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10-83
10 Sample Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Pr
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ram
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Samples
10
10-2-16 C
hanging a Cam D
ata V
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ving the Ca
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ab
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// If the input parameters for the instructions are not set, the target values and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveVelocity (Velocity Control) instruction are set.
Vel_Vel
:= LREAL#1000.0;
Vel_Acc
:= LREAL#0.0;
Vel_Dec
:= LREAL#0.0;
Vel_Dir
:= _eMC_DIRECTION#_mcPositiveDirection;
// The input parameters for the MC_CamIn (Start Cam Operation) instruction are set.
Camin_Em
:= TRUE;
Camin_Sm
:= _eMC_START_MODE#_mcRelativePosition;
Camin_Sp
:= LREAL#0.0;
Camin_Msd
:= LREAL#0.0;
Camin_Ms
:= LREAL#1.0;
Camin_Ss
:= LREAL#1.0;
Camin_Mo
:= LREAL#0.0;
Camin_So
:= LREAL#0.0;
Camin_Rt
:= _eMC_REFERENCE_TYPE#_mcCommand;
Camin_Dir
:= _eMC_DIRECTION#_mcNoDirection;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag:=TRUE;
END_IF;
// When
StartPg
is TRUE, the Servo is turned ON for axis 0 if process data communications for axis 0 are active
and normal.
// If process data communications are not active, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;
// When
StartPg
is TRUE, the Servo is turned ON for axis 1 if process data communications for axis 1 are active
and normal.
// If process data communications are not active, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis001.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis001.Cfg.NodeAddress]=FALSE) THEN
Pwr2_En:=TRUE;
ELSE
Pwr2_En:=FALSE;
END_IF;
// If a minor fault level error occurs in the MC Common Error Status Variable or for any of the axes, the error handler
for the device (FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (_MC_COM.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed for axis 0.
IF (Pwr1_Status=TRUE)
AND (MC_Axis000.Details.Homed=FALSE) THEN
ST Programming
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...