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10 Sample Programming
10-26
NJ-series CPU Unit Motion Control User’s Manual (W507)
GRP_EN
AxesGroup
AxesGroup
Execute
Error
ErrorID
CommandAborted
MC_GroupEnable
Done
Busy
MC_Group000
Grp_En_D
Grp_En_Bsy
Grp_En_Ca
Grp_En_Err
Grp_En_ErrID
InitFlag
1
2
3
4
5
6
7
8
9
10
11
Hm1_D Hm2_D
MC_Group000.Status.Disabled
BufferMode
TransitionMode
Acceleration
MV_LIN_ABS
Deceleration
AxesGroup
AxesGroup
Position
Execute
Error
ErrorID
CommandAborted
Jerk
Active
CoordSystem
MC_MoveLinear
Velocity
Done
Busy
MC_Group000
MC_Group000.Status.Ready
Mv_Lin_Abs_Bsy
Mv_Lin_Abs_Ca
Mv_Lin_Abs_Err
Mv_Lin_Abs_ErrID
Mv_Lin_Abs_Act
Mv_Lin_Abs_Pos
Mv_Lin_Abs_Vel
Mv_Lin_Abs_Acc
Mv_Lin_Abs_Dec
Mv_Lin_Abs_Jrk
Mv_Lin_Abs_Cs
Mv_Lin_Abs_Bm
Mv_Lin_Abs_Tm
Mv_Lin_Abs_D
BufferMode
GRP_STP
Deceleration
Active
AxesGroup
AxesGroup
Execute
Done
Busy
Error
Jerk
MC_GroupStop
CommandAborted
ErrorID
MC_Group000
StopOn
MC_Group000.Status.Moving
Grp_Stp_Dec
Grp_Stp_Bsy
Grp_Stp_Act
Grp_Stp_Ca
Grp_Stp_Err
Grp_Stp_ErrID
Grp_Stp_D
GRP_IMD_STP
AxesGroup
AxesGroup
Execute
Done
Busy
Error
MC_GroupImmediateStop
CommandAborted
ErrorID
MC_Group000
Grp_Stp_Err
Grp_Imd_Stp_Bsy
Grp_Imd_Stp_Ca
Grp_Imd_Stp_Err
Grp_Imd_Stp_ErrID
Grp_Imd_Stp_D
Grp_Stp_Ca
// Parameters for MC_MoveLinearAbsolute
Mv_Lin_Abs_Pos [0]
:= LREAL#3000
Mv_Lin_Abs_Pos [1]
:= LREAL#3000
Mv_Lin_Vel :=
LREAL#1000
Mv_Lin_Abs_Acc
:=
LREAL#1000
Mv_Lin_Abs_Dec
:=
LREAL#1000.0;
Mv_Lin_Abs_Jrk
:= LREAL#1000.0;
// Parameters for MC_GroupStop
Grp_Stp_Dec
:=
LREAL#1000.0;
Grp_Stp_Jrk
:=
LREAL#1000.0;
InitFlag:=TRUE; //
InitFlag
is made TRUE.
After home is defined for axis 0 and axis 1, the axes group is enabled.
The input parameters for the MC_MoveLinearAbsolute and MC_GroupStop instructions are set.
If the axes group is enabled, linear interpolation is executed.
If the external button turns ON (i.e.,
StopOn
changes to TRUE) during execution of linear interpolation,
the MC_GroupStop instruction is executed to decelerate the axes to a stop.
If the
Error
or
CommandAborted
output variable of the MC_GroupStop instruction is TRUE,
the MC_GroupImmediateStop instruction is executed to stop immediately.
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...