10-2-11 Interrupt Feeding - Omron NY532-1500 User Manual

10 Sample Programming

10-2-11 Interrupt Feeding

This sample performs interrupt feeding when an interrupt occurs during velocity control. One of the fol-
lowing is specified for the Direction variable when velocity control is performed in Rotary Mode.
• _mcPositiveDirection
• _mcNegativeDirection
• _mcCurrentDirection
This sample uses _mcCurrentDirection. A positive value is specified for the FeedDistance input vari-
able to perform feeding in the same direction as the motion before the interrupt input. A negative value
is specified for the FeedDistance input variable to perform feeding in the opposite direction as the
motion before the interrupt input. For example, if a positive value is specified for the FeedDistance input
variable when the motion was in the negative direction before the interrupt input, feeding is performed
in the negative direction. If a negative value is specified for the FeedDistance input variable, feeding is
performed in the positive direction.
Velocity control
Velocity
Axis Parameter Settings
Parameter name
Count Mode
Modulo Maximum Position
Setting Value
Modulo Minimum Position
Setting Value
Homing Method
Main Variables Used in the Programming Samples
Variable name
MC_Axis000
MC_Axis000.MFaultLvl.Active
MC_Axis000.Details.Homed
StartPg
Pwr_Status
TrigRef
Hm_Ex
10-40
Interrupt feeding
Setting
Rotary Mode Rotary Mode is set as the count mode for the position.
360 The Modulo Maximum Position is set to 360.
0 The Modulo Minimum Position is set to 0.
Zero position preset A zero position preset is performed to define home.
Data type Default
_sAXIS_REF ---
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
_sTRIGGER_REF ---
BOOL FALSE
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Time
Description
Comment
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.
When StartPg is TRUE, the Servo is turned
ON if EtherCAT process data communica-
tions are active and normal.
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.
This parameter specifies the trigger input
condition to use for the interrupt input. Latch
1 of the Servo Drive is used in this sample.
This variable is used to execute the
MC_Home instruction. It is used in ST pro-
gramming.