Omron NX701-1 User Manual

10-25
10 Sample Programming
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Programming
Samples
10
10-2-8 Stopping an Axes Group in Coordinated Motion
GRP_EN
AxesGroup AxesGroup
Execute
Error
ErrorID
CommandAborted
MC_GroupEnable
Done
Busy
MC_Group000
Grp_En_D
Grp_En_Bsy
Grp_En_Ca
Grp_En_Err
Grp_En_ErrID
InitFlag
1
2
3
4
5
6
7
8
9
10
11
Hm1_D Hm2_D
MC_Group000.Status.Disabled
BufferMode
TransitionMode
Acceleration
MV_LIN_ABS
Deceleration
A xesGroup A xesGroup
P osition
Execute
Error
ErrorID
CommandAborted
Jerk
Active
CoordSystem
MC_MoveLinear
Velocity
Done
Busy
MC_Group000
MC_Group000.Status.Ready
Mv_Lin_Abs_Bsy
Mv_Lin_Abs_Ca
Mv_Lin_Abs_Err
Mv_Lin_Abs_ErrID
Mv_Lin_Abs_Act
Mv_Lin_Abs_Pos
Mv_Lin_Abs_Vel
Mv_Lin_Abs_Acc
Mv_Lin_Abs_Dec
Mv_Lin_Abs_Jrk
Mv_Lin_Abs_Cs
Mv_Lin_Abs_Bm
Mv_Lin_Abs_Tm
Mv_Lin_Abs_D
BufferMode
GRP_STP
Deceleration
Active
AxesGroup AxesGroup
Execute Done
Busy
Error
Jerk
MC_GroupStop
CommandAborted
ErrorID
MC_Group000
StopOn MC_Group000.Status.Moving
Grp_Stp_Dec Grp_Stp_Bsy
Grp_Stp_Act
Grp_Stp_Ca
Grp_Stp_Err
Grp_Stp_ErrID
Grp_Stp_D
GRP_IMD_STP
AxesGroup AxesGroup
Execute Done
Busy
Error
MC_GroupImmediateStop
CommandAborted
ErrorID
MC_Group000
Grp_Stp_Err
Grp_Imd_Stp_Bsy
Grp_Imd_Stp_Ca
Grp_Imd_Stp_Err
Grp_Imd_Stp_ErrID
Grp_Imd_Stp_D
Grp_Stp_Ca
// Parameters for MC_MoveLinearAbsolute
Mv_Lin_Abs_Pos [0] := LREAL#3000
Mv_Lin_Abs_Pos [1] := LREAL#3000
Mv_Lin_Vel := LREAL#1000
Mv_Lin_Abs_Acc := LREAL#1000
Mv_Lin_Abs_Dec := LREAL#1000.0;
Mv_Lin_Abs_Jrk := LREAL#1000.0;
// Parameters for MC_GroupStop
Grp_Stp_Dec := LREAL#1000.0;
Grp_Stp_Jrk := LREAL#1000.0;
InitFlag:=TRUE; // InitFlag is made TRUE.
After home is defined for axis 0 and axis 1, the axes group is enabled.
The input parameters for the MC_MoveLinearAbsolute and MC_GroupStop instructions are set.
If the axes group is enabled, linear interpolation is executed.
If the external button turns ON (i.e., StopOn changes to TRUE) during execution of linear interpolation,
the MC_GroupStop instruction is executed to decelerate the axes to a stop.
If the Error or CommandAborted output variable of the MC_GroupStop instruction is TRUE,
the MC_GroupImmediateStop instruction is executed to stop immediately.

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English