Omron NX701-1 User Manual page 349

// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
IF (Pwr_Status=TRUE)
AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex:=TRUE;
END_IF;
// If homing is defined, interrupt feeding is executed.
IF Hm_D=TRUE THEN
Mv_Feed_Ex:=TRUE;
END_IF;
// MC_Power
PWR(
Axis
Enable := Pwr_En,
Status
Busy
Error
ErrorID => Pwr_ErrID
);
// MC_Home
HM(
Axis
Execute
Done
Busy
CommandAborted
Error
ErrorID
);
//MC_MoveFeed
MV_FEED(
Axis
TriggerInput
TriggerVariable
Execute
Position
Velocity
Acceleration
Deceleration
Direction
MoveMode
FeedDistance
FeedVelocity
Done
InFeed
Busy
Active
CommandAborted
Error
ErrorID
);
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
:= MC_Axis000,
=> Pwr_Status,
=> Pwr_Bsy,
=> Pwr_Err,
:= MC_Axis000,
:= Hm_Ex,
=> Hm_D,
=> Hm_Bsy,
=> Hm_Ca,
=> Hm_Err,
=> Hm_ErrID
:= MC_Axis000,
:= Mv_Feed_TrigRef,
:= Mv_Feed_TrigVar,
:= Mv_Feed_Ex,
:= Mv_Feed_Pos,
:= Mv_Feed_Vel,
:= Mv_Feed_Acc,
:= Mv_Feed_Dec,
:= Mv_Feed_Dir,
:= Mv_Feed_Mm,
:= Mv_Feed_FeedDis,
:= Mv_Feed_FeedVel,
=> Mv_Feed_D,
=> Mv_Feed_InFeed,
=> Mv_Feed_Bsy,
=> Mv_Feed_Act,
=> Mv_Feed_Ca,
=> Mv_Feed_Err,
=> Mv_Feed_ErrID
10 Sample Programming
10
10-43