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10-33
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
10-2-9 H
oming
and Abso
lute P
ositionin
g
// If the input parameters for absolute positioning are not set, the target values and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveAbsolute (Absolute Positioning) instruction are set.
Mv_Abs_Pos
:= LREAL#50000.0;
Mv_Abs_Vel
:= LREAL#10000.0;
Mv_Abs_Acc
:= LREAL#1000.0;
Mv_Abs_Dec
:= LREAL#1000.0;
Mv_Abs_Dir
:= _eMC_DIRECTION#_mcShortestWay;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;
// 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;
// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
IF (Pwr_Status=TRUE)
AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex:=TRUE;
ELSE
Hm_Ex:=FALSE;
END_IF;
// If the Servo is ON and home is defined, absolute positioning is executed.
IF (Pwr_Status=TRUE)
AND (Hm_D=TRUE) THEN
Mv_Abs_Ex:=TRUE;
END_IF;
//MC_Power
PWR(
Axis
:= MC_Axis000,
Enable := Pwr_En,
Status
=> Pwr_Status,
Busy
=> Pwr_Bsy,
Error
=> Pwr_Err,
ErrorID => Pwr_ErrID
);
//MC_Home
HM(
Axis
:= MC_Axis000,
Execute
:= Hm_Ex,
Done
=> Hm_D,
Busy
=> Hm_Bsy,
CommandAborted
=> Hm_Ca,
Error
=> Hm_Err,
ErrorID
=> Hm_ErrID
ST Programming
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...