Omron NJ501-1300, User Manual

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10-47
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
10-2-12 C
hanging the Ca
m T
ab
le b
y
R
e-e
x
ecution o
f an Instr
uctio
n
To change from one cam table to another, two instances of the MC_CamIn (Start Cam Operation) instruction with
the same instance name are used. A different output parameter is assigned to the
InCam (Cam Motion) output vari-
able from each instance. An error will occur if you assign the same output parameter. In this sample, a JMP (Jump)
instruction is used so that both instances are not executed at the same time.
Ladder Diagram
StartPg
Lock0
_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress
StartPg
Lock1
_EC_PDSlavTbl[MC_Axis001.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis001.Cfg.NodeAddress
Pwr1_Status Lock0
Lock1
Enable Status
ErrorID
PWR1
Error
MC_Power
Axis Axis
Busy
MC_Axis000
Pwr1_Bsy
Pwr1_Err
Pwr1_ErrID
Pwr2_Status
Enable Status
ErrorID
PWR2
Error
MC_Power
Axis Axis
Busy
MC_Axis001
Pwr2_Bsy
Pwr2_Err
Pwr2_ErrID
MC_Axis000.MFaultLvl.Active
EN
FaultHandler
FaultHandler
MC_Axis001.MFaultLvl.Active
If a minor fault level error occurs for axis 0 or axis 1, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
The Servo for axis 0 is turned ON if process data communications for axis 0 are active and normal.
The Servo for axis 1 is turned ON if process data communications for axis 1 are active and normal.
When StartPg is TRUE, the status of process data communications of axis 0 is checked to see if communications
are active and normal.
When StartPg is TRUE, the status of process data communications of axis 1 is checked to see if communications
are active and normal.