Omron NJ501-1300, Руководство пользователя

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10 Sample Programming
10-28
NJ-series CPU Unit Motion Control User’s Manual (W507)
// If home is defined for axis 0 and axis 1 and the axes group is disabled, the axes group is enabled.
IF (MC_Group000.Status.Disabled=TRUE)
AND (Hm1_D=TRUE) AND (Hm2_D=TRUE) THEN
Grp_En_Ex:= TRUE;
END_IF;
// If the axes group is enabled, absolute linear interpolation is executed.
IF MC_Group000.Status.Ready=TRUE THEN
Mv_Lin_Abs_Ex:=TRUE;
END_IF;
// If the external button turns ON (i.e., StopOn changes to TRUE) during execution of absolute linear interpolation,
the axes group is stopped.
IF (MC_Group000.Status.Moving=TRUE)
AND (StopOn=TRUE) THEN
Grp_Stp_Ex := TRUE;
END_IF;
// If the CommandAborted or Error output variable from the Group Stop instruction are TRUE, the axes group is
stopped immediately.
IF (Grp_Stp_Ca=TRUE)
OR (Grp_Stp_Err=TRUE) THEN
Grp_Imd_Stp_Ex:=TRUE;
END_IF;
//MC_Power
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status
=> Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);
PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status
=> Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);
//MC_Home
HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);
HM2(
Axis := MC_Axis001,
Execute := Hm2_Ex,
Done => Hm2_D,
Busy => Hm2_Bsy,
CommandAborted => Hm2_Ca,
Error => Hm2_Err,
ErrorID => Hm2_ErrID
);