Panasonic AGM1PG04L, Reference Manual

Page: 129 / 166

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Program (ST)
Declaration section
PROGRAM sample
VAR
Process :UDINT := 0;
PG_Power_0: PG_Power;
PG_MoveRelative_0: PG_MoveRelative;
PG_Stop_0: PG_Stop;
Stop: BOOL;
END_VAR
Implementation section
CASE Process OF
0://Servo On
PG_Power_0(
UnitID:=1,
AxisNo:=1,
Enable:=TRUE,
bRegulatorOn:=TRUE);
IF PG_Power_0.Status = TRUE THEN
Process := 1;
END_IF
1://Execute the PG_MoveRelative
PG_MoveRelative_0(
UnitID:=1,
AxisNo:=1,
Execute:=TRUE,
Distance:= 10000,
Velocity:=10000,
AccDec:=10000);
//Changing the variable Stop to TRUE execute the PG_Stop.
//CommandAborted of PG_MoveRelative becomes TRUE and processing is i
nterrupted.
IF Stop = TRUE THEN
PG_Stop_0(
UnitID:=1,
AxisNo:=1,
Execute:=TRUE,
StopMethod:=TRUE); //Forced stop
END_IF
END_CASE
12.1.3 Resuming Operation After Stop
This section describes a program example for executing the PG_MoveRelative function block,
making a stop using the PG_Stop function block, and then resuming the the PG_MoveRelative
function block.
12.1 Sample Program
WUME-GM1PG-01 12-5