Omron NJ501-1300, User Manual

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10 Sample Programming
10-24
NJ-series CPU Unit Motion Control User’s Manual (W507)
In this sample, the MC_GroupStop instruction is executed to decelerate to a stop if an external button
turns ON during execution of the MC_MoveLinearAbsolute (Absolute Linear Interpolation) instruction. If
there is a minor fault level error, the
CommandAborted output variable from the MC_GroupStop instruc-
tion changes to TRUE. In that case, the MC_GroupImmediateStop instruction is executed to stop imme-
diately. If for any reason the
Error output variable from the MC_GroupStop instruction changes to
TRUE, the MC_GroupImmediateStop instruction is executed to stop immediately. If the
MC_GroupImmediateStop instruction is executed, the axes group status is Error Deceleration Stop-
ping.
10-2-8 Stopping an Axes Group in Coordinated Motion
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.Status.Disabled BOOL FALSE TRUE when axes group 0 is disabled.
MC_Group000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axes
group 0.
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.
Grp_Stp_Ca BOOL FALSE This variable is assigned to the CommandAborted
output variable from the GRP_EN instance of the
MC_GroupStop instruction.
Grp_Stp_Err BOOL FALSE This variable is assigned to the Error output variable
from the GRP_EN instance of the MC_GroupStop
instruction.
StartPg BOOL FALSE When StartPg is TRUE, the Servo is turned ON if
EtherCAT process data communications are active
and normal.
StopOn BOOL FALSE This variable gives the status of the external button
that is used to stop. The MC_GroupStop instruction is
executed to stop the axes group if this variable is
TRUE.
InitFlag BOOL FALSE TRUE if the input parameters are set for the
MC_MoveLinearAbsolute and MC_GroupStop
instructions.
Grp_En_Ex BOOL FALSE This variable is used to execute the GRP_EN instance
of the MC_GroupEnable instruction. It is used in ST
programming.
Mv_Lin_Abs_Ex BOOL FALSE This variable is used to execute the MV_LIN_ABS
instance of the MC_MoveLinear instruction. It is used
in ST programming.
Grp_Stp_Ex BOOL FALSE This variable is used to execute the GRP_STP
instance of the MC_GroupStop instruction. It is used
in ST programming.
Grp_Imd_Stp_Ex BOOL FALSE This variable is used to execute the GRP_IMD_STP
instance of the MC_GroupImmediateStop instruction.
It is used in ST programming.