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10 Sample Programming
10-48
NJ-series CPU Unit Motion Control User’s Manual (W507)
Hm1_Bsy
Hm1_Ca
Hm1_Err
Hm1_ErrID
Hm1_D
Done
Error
CommandAborted
Axis
Busy
ErrorID
Execute
HM1
MC_Home
Axis
MC_Axis000
Pwr1_Status MC_Axis000.Details.Homed
Hm2_Bsy
Hm2_Ca
Hm2_Err
Hm2_ErrID
Hm2_D
Done
Error
CommandAborted
Axis
Busy
ErrorID
Execute
HM2
MC_Home
Axis
MC_Axis001
Pwr2_Status MC_Axis001.Details.Homed
Mv_Abs_Act
Mv_Abs_Ca
Mv_Abs_Err
Mv_Abs_ErrID
Mv_
Abs_D
Done
Error
CommandAborted
Axis
Active
ErrorID
Execute
MV_ABS
MC_MoveAbsolute
Axis
MC_Axis000
Hm1_D
Mv_Abs_Bsy
Busy
Position
LREAL#10000.0
Acceleration
LREAL#2000.0
Jerk
Velocity
LREAL#2000.0
Deceleration
LREAL#2000.0
Direction
eMC_DIRECTION#_mcPositiveDirection
BufferMode
1
2
3
4
5
6
7
IF MC_Axis000.Cmd.Pos<=LREAL#5000.0 THEN
CamTable0:=BOOL#TRUE;
CamTable1:=BOOL#FALSE;
ELSE
CamTable0:=BOOL#FALSE;
CamTable1:=BOOL#TRUE;
END_IF;
CamTable0
SkipCamTable0
Mv_Abs_Act CamTable0 Camin_InCam0 Lock3
If homing is completed for axis 0, absolute positioning is executed.
If the command position for axis 0 is 5000 or less,
CamTable0
is changed to TRUE and
CamTable1
is changed to FALSE.
If it is over 5000,
CamTable0
is changed to FALSE and
CamTable1
is changed to TRUE.
If
CamTable0
is TRUE during absolute positioning, then the instance that uses
CamProfile0
for the cam table is executed.
If
InCam
is TRUE, then
Execute
is changed to FALSE.
If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
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...