Servo Press Library UsersMan en 201611 W573-E1-02

Sysmac Library
User’s Manual
for Servo Press Library
SYSMAC-XR013
W573-E1-02
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe-
less, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of
Microsoft Corporation in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Introduction
Introduction
Thank you for purchasing an NJ/NX-series CPU Unit or an NY-series Industrial PC.
This manual contains information that is necessary to use the function blocks in the Servo Press
Library. (“Function block” is sometimes abbreviated as “FB”.) Please read this manual and make sure
you understand the functionality and performance of the NJ/NX-series CPU Unit before you attempt to
use it in a control system.
This manual provides function block specifications. It does not describe application restrictions or com-
bination restrictions for Controllers, Units, and components.
Refer to the user’s manuals for all of the products in the application before you use any of the products.
Keep this manual in a safe place where it will be available for reference during operation.
Features of the Library

The Servo Press Library is used to generate the operation commands and monitor the operations of
actuator for servo presses with NJ/NX-series CPU Unit or NY-series Industrial PC. You can use the
Servo Press Library to realize the high-speed and high precision servo press control and reduce pro-
gramming work.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical sys-
tems(an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.
Applicable Products
This manual covers the following products.
Item Product name Model numbers Version

Sysmac Library Servo Press Library SYSMAC-XR013 Version 1.0.0 or higher
Automation Software Sysmac Studio SYSMAC-SE2 Version 1.16 or higher
Device CPU Unit NX701- Version 1.10 or later
NJ101-10*1
NJ501- Version 1.08 or later
NJ301-
Industrial PC NY5-1 Version 1.12 or later
*1. You cannot use this function block with the NJ101-90.
Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to
Related Manuals on page 13.
Sysmac Library User’s Manual for Servo Press Library (W573) 1

Manual Structure
Manual Structure
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.

This information is provided to increase understanding or make operation easier.
Version Information
Information on differences in specifications and functionality for CPU Units and Industrial PCs
with different unit versions and for different versions of the Sysmac Studio are given.
Note References are provided to more detailed or related information.
2 Sysmac Library User’s Manual for Servo Press Library (W573)

Manual Structure

CONTENTS
CONTENTS
Introduction .............................................................................................................. 1
Features of the Library................................................................................................................................. 1
Intended Audience....................................................................................................................................... 1
Applicable Products ..................................................................................................................................... 1
Manual Structure ...................................................................................................... 2

Special Information ...................................................................................................................................... 2
CONTENTS................................................................................................................ 4
Terms and Conditions Agreement .......................................................................... 6

Warranty, Limitations of Liability .................................................................................................................. 6
Application Considerations .......................................................................................................................... 7
Disclaimers .................................................................................................................................................. 7
Safety Precautions ................................................................................................... 8
Precautions for Safe Use ....................................................................................... 11
Precautions for Correct Use.................................................................................. 12
Related Manuals ..................................................................................................... 13
Revision History ..................................................................................................... 15
Procedure to Use Sysmac Libraries ..................................................................... 17

Procedure to Use Sysmac Libraries Installed Using the Installer .............................................................. 18
Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC................................ 22
Servo Press Library ............................................................................................... 25

What Is the Servo Press Library? .............................................................................................................. 26
Servo Press Library Functionality .............................................................................................................. 27
Common Specifications of Function Blocks ....................................................... 33

Common Variables .................................................................................................................................... 34
Precautions................................................................................................................................................ 40
Individual Specifications of Function Blocks ...................................................... 41

SP_SingleAxisPrgOpr................................................................................................................................ 42
SP_PrgStatusCtrl....................................................................................................................................... 98
SP_StepCompleteJudge ......................................................................................................................... 115
SP_StepLoadAlarm ................................................................................................................................. 127
SP_PrgLoadAlarm ................................................................................................................................... 135
SingleAxisCtrl .......................................................................................................................................... 143
TorqueToLoad .......................................................................................................................................... 173
LoadToTorque .......................................................................................................................................... 178
PrgOprRsltRec......................................................................................................................................... 182
PrgOprRsltCSVWrite ............................................................................................................................... 192
PrgOprTracePut....................................................................................................................................... 201
PrgOprTraceCSVWrite ............................................................................................................................ 208
XYDataRec .............................................................................................................................................. 218
XYDataToGraph....................................................................................................................................... 228
Appendix ............................................................................................................... 237

Referring to Library Information ............................................................................................................... 238
Referring to Function Block and Function Source Codes........................................................................ 241

CONTENTS

Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
 Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
 Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
 Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combi-
nation with any electrical or electronic components, circuits, system assemblies or any other materi-
als or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.

Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a com-
plete determination of the suitability of the Product in combination with the end product, machine, sys-
tem, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take applica-
tion responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor-
mance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

Safety Precautions
Safety Precautions
Definition of Precautionary Information

The following notation is used in this user’s manual to provide precautions required to ensure safe
usage of an NJ/NX-series Controller and an NY-series Industrial PC.
The safety precautions that are provided are extremely important to safety. Always read and heed the
information provided in all safety precautions.
The following notation is used.
Indicates a potentially hazardous situation which, if not
WARNING
avoided, could result in death or serious injury. Addition-
ally, there may be severe property damage.
Indicates a potentially hazardous situation which, if not
Caution
avoided, may result in minor or moderate injury, or
property damage.
Symbols
The circle and slash symbol indicates operations that you must not do.
The specific operation is shown in the circle and explained in text.
This example indicates prohibiting disassembly.
The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.
The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must
do.

