10-2-15 Changing The Actual Position During Velocity Control - Omron NY532-1500 User Manual

10-2-15 Changing the Actual Position during Velocity Control

This sample changes the absolute values of the command current position and the actual current posi-
tion for an axis in velocity control.
Precautions for Correct Use Precautions for Correct Use
• When you use the MC_SetPosition instruction for an axis in motion, the travel distance
between execution of the instruction and changing the actual position will remain as error.
• Home will become undefined when the MC_Set Position instruction is executed.
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
Pwr_Status
StartSetPos
StartPg
Vel_Ex
SetPos_Ex
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
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
BOOL FALSE
BOOL FALSE
10 Sample Programming
Description
Comment
This is the Axis Variable for axis 0.
TRUE when there is a minor fault level error
for axis 0.
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 variable gives the status of the external
button that is used to change the actual posi-
tion.
When StartPg is TRUE, the Servo is turned
ON if EtherCAT process data communications
are active and normal.
This variable is used to execute the
MC_MoveVelocity (Velocity Control) instruc-
tion. It is used in ST programming.
This variable is used to execute the MC_Set-
Position instruction. It is used in ST program-
ming.
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