Omron NJ501-1300, Руководство пользователя

Страница: 305 / 432

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,