2Cyclic Synchronous Velocity Control.........................................................................................6-316-4Single-axis Torque Control.................................................................................................6-326-5Common Functions for Single-axis Control.....................................................................6-336-5-1Positions....................................................................................................................................6-336-5-2Velocity......................................................................................................................................6-356-5-3Acceleration and Deceleration..................................................................................................6-366-5-4Jerk...........................................................................................................................................6-386-5-5Specifying the Operation Direction............................................................................................6-396-5-6Re-executing Motion Control Instructions.................................................................................6-436-5-7Multi-execution of Motion Control Instructions (Buffer Mode)...................................................6-486-6Multi-axes Coordinated Control.........................................................................................6-546-6-1Outline of Operation..................................................................................................................6-546-6-2Linear Interpolation...................................................................................................................6-576-6-3Circular Interpolation.................................................................................................................6-586-6-4Axes Group Cyclic Synchronous Positioning............................................................................6-586-6-5Stopping Under Multi-axes Coordinated Control.......................................................................6-596-6-6Overrides for Multi-axes Coordinated Control...........................................................................6-61

CONTENTS4NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)5-1-2Part Names and Functions..........................................................................................................5-25-1-3Terminal Arrangement.................................................................................................................5-35-1-4Input Range and Output Range..................................................................................................5-35-2Procedure...............................................................................................................................5-55-3Settings..................................................................................................................................5-65-3-1Option Board Settings.................................................................................................................5-65-3-2Device Variables.........................................................................................................................5-75-4Programming.........................................................................................................................5-85-4-1I/O Data.......................................................................................................................................5-85-4-2Option Board Status....................................................................................................................5-95-4-3Special Instructions for Analog I/O Option Boards......................................................................5-95-4-4Precautions on Supported Functions........................................................................................5-105-5Wiring...................................................................................................................................5-115-6I/O Refreshing......................................................................................................................5-125-6-1I/O Refresh Operation...............................................................................................................5-125-6-2Response Time.........................................................................................................................5-13Section 6 Introduction of Motion Control Functions6-1Single-axis Position Control.................................................................................................6-36-1-1Outline of Operation....................................................................................................................6-36-1-2Absolute Positioning....................................................................................................................6-46-1-3Relative Positioning.....................................................................................................................6-46-1-4Interrupt Feeding.........................................................................................................................6-56-1-5Cyclic Synchronous Positioning..................................................................................................6-66-1-6Stopping......................................................................................................................................6-76-1-7Override Factors.......................................................................................................................6-136-2Single-axis Synchronized Control.....................................................................................6-146-2-1Overview of Synchronized Control............................................................................................6-146-2-2Gear Operation.........................................................................................................................6-146-2-3Positioning Gear Operation.......................................................................................................6-156-2-4Cam Operation..........................................................................................................................6-166-2-5Cam Tables...............................................................................................................................6-176-2-6Synchronous Positioning...........................................................................................................6-256-2-7Combining Axes........................................................................................................................6-266-2-8Master Axis Phase Shift............................................................................................................6-276-2-9Slave Axis Position Compensation............................................................................................6-276-2-10Achieving Synchronized Control in Multi-motion.......................................................................6-286-3Single-axis Velocity Control...............................................................................................6-306-3-1Velocity Control.........................................................................................................................6-306-3-2Cyclic Synchronous Velocity Control.........................................................................................6-316-4Single-axis Torque Control.................................................................................................6-326-5Common Functions for Single-axis Control.....................................................................6-336-5-1Positions....................................................................................................................................6-336-5-2Velocity......................................................................................................................................6-356-5-3Acceleration and Deceleration..................................................................................................6-366-5-4Jerk...........................................................................................................................................6-386-5-5Specifying the Operation Direction............................................................................................6-396-5-6Re-executing Motion Control Instructions.................................................................................6-436-5-7Multi-execution of Motion Control Instructions (Buffer Mode)...................................................6-486-6Multi-axes Coordinated Control.........................................................................................6-546-6-1Outline of Operation..................................................................................................................6-546-6-2Linear Interpolation...................................................................................................................6-576-6-3Circular Interpolation.................................................................................................................6-586-6-4Axes Group Cyclic Synchronous Positioning............................................................................6-586-6-5Stopping Under Multi-axes Coordinated Control.......................................................................6-596-6-6Overrides for Multi-axes Coordinated Control...........................................................................6-61

