Omron NJ501-1300, User Manual

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10 Sample Programming
10-64
NJ-series CPU Unit Motion Control User’s Manual (W507)
This sample synchronizes a slave axis in cam motion with a master axis in velocity control. If StartOn is
TRUE, the phase of the master axis is shifted with the MC_Phasing (Shift Master Axis Phase) instruc-
tion. The slave axis is synchronized with the shifted phase.
* The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array is 0 to
360 in this sample.
10-2-14 Shifting the Phase of a Master Axis in Cam Motion
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.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error
for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
MC_Axis001.Details.Homed BOOL FALSE TRUE when home is defined for axis 1.
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error
for axis 1.
CamProfile0 ARRAY[0..360] OF
_sMC_CAM_REF --- This is the cam data variable.
Pwr1_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR1 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR2 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
StartOn BOOL FALSE This variable is used to start shifting the
phase of the master axis.
StartPg BOOL FALSE When StartPg is TRUE, the Servo is turned
ON if EtherCAT process data communica-
tions are active and normal.
Camin_Ex BOOL FALSE This variable is used to execute the
MC_CamIn (Start Cam) instruction. It is
used in ST programming.
Vel_Ex BOOL FALSE This variable is used to execute the
MC_MoveVelocity (Velocity Control) instruc-
tion. It is used in ST programming.
Phasing_Ex BOOL FALSE This variable is used to execute the
MC_Phasing (Shift Master Axis Phase)
instruction. It is used in ST programming.