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10 Sample Programming
10-22
NJ-series CPU Unit Motion Control User’s Manual (W507)
// If the input parameters for absolute positioning and stopping are not set, the target values and other parameters
are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveAbsolute (Absolute Positioning) instruction are set.
Mv_Abs_Pos
:= LREAL#10000.0;
Mv_Abs_Vel
:= LREAL#500.0;
Mv_Abs_Acc
:= LREAL#500.0;
Mv_Abs_Dec
:= LREAL#500.0;
Mv_Abs_Dir
:= _eMC_DIRECTION#_mcPositiveDirection;
// The input parameters for the MC_Stop instruction are set.
Stp_Dec:=LREAL#5000.0;
// The input parameters for the MC_Immediate Stop instruction are set.
Imd_Stp_SM :=_eMC_STOP_MODE#_mcFreeRunStop;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;
// 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;
// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
IF (Pwr_Status=TRUE)
AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex:=TRUE;
END_IF;
// If homing is completed, absolute positioning is executed.
IF Hm_D=TRUE THEN
Mv_Abs_Ex := TRUE;
END_IF;
// If
StopOn
is TRUE, stopping is executed.
IF StopOn=TRUE THEN
Stp_Ex:=TRUE;
END_IF;
// If the
Error
or
CommandAborted
output variable from the MC_Stop instruction changes to TRUE, the
MC_ImmediateStop instruction is executed to stop immediately.
IF (Stp_Err=TRUE)
OR (Stp_Ca=TRUE) THEN
Imd_Stp_Ex:=TRUE;
END_IF;
//MC_Power
PWR(
ST Programming
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...