Omron NJ501-1300, User Manual

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10-17
10 Sample Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Pr
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g
ram
m
in
g
Samples
10
10-2-5 Mo
nitor
ing
for Instr
uction Errors
// When StartPg is TRUE, the Servo is turned ON for axis 0 if process data communications are active and normal.
// If process data communications are not active, the Servo is turned OFF.
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 (Pwr_Status=TRUE)
OR (Pwr_Bsy=TRUE) THEN
UpgOn := TRUE; // Further processing executed.
ELSE
UpgOn := FALSE; // Further processing not executed.
END_IF;
// MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);
ST Programming