Omron NX701-1

10 Sample Programming
10-38
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
// If the input parameters for absolute positioning are not set, the target values and other parameters are set.
IF InitFlag = FALSE THEN
// Parameters for MC_MoveAbsolute
Mv_Abs_Pos := LREAL#1000.0;
Mv_Abs_Vel := LREAL#500.0;
Mv_Abs_Acc := LREAL#500.0;
Mv_Abs_Dec := LREAL#500.0;
Mv_Abs_Dir := _eMC_DIRECTION#_mcPositiveDirection;
// The Input Parameter Initialization Completed Flag is changed to TRUE.
InitFlag:=TRUE;
END_IF;
// If the Servo Drive is ready when StartPg is TRUE, turn ON the Servo for axis 0.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) 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;
// If the Servo is ON for axis 0 and home is not defined, the MC_Home instruction is executed.
IF (Pwr_Status=TRUE)
AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex:=TRUE;
END_IF;
// After homing is completed for axis 0, absolute positioning is executed if it is not already in progress.
IF (Hm_D=TRUE)
AND (Mv_Abs_Act=FALSE) THEN
Mv_Abs_Ex := TRUE;
ELSE
Mv_Abs_Ex := FALSE;
END_IF;
// When ReExeSw changes to TRUE, the absolute positioning instruction is re-executed to change the target
position to 2000.
IF ReExeSw=TRUE THEN
Mv_Abs_Pos :=LREAL#2000.0;
Mv_Abs_Ex := TRUE;
END_IF;
//MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
ST Programming