Omron NJ501-1300, Руководство пользователя

Страница: 287 / 432

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