Omron NJ501-1300, Руководство пользователя

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10-85
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
10-2-16 C
hanging a Cam D
ata V
a
riab
le and Sa
ving the Ca
m T
ab
le
// One second after the Cannot Execute Save Cam Table error occurs, Sv_Ca_TimeUp is changed to TRUE.
// If Sv_Ca_TimeUp changes to TRUE, Sv_Cam_Ex is changed to FALSE.
Sv_Ca_TON(
In := Sv_Cam_Disable ,
PT := T#1s ,
Q => Sv_Ca_TimeUp
);
// Sv_Ca_CountLoad is changed to TRUE for one period when the cam table is saved.
// If Sv_Ca_CountLoad changes to TRUE, the retry counter is reset.
R_TRIG1(SaveCamtable, Sv_Ca_CountLoad);
// If a Cannot Execute Save Cam Table error occurs three times, Sv_Ca_CountUP is changed to TRUE.
// If Sv_Ca_CountUP changes to TRUE, Sv_Cam_Disable is changed to FALSE.
// Retry processing for the MC_SaveCamTable instruction is completed.
Sv_Ca_CTD(
CD := Sv_Cam_Disable ,
LOAD := Sv_Ca_CountLoad ,
PV := INT#3 ,
Q => Sv_Ca_CountUP
);
// If the changes to the cam data variable and saving the cam table are completed and axis 0 is at the target
velocity, the cam operation is executed.
IF (Vel_InVel=TRUE)
AND (WriteDone=TRUE)
AND (Sv_Cam_D=TRUE) THEN
Camin_Ex:=TRUE;
END_IF;
//MC_SaveCamTable
SV_CAM(
CamTable :=CamProfile0,
Execute := Sv_Cam_Ex,
Done => Sv_Cam_D,
Busy => Sv_Cam_Bsy,
CommandAborted => Sv_Cam_Ca,
Error => Sv_Cam_Err,
ErrorID => Sv_Cam_ErrID
);
CAMIN(
Master := MC_Axis000,
Slave := MC_Axis001,
CamTable := CamProfile0,
Execute := Camin_Ex,
Periodic := Camin_Em,
StartMode := Camin_Sm,
StartPosition := Camin_Sp,
MasterStartDistance := Camin_Msd,
MasterScaling := Camin_Ms,
SlaveScaling := Camin_Ss,
MasterOffset := Camin_Mo,
SlaveOffset := Camin_So,
ReferenceType := Camin_Rt,
Direction := Camin_Dir,
InCam => Camin_InCam,
InSync => Camin_InSync,
EndOfProfile => Camin_Eop,
Index => Camin_Index,
Busy => Camin_Bsy,
Active => Camin_Act,
CommandAborted => Camin_Ca,