Omron NX701-1 User Manual page 310

10 Sample Programming
Ladder Diagram
Check if the Servo Drive is ready when StartPg is TRUE.
StartPg
If the Servo Drive is ready, turn ON the Servo for axis 0.
Lock0
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
ST Programming
// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;
// 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.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;
// MC_Power
PWR(
Axis
Enable := Pwr_En,
Status
Busy
Error
ErrorID => Pwr_ErrID
);
10-4
MC_Axis000.DrvStatus.Ready
MC_Axis000
FaultHandler
EN
:= MC_Axis000,
=> Pwr_Status,
=> Pwr_Bsy,
=> Pwr_Err,
PWR
MC_Power
Axis
Enable Status
ErrorID
FaultHandler
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
Lock0
Pwr_Status
Axis
Busy Pwr_Bsy
Error Pwr_Err
Pwr_ErrID