10-39
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
10-2-10 C
hanging the T
arget P
osition b
y
Re-e
x
ecution of an I
nstr
uction
// If the input parameters for absolute positioning are not set, the target values and other parameters are set.
IF InitFlag = FALSE THEN
// Parameters for MC_MoveAbsolute
Mv_Abs_Pos
:= LREAL#1000.0;
Mv_Abs_Vel
:= LREAL#500.0;
Mv_Abs_Acc
:= LREAL#500.0;
Mv_Abs_Dec
:= LREAL#500.0;
Mv_Abs_Dir
:= _eMC_DIRECTION#_mcPositiveDirection;
// 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 (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;
// 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 MC_Axis000.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.
IF (Pwr_Status=TRUE)
AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex:=TRUE;
END_IF;
// After homing is completed for axis 0, absolute positioning is executed if it is not already in progress.
IF (Hm_D=TRUE)
AND (Mv_Abs_Act=FALSE) THEN
Mv_Abs_Ex := TRUE;
ELSE
Mv_Abs_Ex := FALSE;
END_IF;
// When
ReExeSw
changes to TRUE, the absolute positioning instruction is re-executed to change the target
position to 2000.
IF ReExeSw=TRUE THEN
Mv_Abs_Pos
:=LREAL#2000.0;
Mv_Abs_Ex
:= TRUE;
END_IF;
//MC_Power
PWR(
Axis
:= MC_Axis000,
Enable := Pwr_En,
Status
=> Pwr_Status,
Busy
=> Pwr_Bsy,
Error
=> Pwr_Err,
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...