Omron NJ501-1300, Руководство пользователя

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10 Sample Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Pr
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ram
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Samples
10
10-2-11 I
nterr
upt F
eed
ing
// If the input parameters for interrupt feeding are not set, the target values and other parameters are set.
IF InitFlag=FALSE THEN
// Parameters for MC_MoveFeed
Mv_Feed_TrigRef.Mode
:= _eMC_TRIGGER_MODE#_mcDrive;
Mv_Feed_TrigRef.LatchID := _eMC_TRIGGER_LATCH_ID#_mcLatch1;
Mv_Feed_TrigRef.InputDrive := _eMC_TRIGGER_INPUT_DRIVE#_mcEncoderMark;
Mv_Feed_TrigVar := FALSE;
Mv_Feed_Pos := LREAL#2000.0;
Mv_Feed_Vel := LREAL#1000.0;
Mv_Feed_Acc := LREAL#10000.0;
Mv_Feed_Dec := LREAL#10000.0;
Mv_Feed_Dir := _eMC_DIRECTION#_mcCurrentDirection;
Mv_Feed_Mm := _eMC_MOVE_MODE#_mcVelocity;
Mv_Feed_FeedDis := LREAL#500.0;
Mv_Feed_FeedVel := LREAL#500.0;
// 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;
ST Programming
Mv_Feed_InFeed
Mv_Feed_Bsy
Mv_Feed_Act
Mv_Feed_D
MC_Axis000
Hm_D
Mv_Feed_Ca
MvFeed_TrigRef
Mv_Feed_TrigVar
Mv_Feed_Pos
WindowOnly InFeed
Error
ErrorID
CommandAborted ReferenceType
Active
Position
MC_MoveFeed
Execute Done
FirstPosition Busy
Axis Axis
TriggerInput TriggerInput
TriggerVariable TriggerVariable
Velocity
Acceleration
Deceleration
Jerk
Direction
MoveMode
FeedDistance
MV_FEED
LastPosition
FeedVelocity
BufferMode
ErrorDetect
Mv_Feed_Vel
Mv_Feed_Dec
Mv_Feed_Dir
Mv_Feed_Acc
Mv_Feed_Mm
Mv_Feed_FeedVel
Mv_Feed_FeedDis
Mv_Feed_Err
Mv_Feed_ErrID
If homing is completed, interrupt feeding is executed.