Omron NX701-1

10-31
10 Sample Programming
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Programming
Samples
10
10-2-9 Homing and Absolute Positioning
Ladder Diagram
MC_Axis000.MFaultLvl.Active
EN
FaultHandler
FaultHandler
Hm_Bsy
Hm_Ca
Hm_Err
Hm_ErrID
Hm_D
Done
Error
CommandAborted
Axis
Busy
ErrorID
Execute
HM
MC_Home
Axis
MC_Axis000
Pwr_Status MC_Axis000.Details.Homed
Mv_Abs_Act
Mv_Abs_Ca
Mv_Abs_Err
Mv_Abs_ErrID
Mv_Abs_D
Done
Error
CommandAborted
Axis
Active
ErrorID
Execute
MV_ABS
MC_MoveAbsolute
Axis
MC_Axis000
Pwr_Status Hm_D
Mv_Abs_Bsy
BusyPosition
LREAL#50000.0
Acceleration
LREAL#1000.0
Jerk
LREAL#0.0
Velocity
LREAL#10000.0
Deceleration
LREAL#1000.0
Direction
_eMC_DIRECTION#_mcShortestWay
BufferMode
If the Servo is ON and home is defined, absolute positioning is executed.
StartPg
Lock0
MC_Axis000.DrvStatus.Ready
PWR
Error
Axis Axis
Enable Status
Busy
MC_Power
ErrorID
Lock0
MC_Axis000
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
Check if the Servo Drive for axis 0 is ready when StartPg is TRUE.
If the Servo Drive for axis 0 is ready, turn ON the Servo for axis 0.
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 the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.