Omron NJ501-1400 User Manual page 286

10 Sample Programming
Ladder Diagram
When StartPg is TRUE, the status of process data communications of axis 0 is checked to see if communications
are active and normal.
StartPg _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress
The Servo for axis 0 is turned ON if process data communications for axis 0 are active and normal.
Lock
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 and home is not defined, the MC_Home instruction is executed.
Pwr_Status MC_Axis000.Details.Homed
If the Servo is ON and home is defined, absolute positioning is executed.
Pwr_Status Hm_D
eMC_DIRECTION#_mcShortestWay
10-32
MC_Axis000
FaultHandler
EN FaultHandler
MC_Axis000
MC_Axis000
Axis
Execute
LREAL#50000.0
Position
LREAL#10000.0
Velocity
LREAL#1000.0 Acceleration
LREAL#1000.0 Deceleration
LREAL#0.0 Jerk
Direction
BufferMode
PWR
MC_Power
Axis Axis
Enable Status
Busy
Error
ErrorID
HM
MC_Home
Axis
Execute
CommandAborted
MV_ABS
MC_MoveAbsolute
Axis
Done
Busy
Active
CommandAborted
Error
ErrorID
NJ-series CPU Unit Motion Control User's Manual (W507)
Lock
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
Hm_D
Axis
Done
Hm_Bsy
Busy
Hm_Ca
Hm_Err
Error
Hm_ErrID
ErrorID
Mv_Abs_D
Mv_Abs_Bsy
Mv_Abs_Act
Mv_Abs_Ca
Mv_Abs_Err
Mv_Abs_ErrID