Omron NJ501-1300, User Manual

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10 Sample Programming
10-16
NJ-series CPU Unit Motion Control User’s Manual (W507)
In this sample, further processing is not performed if there is an error when the MC_Power (Power
Servo) instruction is executed. Whether further processing is possible is indicated by the
UpgOn vari-
able.
Samples are provided for both ladder diagram and ST programming.
10-2-5 Monitoring for Instruction Errors
Main Variables Used in the Programming Samples
Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
Pwr_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
Pwr_Bsy BOOL FALSE This variable is assigned to the Busy output
variable from the PWR 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.
UpgOn BOOL FALSE TRUE if further program execution is performed.
Ladder Diagram
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
Pwr_Status
UpgOn
Pwr_Bsy
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.
A check is made to see if any errors occurred when MC_Power was executed before execution of further processing.