Omron NJ501-1300, User Manual

Page: 296 / 432

10 Sample Programming
10-42
NJ-series CPU Unit Motion Control User’s Manual (W507)
Mv_Feed_Ex BOOL FALSE This variable is used to execute the
MC_MoveFeed (Interrupt Feeding) instruc-
tion. It is used in ST programming.
InitFlag BOOL FALSE TRUE if the input parameters are set for the
MC_MoveFeed instruction.
Ladder Diagram
Variable name Data type Default Comment
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
InitFlag
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Mv_Feed_TrigRef.Mode := _eMC_TRIGGER_MODE#_mcDrive;
Mv_Feed_TrigRef.LatchID := _eMC_TRIGGER_LATCH_ID#_mcLatch1;
Mv_Feed_TrigRef.InputDrive := _eMC_TRIGGER_INPUT_DRIVE#_mcEncoderMark;
Mv_Feed_TrigVar
:= FALSE;
Mv_Feed_Pos := LREAL#2000.0;
Mv_Feed_Vel := LREAL#1000.0;
Mv_Feed_Acc := LREAL#10000.0;
Mv_Feed_Dec := LREAL#10000.0;
Mv_Feed_Dir := _eMC_DIRECTION#_mcCurrentDirection;
Mv_Feed_Mm := _eMC_MOVE_MODE#_mcVelocity;
Mv_Feed_FeedDis := LREAL#500.0;
Mv_Feed_FeedVel := LREAL#500.0;
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.
// Parameters for MC_MoveFeed
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
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.
The input parameters for interrupt feeding are set.