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10-75
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
10-2-15 C
hanging the Actual P
osition dur
ing V
elocity C
ontrol
Ladder Diagram
MC_Axis000.MFaultLvl.Active
EN
FaultHandler
FaultHandler
Pwr_Status
Lock
Enable
Status
ErrorID
PWR
Error
MC_Power
Axis
Axis
Busy
MC_Axis000
Pwr_Bsy
Pwr_Err
Pwr_ErrID
VEL
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
Vel_InVel
InVelocity
Error
CommandAborted
Axis
Active
ErrorID
Execute
MC_MoveVelocity
Axis
MC_Axis000
Pwr_Status
Vel_Bsy
Busy
Velocity
LREAL#36.0
Deceleration
LREAL#1000.0
Direction
Acceleration
LREAL#1000.0
Jerk
LREAL#100.0
Continuous
BufferMode
SET_POS
Set_Pos_Ca
Set_Pos_Err
Set_Pos_ErrID
Set_PosD
Done
ErrorID
Error
Axis
CommandAborted
Execute
MC_SetPosition
Axis
MC_Axis000
Pwr_Status
Set_Pos_Bsy
Busy
Position
LREAL#0.0
Relative
ReferenceType
ExecutionMode
StartSetPos
StartPg
Lock
_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis000.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.
If the Servo is ON for axis 0, velocity control is executed.
If
StartSetPos
is TRUE while the Servo is ON, the Set Position instruction is executed.
The Servo for axis 0 is turned ON if process data communications for axis 0 are active and normal.
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.
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...