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10 Sample Programming
10-72
NJ-series CPU Unit Motion Control User’s Manual (W507)
This sample changes the absolute values of the command current position and the actual current posi-
tion for an axis in velocity control.
Precautions for Correct Use
Precautions for Correct Use
•
When you use the MC_SetPosition instruction for an axis in motion, the travel distance
between execution of the instruction and changing the actual position will remain as error.
•
Home will become undefined when the MC_Set Position instruction is executed.
10-2-15 Changing the Actual Position during Velocity Control
Axis Parameter Settings
Parameter name
Setting
Description
Count Mode
Rotary Mode
Rotary Mode is set as the count mode for the position.
Modulo Maximum Position
Setting Value
360
The Modulo Maximum Position is set to 360.
Modulo Minimum Position
Setting Value
0
The Modulo Minimum Position is set to 0.
Homing Method
Zero position preset
A zero position preset is performed to define home.
Main Variables Used in the Programming Samples
Variable name
Data type
Default
Comment
MC_Axis000
_sAXIS_REF
---
This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active
BOOL
FALSE
TRUE when there is a minor fault level error for
axis 0.
Pwr_Status
BOOL
FALSE
This variable is assigned to the
Status
output
variable from the PWR instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
StartSetPos
BOOL
FALSE
This variable gives the status of the external
button that is used to change the actual posi-
tion.
StartPg
BOOL
FALSE
When
StartPg
is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
Vel_Ex
BOOL
FALSE
This variable is used to execute the
MC_MoveVelocity (Velocity Control) instruc-
tion. It is used in ST programming.
SetPos_Ex
BOOL
FALSE
This variable is used to execute the
MC_SetPosition instruction. It is used in ST
programming.
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...