Error Monitoring And Error Resetting For Single-Axis Operation And Synchronized Operation - Omron NJ501-1400 User Manual

10 Sample Programming
10-2-3 Error Monitoring and Error Resetting for Single-axis Operation
and Synchronized Operation
You can monitor error status by monitoring the status of Axis Minor Fault Occurrence in the Axis Vari-
able. If a minor fault level error occurs in this sample, the Enable input variable for the MC_Power
instruction changes to FALSE to turn OFF the Servo. If the external button is ON and the command cur-
rent velocity is zero, the error is reset with the MC_Reset (Reset Axis Error) instruction. Samples are
provided for both ladder diagram and ST programming.
Main Variables Used in the Programming Samples
Variable name
MC_Axis000
MC_Axis000.MFaultLvl.Active
MC_Axis000.Status.ErrorStop
MC_Axis000.Details.Idle
StartPg
ResetON
Ladder Diagram
When StartPg is TRUE, the status of process data communications is checked to see if communications
are active and normal.
StartPg _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress
The Servo for axis 0 is turned ON if process data communications are active and normal.
Lock
If a minor fault level error occurs for axis 0, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active
10-8
Data type Default
_sAXIS_REF ---
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
PWR
MC_Power
MC_Axis000 Axis
Enable
FaultHandler
EN FaultHandler
NJ-series CPU Unit Motion Control User's Manual (W507)
Comment
This is the Axis Variable for axis 0.
TRUE when there is a minor fault level error for
axis 0.
TRUE while there is a minor fault level error for
axis 0 and the axis is decelerating to a stop or
stopped.
TRUE when the command current velocity for
axis 0 is zero, except when waiting for in-posi-
tion state.
When StartPg is TRUE, the Servo is turned ON
if EtherCAT process data communications are
active and normal.
This variable gives the status of the external
button that is used to reset errors.
Axis
Status
Busy Pwr_Bsy
Error Pwr_Err
ErrorID Pwr_ErrID
Lock
Pwr_Status