Omron NX701-1 User Manual

10-59
10 Sample Programming
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
10-2 Basic Programming
Samples
10
10-2-13 Using a Cam Profile Curve to Correct the Sync Position
// If the input parameters for the motion instructions are not set, the target values and other parameters are set.
IF InitFlag=FALSE THEN
// The input parameters for the MC_MoveVelocity (Velocity Control) instruction are set.
Vel_Vel := LREAL#100.0;
Vel_Acc := LREAL#0.0;
Vel_Dec := LREAL#0.0;
Vel_Dir := _eMC_DIRECTION#_mcPositiveDirection;
// The input parameters for the MC_CamIn (Start Cam Operation) instruction are set.
Camin_Em := TRUE;
Camin_Sm := _eMC_START_MODE#_mcRelativePosition;
Camin_Sp := LREAL#20.0;
Camin_Msd := LREAL#40.0;
Camin_Ms := LREAL#1.0;
Camin_Ss := LREAL#1.0;
Camin_Mo := LREAL#0.0;
Camin_So := LREAL#0.0;
Camin_Rt := _eMC_REFERENCE_TYPE#_mcCommand;
Camin_Dir := _eMC_DIRECTION#_mcNoDirection;
// The input parameters for the MC_GearIn (Start Gear Operation) instruction are set.
Gearin_RatN := UINT#1;
Gearin_RatD := UINT#1;
Gearin_RefTyp := _eMC_REFERENCE_TYPE#_mcCommand;
Gearin_Acc := LREAL#0.0;
Gearin_Dec := LREAL#0.0;
// The input parameters for the MC_CombineAxes (Combine Axes) instruction are set.
Combine_Cm := _eMC_COMBINE_MODE#_mcAddAxes;
Combine_RefMas:=_eMC_REFERENCE_TYPE#_mcLatestCommand;
Combine_RefAux:=_eMC_REFERENCE_TYPE#_mcLatestCommand;
// 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
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;
ST Programming
COMBINE
Combine_Bsy
Combine_Act
Combine_Ca
Combine_InComb
Auxiliary
Active
Busy
Master
InCombination
CommandAborted
Auxiliary
MC_CombineAxes
Master
MC_Axis001
Gearin_Act
SlaveSlave
MC_Axis003
CombineMode
_eMC_COMBINE_MODE#_mcAddAxes
Execute
RatioNumeratorMaster
RatioDenominatorMaster
RatioNumeratorAuxiliary
RatioDenominatorAuxiliary
ReferenceTypeAuxiliary
_eMC_REFERENCE_TYPE#_mcLatestCommand
ReferenceTypeMaster
_eMC_REFERENCE_TYPE#_mcLatestCommand
BufferMode
Camin_Act
MC_Axis002
ErrorID
Error
Combine_Err
Combine_ErrID
If both gear and cam operation are in progress, the Combine Axes instruction is executed.

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English