Omron NJ501-1400 User Manual page 297

If homing is completed, interrupt feeding is executed.
Hm_D
ST Programming
// If the input parameters for interrupt feeding are not set, the target values and other parameters are set.
IF InitFlag=FALSE THEN
// Parameters for MC_MoveFeed
Mv_Feed_TrigRef.Mode
Mv_Feed_TrigRef.LatchID
Mv_Feed_TrigRef.InputDrive
Mv_Feed_TrigVar
Mv_Feed_Pos
Mv_Feed_Vel
Mv_Feed_Acc
Mv_Feed_Dec
Mv_Feed_Dir
Mv_Feed_Mm
Mv_Feed_FeedDis
Mv_Feed_FeedVel
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag := TRUE;
END_IF;
// When StartPg is TRUE, the Servo is turned ON for axis 0 if process data communications are active and normal.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) 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;
NJ-series CPU Unit Motion Control User's Manual (W507)
Axis
MC_Axis000
MvFeed_TrigRef TriggerInput
Mv_Feed_TrigVar TriggerVariable
Execute
WindowOnly
FirstPosition
LastPosition
ReferenceType
Mv_Feed_Pos Position
Mv_Feed_Vel Velocity
Mv_Feed_Acc
Acceleration
Mv_Feed_Dec
Deceleration
Jerk
Mv_Feed_Dir
Direction
Mv_Feed_Mm MoveMode
Mv_Feed_FeedDis FeedDistance
Mv_Feed_FeedVel FeedVelocity
BufferMode
ErrorDetect
:= _eMC_TRIGGER_MODE#_mcDrive;
:= _eMC_TRIGGER_LATCH_ID#_mcLatch1;
:= _eMC_TRIGGER_INPUT_DRIVE#_mcEncoderMark;
:= FALSE;
:= LREAL#2000.0;
:= LREAL#1000.0;
:= LREAL#10000.0;
:= LREAL#10000.0;
:= _eMC_DIRECTION#_mcCurrentDirection;
:= _eMC_MOVE_MODE#_mcVelocity;
:= LREAL#500.0;
:= LREAL#500.0;
10 Sample Programming
MV_FEED
MC_MoveFeed
Axis
TriggerInput
TriggerVariable
Done
InFeed
Busy
Active
CommandAborted
Error
ErrorID
Mv_Feed_D
Mv_Feed_InFeed
Mv_Feed_Bsy
Mv_Feed_Act
Mv_Feed_Ca
Mv_Feed_Err
Mv_Feed_ErrID
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