Omron NX701-1 User Manual

10-29
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
In this sample, the starting point for homing is assumed to be where the home proximity input is ON.
The Homing Method is set to home proximity input OFF. After homing is completed to define home,
absolute positioning is executed.
Samples are provided for both ladder diagram and ST programming.
10-2-9 Homing and Absolute Positioning
Axis Parameter Settings That Are Related to Homing
Parameter name Setting Description
Homing Method 4: Home proximity input OFF Home is defined where the home proximity input
turns OFF.
Operation Selection at Pos-
itive Limit Input
1: Reverse turn/immediate
stop
The positive limit input is not used, so the default
setting is used for this parameter.
Operation Selection at Neg-
ative Limit Input
2: Reverse turn/deceleration
stop
The axis decelerates to a stop and reverses direc-
tion when the negative limit input is detected.
Homing Start Direction 2: Negative direction When homing is performed, the axis starts moving
in the negative direction.
Home Input Detection
Direction
1: Positive direction Home is detected while the axis moves in the pos-
itive direction.
Main Variables Used in the Programming Samples
Variable name Data type Default Comment
MC_Axis000 _sAXIS_REF --- This is the Axis Variable for axis 0.
MC_Axis000.Status.StandStill BOOL FALSE TRUE while the Servo is OFF 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.
Pwr_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
StartPg BOOL FALSE When StartPg is TRUE, the Servo is turned ON
if EtherCAT process data communications are
active and normal.
Hm_Ex BOOL FALSE This variable is used to execute the MC_Home
instruction. It is used in ST programming.
ON
OFF
ON
OFF
ON
OFF
Home proximity input signal
Home input signal
Home input detection direction
Negative limit input signal
Homing start direction
Homing
completed.
Start
Negative
direction
Positive direction
Absolute positioning
completed.

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English