CONTENTS4NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)5-1-2Part Names and Functions..........................................................................................................5-25-1-3Terminal Arrangement.................................................................................................................5-35-1-4Input Range and Output Range..................................................................................................5-35-2Procedure...............................................................................................................................5-55-3Settings..................................................................................................................................5-65-3-1Option Board Settings.................................................................................................................5-65-3-2Device Variables.........................................................................................................................5-75-4Programming.........................................................................................................................5-85-4-1I/O Data.......................................................................................................................................5-85-4-2Option Board Status....................................................................................................................5-95-4-3Special Instructions for Analog I/O Option Boards......................................................................5-95-4-4Precautions on Supported Functions........................................................................................5-105-5Wiring...................................................................................................................................5-115-6I/O Refreshing......................................................................................................................5-125-6-1I/O Refresh Operation...............................................................................................................5-125-6-2Response Time.........................................................................................................................5-13Section 6 Introduction of Motion Control Functions6-1Single-axis Position Control.................................................................................................6-36-1-1Outline of Operation....................................................................................................................6-36-1-2Absolute Positioning....................................................................................................................6-46-1-3Relative Positioning.....................................................................................................................6-46-1-4Interrupt Feeding.........................................................................................................................6-56-1-5Cyclic Synchronous Positioning..................................................................................................6-66-1-6Stopping......................................................................................................................................6-76-1-7Override Factors.......................................................................................................................6-136-2Single-axis Synchronized Control.....................................................................................6-146-2-1Overview of Synchronized Control............................................................................................6-146-2-2Gear Operation.........................................................................................................................6-146-2-3Positioning Gear Operation.......................................................................................................6-156-2-4Cam Operation..........................................................................................................................6-166-2-5Cam Tables...............................................................................................................................6-176-2-6Synchronous Positioning...........................................................................................................6-256-2-7Combining Axes........................................................................................................................6-266-2-8Master Axis Phase Shift............................................................................................................6-276-2-9Slave Axis Position Compensation............................................................................................6-276-2-10Achieving Synchronized Control in Multi-motion.......................................................................6-286-3Single-axis Velocity Control...............................................................................................6-306-3-1Velocity Control.........................................................................................................................6-306-3-2Cyclic Synchronous Velocity Control.........................................................................................6-316-4Single-axis Torque Control.................................................................................................6-326-5Common Functions for Single-axis Control.....................................................................6-336-5-1Positions....................................................................................................................................6-336-5-2Velocity......................................................................................................................................6-356-5-3Acceleration and Deceleration..................................................................................................6-366-5-4Jerk...........................................................................................................................................6-386-5-5Specifying the Operation Direction............................................................................................6-396-5-6Re-executing Motion Control Instructions.................................................................................6-436-5-7Multi-execution of Motion Control Instructions (Buffer Mode)...................................................6-486-6Multi-axes Coordinated Control.........................................................................................6-546-6-1Outline of Operation..................................................................................................................6-546-6-2Linear Interpolation...................................................................................................................6-576-6-3Circular Interpolation.................................................................................................................6-586-6-4Axes Group Cyclic Synchronous Positioning............................................................................6-586-6-5Stopping Under Multi-axes Coordinated Control.......................................................................6-596-6-6Overrides for Multi-axes Coordinated Control...........................................................................6-61

