10-2-8 Stopping An Axes Group In Coordinated Motion - Omron NY532-1500 User Manual

10-2-8 Stopping an Axes Group in Coordinated Motion

In this sample, the MC_GroupStop instruction is executed to decelerate to a stop if an external button
turns ON during execution of the MC_MoveLinearAbsolute (Absolute Linear Interpolation) instruction. If
there is a minor fault level error, the CommandAborted output variable from the MC_GroupStop instruc-
tion changes to TRUE. In that case, the MC_GroupImmediateStop instruction is executed to stop
immediately. If for any reason the Error output variable from the MC_GroupStop instruction changes to
TRUE, the MC_GroupImmediateStop instruction is executed to stop immediately. If the
MC_GroupImmediateStop instruction is executed, the axes group status is Error Deceleration Stop-
ping.
Main Variables Used in the Programming Samples
Variable name
MC_Group000
MC_Group000.Status.Disabled
MC_Group000.MFaultLvl.Active
MC_Axis000
MC_Axis000.MFaultLvl.Active
MC_Axis000.Details.Homed
MC_Axis001
MC_Axis001.MFaultLvl.Active
MC_Axis001.Details.Homed
Pwr1_Status
Pwr2_Status
Grp_Stp_Ca
Grp_Stp_Err
StartPg
StopOn
InitFlag
Grp_En_Ex
Mv_Lin_Abs_Ex
Grp_Stp_Ex
Grp_Imd_Stp_Ex
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Data type Default
_sGROUP_REF ---
BOOL FALSE
BOOL FALSE
_sAXIS_REF ---
BOOL FALSE
BOOL FALSE
_sAXIS_REF ---
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
10 Sample Programming
Comment
This is the Axes Group Variable for axes group 0.
TRUE when axes group 0 is disabled.
TRUE when there is a minor fault level error for axes
group 0.
This is the Axis Variable for axis 0.
TRUE when there is a minor fault level error for axis 0.
TRUE when home is defined for axis 0.
This is the Axis Variable for axis 1.
TRUE when there is a minor fault level error for axis 1.
TRUE when home is defined for axis 1.
This variable is assigned to the Status output variable
from the PWR1 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
This variable is assigned to the Status output variable
from the PWR2 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
This variable is assigned to the CommandAborted
output variable from the GRP_EN instance of the
MC_GroupStop instruction.
This variable is assigned to the Error output variable
from the GRP_EN instance of the MC_GroupStop
instruction.
When StartPg is TRUE, the Servo is turned ON if Eth-
erCAT process data communications are active and
normal.
This variable gives the status of the external button
that is used to stop. The MC_GroupStop instruction is
executed to stop the axes group if this variable is
TRUE.
TRUE if the input parameters are set for the
MC_MoveLinearAbsolute and MC_GroupStop
instructions.
This variable is used to execute the GRP_EN
instance of the MC_GroupEnable instruction. It is
used in ST programming.
This variable is used to execute the MV_LIN_ABS
instance of the MC_MoveLinear instruction. It is used
in ST programming.
This variable is used to execute the GRP_STP
instance of the MC_GroupStop instruction. It is used
in ST programming.
This variable is used to execute the GRP_IMD_STP
instance of the MC_GroupImmediateStop instruction.
It is used in ST programming.
10
10-23