Omron NX701-1 User Manual

10-23
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
In this sample, the MC_GroupStop instruction is executed to decelerate to a stop if an external button
turns ON during execution of the MC_MoveLinearAbsolute (Absolute Linear Interpolation) instruction. If
there is a minor fault level error, the CommandAborted output variable from the MC_GroupStop instruc-
tion changes to TRUE. In that case, the MC_GroupImmediateStop instruction is executed to stop
immediately. If for any reason the Error output variable from the MC_GroupStop instruction changes to
TRUE, the MC_GroupImmediateStop instruction is executed to stop immediately. If the
MC_GroupImmediateStop instruction is executed, the axes group status is Error Deceleration Stop-
ping.
10-2-8 Stopping an Axes Group in Coordinated Motion
Main Variables Used in the Programming Samples
Variable name Data type Default Comment
MC_Group000 _sGROUP_REF --- This is the Axes Group Variable for axes group 0.
MC_Group000.Status.Disabled BOOL FALSE TRUE when axes group 0 is disabled.
MC_Group000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axes
group 0.
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis 0.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 0.
MC_Axis001 _sAXIS_REF --- This is the Axis Variable for axis 1.
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE when there is a minor fault level error for axis 1.
MC_Axis001.Details.Homed BOOL FALSE TRUE when home is defined for axis 1.
Pwr1_Status BOOL FALSE This variable is assigned to the Status output variable
from the PWR1 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output variable
from the PWR2 instance of the MC_Power instruction.
It is TRUE when the Servo is ON.
Grp_Stp_Ca BOOL FALSE This variable is assigned to the CommandAborted
output variable from the GRP_EN instance of the
MC_GroupStop instruction.
Grp_Stp_Err BOOL FALSE This variable is assigned to the Error output variable
from the GRP_EN instance of the MC_GroupStop
instruction.
StartPg BOOL FALSE When StartPg is TRUE, the Servo is turned ON if Eth-
erCAT process data communications are active and
normal.
StopOn BOOL FALSE This variable gives the status of the external button
that is used to stop. The MC_GroupStop instruction is
executed to stop the axes group if this variable is
TRUE.
InitFlag BOOL FALSE TRUE if the input parameters are set for the
MC_MoveLinearAbsolute and MC_GroupStop
instructions.
Grp_En_Ex BOOL FALSE This variable is used to execute the GRP_EN
instance of the MC_GroupEnable instruction. It is
used in ST programming.
Mv_Lin_Abs_Ex BOOL FALSE This variable is used to execute the MV_LIN_ABS
instance of the MC_MoveLinear instruction. It is used
in ST programming.
Grp_Stp_Ex BOOL FALSE This variable is used to execute the GRP_STP
instance of the MC_GroupStop instruction. It is used
in ST programming.
Grp_Imd_Stp_Ex BOOL FALSE This variable is used to execute the GRP_IMD_STP
instance of the MC_GroupImmediateStop instruction.
It is used in ST programming.

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English