10 Sample Programming
10-28
NJ-series CPU Unit Motion Control User’s Manual (W507)
// If home is defined for axis 0 and axis 1 and the axes group is disabled, the axes group is enabled.
IF (MC_Group000.Status.Disabled=TRUE)
AND (Hm1_D=TRUE) AND (Hm2_D=TRUE) THEN
Grp_En_Ex:= TRUE;
END_IF;
// If the axes group is enabled, absolute linear interpolation is executed.
IF MC_Group000.Status.Ready=TRUE THEN
Mv_Lin_Abs_Ex:=TRUE;
END_IF;
// If the external button turns ON (i.e.,
StopOn
changes to TRUE) during execution of absolute linear interpolation,
the axes group is stopped.
IF (MC_Group000.Status.Moving=TRUE)
AND (StopOn=TRUE) THEN
Grp_Stp_Ex := TRUE;
END_IF;
// If the
CommandAborted
or
Error
output variable from the Group Stop instruction are TRUE, the axes group is
stopped immediately.
IF (Grp_Stp_Ca=TRUE)
OR (Grp_Stp_Err=TRUE) THEN
Grp_Imd_Stp_Ex:=TRUE;
END_IF;
//MC_Power
PWR1(
Axis
:= MC_Axis000,
Enable := Pwr1_En,
Status
=> Pwr1_Status,
Busy
=> Pwr1_Bsy,
Error
=> Pwr1_Err,
ErrorID => Pwr1_ErrID
);
PWR2(
Axis
:= MC_Axis001,
Enable := Pwr2_En,
Status
=> Pwr2_Status,
Busy
=> Pwr2_Bsy,
Error
=> Pwr2_Err,
ErrorID => Pwr2_ErrID
);
//MC_Home
HM1(
Axis
:= MC_Axis000,
Execute
:= Hm1_Ex,
Done
=> Hm1_D,
Busy
=> Hm1_Bsy,
CommandAborted
=> Hm1_Ca,
Error
=> Hm1_Err,
ErrorID
=> Hm1_ErrID
);
HM2(
Axis
:= MC_Axis001,
Execute
:= Hm2_Ex,
Done
=> Hm2_D,
Busy =>
Hm2_Bsy,
CommandAborted
=> Hm2_Ca,
Error
=> Hm2_Err,
ErrorID
=> Hm2_ErrID
);
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...