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10 Sample Programming
10-38
NJ-series CPU Unit Motion Control User’s Manual (W507)
Ladder Diagram
MC_Axis000.MFaultLvl.Active
EN
FaultHandler
FaultHandler
Hm_Bsy
Hm_Ca
Hm_Err
Hm_ErrID
Hm_D
Done
Error
CommandAborted
Axis
Busy
ErrorID
Execute
HM
MC_Home
Axis
MC_Axis000
Pwr_Status
MC_Axis000.Details.Homed
Mv_Abs_Ex
MC_Axis000.Details.Homed
ReExeSw
Mv_Abs_Act
Mv_Abs_Act
Mv_Abs_Ca
Mv_Abs_Err
Mv_Abs_ErrID
Mv_
Abs_D
Done
Error
CommandAborted
Axis
Active
ErrorID
Execute
MV_ABS
MC_MoveAbsolute
Axis
MC_Axis000
Mv_Abs_Ex
Mv_Abs_Bsy
Busy
Position
Mv_Abs_Pos
Acceleration
LREAL#500.0
Jerk
Velocity
LREAL#500.0
Deceleration
LREAL#500.0
Direction
eMC_DIRECTION#_mcPositiveDirection
BufferMode
1
Mv_Abs_Pos := LREAL#2000.0;
StartPg
Lock
_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress
PWR
Error
Axis
Axis
Enable
Status
Busy
MC_Power
ErrorID
Lock
MC_Axis000
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
When StartPg is TRUE, the status of process data communications of axis 0 is checked to see if communications
are active and normal.
The Servo for axis 0 is turned ON if process data communications for axis 0 are active and normal.
Absolute positioning is executed according to the status of Mv_Abs_Ex.
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 the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
After home is defined for axis 0, absolute positioning is executed if it is not already in progress.
When
ReExeSw
changes to TRUE, the absolute positioning instruction is re-executed to change the target position to 2000.
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...