Omron NJ501-1300, Руководство пользователя

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10-5
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
10-2-1 Mo
nitor
ing
E
th
erCA
T
Comm
unications and T
ur
ning ON Ser
v
os
// When StartPg is TRUE, the Servo is turned ON for axis 0 if process data communications are active and normal.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;
// 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.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;
// MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);
Ladder Diagram
ST Programming
MC_Axis000.MFaultLvl.Active
EN
FaultHandler
FaultHandler
StartPg
Lock
_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress
PWR
Error
Axis Axis
Enable Status
Busy
MC_Power
ErrorID
Lock
MC_Axis000
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
The Servo for axis 0 is turned ON if process data communications are active and normal.
When StartPg is TRUE, the status of process data communications is checked to see if communications
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.