10-2-7 Stopping Axes During Single-Axis Operation - Omron NY532-1500 User Manual

10-2-7 Stopping Axes during Single-axis Operation

In this sample, the MC_Stop instruction is executed to decelerate to a stop if an external button turns
ON during execution of the MC_MoveAbsolute (Absolute Positioning) instruction. If there is a minor
fault level error, the CommandAborted output variable from the MC_Stop instruction changes to TRUE.
In that case, the MC_ImmediateStop instruction is executed to stop immediately. If for any reason the
Error output variable from the MC_Stop instruction changes to TRUE, the MC_ImmediateStop instruc-
tion is executed to stop immediately. If the MC_ImmediateStop instruction is executed, the axis status is
Error Deceleration Stopping.
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.Details.Homed
Pwr_Status
Stp_Ca
Stp_Err
StartPg
StopOn
Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg
If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
Lock0
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Data type
_sAXIS_REF
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
MC_Axis000.DrvStatus.Ready
MC_Axis000
10 Sample Programming
Default
--- This is the Axis Variable for axis 0.
FALSE TRUE when there is a minor fault level error for
axis 0.
FALSE TRUE when home is defined for axis 0.
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.
FALSE This variable is assigned to the Command-
Aborted output variable from the STP instance
of the MC_Stop instruction.
FALSE This variable is assigned to the Error output
variable from the STP instance of the MC_Stop
instruction.
FALSE When StartPg is TRUE, the Servo is turned ON
if EtherCAT process data communications are
active and normal.
FALSE This variable gives the status of the external
button that is used to stop. The MC_Stop
instruction is executed to stop the axis if this
variable is TRUE.
PWR
MC_Power
Axis Axis
Enable Status
Busy
Error
ErrorID
Comment
Lock0
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
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