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10 Sample Programming
10-10
NJ-series CPU Unit Motion Control User’s Manual (W507)
You can monitor error status by monitoring the status of Axis Minor Fault Occurrence in the Axis Vari-
ables and Axes Group Minor Fault Occurrence in the Axes Group Variable. If a minor fault level error
occurs in this sample, the
Execute
input variable for the MC_GroupDisable (Disable Axes Group)
instruction changes to TRUE to disable the axes group. If the external button is ON and the command
current velocity for the axes group is zero, the error is reset with the MC_GroupReset (Reset Axes
Group Error) instruction.
Samples are provided for both ladder diagram and ST programming.
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated
Operation
Main Variables Used in the Programming Samples
Variable name
Data type
Default
Comment
MC_Group000
_sGROUP_REF
---
This is the Axes Group Variable for axes group
0.
MC_Group000.MFaultLvl.Active
BOOL
FALSE
TRUE when there is a minor fault level error for
axes group 0.
MC_Group000.Details.Idle
BOOL
FALSE
TRUE when the command interpolation velocity
for axes group 0 is zero, except when waiting for
in-position state.
MC_Axis000
_sAXIS_REF
---
This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active
BOOL
FALSE
TRUE when there is a minor fault level error for
axis 0.
MC_Axis000.Details.Homed
BOOL
FALSE
TRUE when home is defined for axis 0.
MC_Axis001
_sAXIS_REF
---
This is the Axis Variable for axis 1.
MC_Axis001.MFaultLvl.Active
BOOL
FALSE
TRUE when there is a minor fault level error for
axis 1.
MC_Axis001.Details.Homed
BOOL
FALSE
TRUE when home is defined for axis 1.
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.
StartPg
BOOL
FALSE
When
StartPg
is TRUE, the Servo is turned ON
if EtherCAT process data communications are
active and normal.
ResetON
BOOL
FALSE
This variable gives the status of the external
button that is used to reset errors.
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...