10-5
10 Sample Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Pr
o
g
ram
m
in
g
Samples
10
10-2-1 Mo
nitor
ing
E
th
erCA
T
Comm
unications and T
ur
ning ON Ser
v
os
// When
StartPg
is TRUE, the Servo is turned ON for axis 0 if process data communications are active and normal.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;
// If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;
// MC_Power
PWR(
Axis :=
MC_Axis000,
Enable :=
Pwr_En,
Status =>
Pwr_Status,
Busy =>
Pwr_Bsy,
Error =>
Pwr_Err,
ErrorID => Pwr_ErrID
);
Ladder Diagram
ST Programming
MC_Axis000.MFaultLvl.Active
EN
FaultHandler
FaultHandler
StartPg
Lock
_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress
PWR
Error
Axis
Axis
Enable
Status
Busy
MC_Power
ErrorID
Lock
MC_Axis000
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
The Servo for axis 0 is turned ON if process data communications are active and normal.
When
StartPg
is TRUE, the status of process data communications is checked to see if communications
are active and normal.
If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...