Licence d'Ingénierie Electrique 1 ere année                                                              Électronique Numérique    8127). On suppose que l’état initial est caractérisé par E = 0 et 0=Q. • Pour 1tt<Les variations de l’entrée D ne sont par répercutées sur les sorties. La bascule reste dans l’état d’équilibre 1,0==QQ. • A l’instant 1tt= l’entrée de validation E passe au niveau haut alors que D = 1. On a donc 1'=S et 0'=R et par conséquent 1=Q (mode set). • A l’instant 2tt= D passe au niveau bas 0, en conséquence 'R passe à 1 et 'S passe à 0 ce qui entraîne la commutation de la sortie Q vers le niveau bas 01:→Q (mode reset). • A l’instant 3tt= D repasse à l’état haut, donc 'R retourne à 0 et 'S à 1. Par conséquent la sortie Q effectue la transition 10:→Q (mode set). En analysant le chronogramme on constate que depuis l’instant 1tt= la sortie Q a recopié l’entrée D. • A l’instant 4tt= l’entrée de validation E repasse à 0 ce qui entraîne de nouveau .0''==SR La bascule est en mode mémoire et elle mémorise la valeur présente sur la sortie Q au moment de la transition E :1→ 0, en l’occurrence 1=Q.  c. Equation caractéristique. L’équation caractéristique de la bascule D s’obtient facilement à partir de celle de la bascule RS en écrivant que DR=' et .'DS= En effet  : DQQDDDQDQQDDQSRQ=+•=•+•=+•=+•=)1()()(0000'' 4.2.4. Bascules synchrones / bascules asynchrones. En logique séquentielle, on est amené à définir deux grands types de circuits : les circuits asynchrones et les circuits synchrones

CONTENTS4NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)Section 5 Analog I/O5-1Specifications........................................................................................................................5-25-1-1Analog I/O Option Boards...........................................................................................................5-25-1-2Part Names and Functions..........................................................................................................5-25-1-3Terminal Arrangement.................................................................................................................5-35-1-4Input Range and Output Range..................................................................................................5-35-2Procedure...............................................................................................................................5-55-3Settings..................................................................................................................................5-65-3-1Option Board Settings.................................................................................................................5-65-3-2Device Variables.........................................................................................................................5-75-4Programming.........................................................................................................................5-85-4-1I/O Data.......................................................................................................................................5-85-4-2Option Board Status....................................................................................................................5-95-4-3Special Instructions for Analog I/O Option Boards......................................................................5-95-4-4Precautions on Supported Functions........................................................................................5-105-5Wiring...................................................................................................................................5-115-6I/O Refreshing......................................................................................................................5-125-6-1I/O Refresh Operation...............................................................................................................5-125-6-2Response Time.........................................................................................................................5-13Section 6 Introduction of Motion Control Functions6-1Single-axis Position Control.................................................................................................6-36-1-1Outline of Operation....................................................................................................................6-36-1-2Absolute Positioning....................................................................................................................6-46-1-3Relative Positioning.....................................................................................................................6-46-1-4Interrupt Feeding.........................................................................................................................6-56-1-5Cyclic Synchronous Positioning..................................................................................................6-66-1-6Stopping......................................................................................................................................6-76-1-7Override Factors.......................................................................................................................6-136-2Single-axis Synchronized Control.....................................................................................6-146-2-1Overview of Synchronized Control............................................................................................6-146-2-2Gear Operation.........................................................................................................................6-146-2-3Positioning Gear Operation.......................................................................................................6-156-2-4Cam Operation..........................................................................................................................6-166-2-5Cam Tables...............................................................................................................................6-176-2-6Synchronous Positioning...........................................................................................................6-256-2-7Combining Axes........................................................................................................................6-266-2-8Master Axis Phase Shift............................................................................................................6-276-2-9Slave Axis Position Compensation...........................................................................................6-276-2-10Achieving Synchronized Control in Multi-motion.......................................................................6-286-3Single-axis Velocity Control...............................................................................................6-306-3-1Velocity Control.........................................................................................................................6-306-3-2Cyclic Synchronous Velocity Control.........................................................................................6-316-4Single-axis Torque Control.................................................................................................6-326-5Common Functions for Single-axis Control.....................................................................6-336-5-1Positions....................................................................................................................................6-336-5-2Velocity......................................................................................................................................6-356-5-3Acceleration and Deceleration..................................................................................................6-366-5-4Jerk...........................................................................................................................................6-386-5-5Specifying the Operation Direction............................................................................................6-396-5-6Re-executing Motion Control Instructions.................................................................................6-436-5-7Multi-execution of Motion Control Instructions (Buffer Mode)...................................................6-486-6Multi-axes Coordinated Control.........................................................................................6-546-6-1Outline of Operation..................................................................................................................6-546-6-2Linear Interpolation...................................................................................................................6-57