Omron NJ501-1300, User Manual

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10 Sample Programming
10-10
NJ-series CPU Unit Motion Control User’s Manual (W507)
You can monitor error status by monitoring the status of Axis Minor Fault Occurrence in the Axis Vari-
ables and Axes Group Minor Fault Occurrence in the Axes Group Variable. If a minor fault level error
occurs in this sample, the
Execute input variable for the MC_GroupDisable (Disable Axes Group)
instruction changes to TRUE to disable the axes group. If the external button is ON and the command
current velocity for the axes group is zero, the error is reset with the MC_GroupReset (Reset Axes
Group Error) instruction.
Samples are provided for both ladder diagram and ST programming.
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated
Operation
Main Variables Used in the Programming Samples
Variable name Data type Default Comment
MC_Group000 _sGROUP_REF --- This is the Axes Group Variable for axes group
0.
MC_Group000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axes group 0.
MC_Group000.Details.Idle BOOL FALSE TRUE when the command interpolation velocity
for axes group 0 is zero, except when waiting for
in-position state.
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for
axis 1.
MC_Axis001.Details.Homed BOOL FALSE TRUE when home is defined for axis 1.
Pwr1_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR1 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR2 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
StartPg BOOL FALSE When StartPg is TRUE, the Servo is turned ON
if EtherCAT process data communications are
active and normal.
ResetON BOOL FALSE This variable gives the status of the external
button that is used to reset errors.