Omron NJ501-1400 User Manual page 302

10 Sample Programming
If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
Pwr1_Status MC_Axis000.Details.Homed
If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
Pwr2_Status MC_Axis001.Details.Homed
If homing is completed for axis 0, absolute positioning is executed.
Hm1_D
eMC_DIRECTION#_mcPositiveDirection
If the command position for axis 0 is 5000 or less, CamTable0 is changed to TRUE and CamTable1 is changed to FALSE.
If it is over 5000, CamTable0 is changed to FALSE and CamTable1 is changed to TRUE.
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2
3
4
5
6
7
If CamTable0 is TRUE during absolute positioning, then the instance that uses CamProfile0
for the cam table is executed.
If InCam is TRUE, then Execute is changed to FALSE.
CamTable0 SkipCamTable0
Mv_Abs_Act CamTable0 Camin_InCam0 Lock3
10-48
MC_Axis000
MC_Axis001
MC_Axis000
Axis
Execute
LREAL#10000.0
Position
LREAL#2000.0 Velocity
LREAL#2000.0 Acceleration
LREAL#2000.0 Deceleration
Jerk
Direction
BufferMode
IF MC_Axis000.Cmd.Pos<=LREAL#5000.0 THEN
CamTable0:=BOOL#TRUE;
CamTable1:=BOOL#FALSE;
ELSE
CamTable0:=BOOL#FALSE;
CamTable1:=BOOL#TRUE;
END_IF;
HM1
MC_Home
Axis
Execute Done
Busy
CommandAborted
Error
ErrorID
HM2
MC_Home
Axis
Execute Done
Busy
CommandAborted
Error
ErrorID
MV_ABS
MC_MoveAbsolute
Axis
Done
Busy
Active
CommandAborted
Error
ErrorID
NJ-series CPU Unit Motion Control User's Manual (W507)
Hm1_D
Axis
Hm1_Bsy
Hm1_Ca
Hm1_Err
Hm1_ErrID
Hm2_D
Axis
Hm2_Bsy
Hm2_Ca
Hm2_Err
Hm2_ErrID
Mv_Abs_D
Mv_Abs_Bsy
Mv_Abs_Act
Mv_Abs_Ca
Mv_Abs_Err
Mv_Abs_ErrID