Omron NJ501-1300, User Manual

Page: 321 / 432

10-67
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
10-2-14 Shifting the Phase of a
Ma
s
ter Ax
is i
n
C
a
m Moti
on
Ladder Diagram
MC_Axis000.MFaultLvl.Active
EN
FaultHandler
FaultHandler
MC_Axis001.MFaultLvl.Active
Hm1_Bsy
Hm1_Ca
Hm1_Err
Hm1_ErrID
Hm1_D
Done
Error
CommandAborted
Axis
Busy
ErrorID
Execute
HM1
MC_Home
Axis
MC_Axis000
Pwr1_Status MC_Axis000.Details.Homed
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
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
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.
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.
If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
If a minor fault level error occurs for any of the composition axes in the axes group, the error handler for the device
(FaultHandler) is executed. Program the FaultHandler according to the device.