10 Sample Programming
10-30
NJ-series CPU Unit Motion Control User’s Manual (W507)
In this sample, the starting point for homing is assumed to be where the home proximity input is ON.
The Homing Method is set to
home proximity input OFF
. After homing is completed to define home,
absolute positioning is executed.
Samples are provided for both ladder diagram and ST programming.
10-2-9 Homing and Absolute Positioning
Axis Parameter Settings That Are Related to Homing
Parameter name
Setting
Description
Homing Method
4: Home proximity input OFF
Home is defined where the home proximity input
turns OFF.
Operation Selection at Posi-
tive Limit Input
1: Reverse turn/immediate
stop
The positive limit input is not used, so the default
setting is used for this parameter.
Operation Selection at Neg-
ative Limit Input
2: Reverse turn/deceleration
stop
The axis decelerates to a stop and reverses direc-
tion when the negative limit input is detected.
Homing Start Direction
2: Negative direction
When homing is performed, the axis starts moving
in the negative direction.
Home Input Detection
Direction
1: Positive direction
Home is detected while the axis moves in the pos-
itive direction.
Main Variables Used in the Programming Samples
Variable name
Data type
Default
Comment
MC_Axis000
_sAXIS_REF
---
This is the Axis Variable for axis 0.
MC_Axis000.Status.StandStill
BOOL
FALSE
TRUE while the Servo is OFF 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.
Pwr_Status
BOOL
FALSE
This variable is assigned to the
Status
output
variable from the PWR instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
StartPg
BOOL
FALSE
When
StartPg
is TRUE, the Servo is turned ON
if EtherCAT process data communications are
active and normal.
Hm_Ex
BOOL
FALSE
This variable is used to execute the MC_Home
instruction. It is used in ST programming.
ON
OFF
ON
OFF
ON
OFF
Home proximity input signal
Home input signal
Home input detection direction
Negative limit input signal
Homing start direction
Homing
completed.
Start
Negative
direction
Positive direction
Absolute positioning
completed.
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...