Omron NX701-1 User Manual page 380

10 Sample Programming
Ladder Diagram
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
StartPg MC_Axis000.DrvStatus.Ready
If the Servo Drive for axis 0 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
If the Servo is ON for axis 0, velocity control is executed.
Pwr_Status
If StartSetPos is TRUE while the Servo is ON, the Set Position instruction is executed.
Pwr_Status StartSetPos
10-74
MC_Axis000
FaultHandler
EN FaultHandler
MC_MoveVelocity
MC_Axis000 Axis
Execute
LREAL#36.0 Velocity
LREAL#1000.0 Acceleration
LREAL#1000.0 Deceleration
LREAL#100.0
Jerk
Direction
Continuous
BufferMode
MC_Axis000 Axis
Execute
LREAL#0.0
Position
ReferenceType
Relative
ExecutionMode
PWR
MC_Power
Axis Axis
Enable Status
Busy
Error
ErrorID
VEL
Axis
InVelocity
Busy
Active
CommandAborted
Error
ErrorID
SET_POS
MC_SetPosition
Axis
Done
Busy
CommandAborted
Error
ErrorID
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
Lock0
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
Vel_InVel
Vel_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
Set_PosD
Set_Pos_Bsy
Set_Pos_Ca
Set_Pos_Err
Set_Pos_ErrID