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10-27
10 Sample Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Pr
o
g
ram
m
in
g
Samples
10
10-2-8 Stop
ping a
n Ax
es Group in Coo
rdinated Motion
// If the input parameters for absolute linear interpolation and stopping the axes group are not set, the target values
and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveLinearAbsolute (Absolute Linear Interpolation) instruction are set.
Mv_Lin_Abs_Pos[0]
:= LREAL#3000.0;
Mv_Lin_Abs_Pos[1]
:= LREAL#3000.0;
Mv_Lin_Abs_Vel
:= LREAL#1000.0;
Mv_Lin_Abs_Acc
:= LREAL#1000.0;
Mv_Lin_Abs_Dec
:= LREAL#1000.0;
Mv_Lin_Abs_Jrk
:= LREAL#1000.0;
// The input parameters for the MC_GroupStop instruction are set.
Grp_Stp_Dec
:= LREAL#1000.0;
Grp_Stp_Jrk
:= LREAL#1000.0;
// 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 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
Pwr1_En:=TRUE ;
// Turn ON the Servo for axis 0.
ELSE
Pwr1_En:=FALSE;
// Turn OFF the Servo for axis 0.
END_IF;
// When
StartPg
is TRUE, the Servo is turned ON for axis 1 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_Axis001.Cfg.NodeAddress]=TRUE) THEN
Pwr2_En:=TRUE;
// Turn ON the Servo for axis 1.
ELSE
Pwr2_En:=FALSE;
// Turn OFF the Servo for axis 1.
END_IF;
// If a minor fault level error occurs, the error handler for the device (FaultHandler) is executed.
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (MC_Group000.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 for axis 0.
IF (Pwr1_Status=TRUE)
AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex:=TRUE;
END_IF;
// If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed for axis 1.
IF (Pwr2_Status=TRUE)
AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
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...