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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.
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...