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10-51
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
10-2-12 C
hanging the Ca
m T
ab
le b
y
R
e-e
x
ecution o
f an Instr
uctio
n
IF (Pwr2_S=TRUE)
AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
// If homing is completed for axis 0, absolute positioning is executed.
IF Hm1_D=TRUE THEN
Mv_Abs_Ex := TRUE;
END_IF;
// If the command position for axis 0 is 5000 or less,
CamTable0
is changed to TRUE and
CamTable1
is changed to
FALSE.
// If it exceeds 5000,
CamTable0
is changed to FALSE and
CamTable1
is changed to TRUE.
IF MC_Axis000.Cmd.Pos<=LREAL#5000.0 THEN
CamTable0
:=BOOL#TRUE;
CamTable1
:=BOOL#FALSE;
ELSE
CamTable0
:=BOOL#FALSE;
CamTable1
:=BOOL#TRUE;
END_IF;
// If
CamTable0
is TRUE during absolute positioning,
// then the instance that uses
CamProfile0
for the cam table is executed.
// If
InCam
is TRUE,
Execute
is changed to FALSE.
IF (Mv_Abs_Act=TRUE)
AND (CamTable0=TRUE)
AND (Camin_InCam0=FALSE) THEN
Camin_Ex
:= TRUE;
ELSE
Camin_Ex
:= FALSE;
END_IF;
// If
CamTable1
is TRUE during absolute positioning,
// then the instance that uses
CamProfile1
for the cam table is executed.
IF (Mv_Abs_Act=TRUE)
AND (CamTable1=TRUE) THEN
Camin_Ex
:= TRUE;
END_IF;
//MC_Camin
IF CamTable0=TRUE THEN
CAMIN(
Master
:= MC_Axis000,
Slave
:= MC_Axis001,
CamTable
:= CamProfile0,
Execute
:= Camin_Ex,
Periodic
:= Camin_EM,
StartMode
:= Camin_StMode,
StartPosition
:= Camin_StPos,
MasterStartDistance
:= Camin_MStDis,
MasterScaling
:= Camin_MSc,
SlaveScaling
:= Camin_SSc,
MasterOffset
:= Camin_MO,
SlaveOffset
:= Camin_SO,
ReferenceType
:= Camin_RT,
Direction
:= Camin_Dir,
InCam
=> Camin_InCam0,
InSync
=> Camin_InSync,
EndOfProfile
=> Camin_EOP,
Index
=> Camin_Index,
Busy
=> Camin_Bsy,
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...