Safety Precautions
Warings
WARNING
Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures
must be provided in external control circuits. Not doing so may result in serious acci-
dents due to incorrect operation.
Using this function block (FB) in a device, confirm that the program and FB operates
properly. Design a program so that safety measures such as fail-safe circuits are
implemented outside of the FB.

Safety Precautions
Cautions
Caution
Read all related manuals carefully before you use this library.
Check the user program, data, and parameter settings for proper execution before
you use them for actual operation.
Keep the emergency stop switch in hand to prevent a sudden operation of the motor
when you perform testing operation.
The sample programming shows only the portion of a program that uses the func-
tion or function block from the library.
When using actual devices, also program safety circuits, device interlocks, I/O with
other devices, and other control procedures.
Understand the contents of sample programming before you use the sample pro-
gramming and create the user program.

Operation
• The Sysmac Library and manuals are assumed to be used by personnel that is given in Intended
Audience in this manual. Otherwise, do not use them.

Using the Library

• You cannot change the source code of the functions or function blocks that are provided in the Sys-
mac Library.
Operation
• Specify the input parameter values within the valid range.
• In the function or function block with an Enabled output variable, if the value of Enabled is FALSE, do
not use the processing result of the function or function block as a command value to the control tar-
get.

Related Manuals
Related Manuals
The following are the manuals related to this manual. Use these manuals for reference.
Manual name Cat. No. Model numbers Application Description

NX-series CPU Unit W535 NX701- Learning the basic specifi- An introduction to the entire NX701 CPU Unit sys-
Hardware User’s Manual cations of the NX-series tem is provided along with the following informa-
NX701 CPU Units, includ- tion on the CPU Unit.
ing introductory information, Features and system configuration
designing, installation, and
Overview
maintenance. Mainly hard-
ware information is pro- Part names and functions
vided General specifications
Installation and wiring
Maintenance and inspection
NX-series NX1P2 CPU W578 NX1P2- Learning the basic specifi- An introduction to the entire NX1P2 CPU Unit sys-
Unit Hardware User’s cations of the NX-series tem is provided along with the following informa-
Manual NX1P2 CPU Units, includ- tion on the CPU Unit.
ing introductory information, Features and system configuration
Overview
maintenance. Mainly hard-
Maintenance and Inspection
NJ-series CPU Unit W500 NJ501- Learning the basic specifi- An introduction to the entire NJ-series system is
Hardware User’s Manual NJ301- cations of the NJ-series provided along with the following information on
CPU Units, including intro- the CPU Unit.
NJ101-
ductory information, design- Features and system configuration
ing, installation, and
maintenance. Overview
Part names and functions
Mainly hardware informa-
tion is provided General specifications
NY-series IPC Machine W557 NY532- Learning the basic specifi- An introduction to the entire NY-series system is
Controller Industrial cations of the NY-series provided along with the following information on
Panel PC Hardware Industrial Panel PCs, the Industrial Panel PC.
User’s Manual including introductory infor- Features and system configuration
mation, designing, installa-
Introduction
tion, and maintenance.
Mainly hardware informa- Part names and functions
tion is provided General specifications
NY-series IPC Machine W556 NY512- Learning the basic specifi- An introduction to the entire NY-series system is
Controller Industrial Box cations of the NY-series provided along with the following information on
PC Hardware User's Industrial Box PCs, includ- the Industrial Box PC.
Manual ing introductory information, Features and system configuration
maintenance. Mainly hard- Introduction

Related Manuals
Manual name Cat. No. Model numbers Application Description

NJ/NX-series CPU Unit W501 NX701- Learning how to program The following information is provided on a Control-
Software User’s Manual NJ501- and set up an NJ/NX-series ler built with an NJ/NX-series CPU Unit.
CPU Unit. CPU Unit operation
NJ301-
Mainly software informa- CPU Unit features
NJ101-
tion is provided
NX1P2- Initial settings
Programming based on IEC 61131-3 language
specifications
NY-series IPC Machine W558 NY532- Learning how to program The following information is provided on NY-series
Controller Industrial NY512- and set up the Controller Machine Automation Control Software.
Panel PC / Industrial Box functions of an NY-series Controller operation
PC Software User’s Industrial PC
Controller features
Manual
Controller settings
Programming based on IEC 61131-3 language
specifications
NJ/NX-series Instruc- W502 NX701- Learning detailed specifica- The instructions in the instruction set (IEC 61131-3
tions NJ501- tions on the basic instruc- specifications) are described.
Reference Manual tions of an NJ/NX-series
NJ301- CPU Unit
NJ101-
NX1P2-
NY-series Instructions W560 NY532- Learning detailed specifica- The instructions in the instruction set (IEC 61131-3
Reference Manual NY512- tions on the basic instruc- specifications) are described.
tions of an NY-series
Industrial PC
NJ/NX-series CPU Unit W507 NX701- Learning about motion con- The settings and operation of the CPU Unit and
Motion Control User's NJ501- trol settings and program- programming concepts for motion control are
Manual NJ301- ming concepts of an described.
NJ101- NJ/NX-series CPU Unit.
NX1P2-
NY-series IPC Machine W559 NY532- Learning about motion con- The settings and operation of the Controller and
Controller Industrial NY512- trol settings and program- programming concepts for motion control are
Panel PC / Industrial Box ming concepts of an described.
PC Motion Control NY-series Industrial PC.
User’s Manual
NJ/NX-series Motion W508 NX701- Learning about the specifi- The motion control instructions are described.
Control Instructions Ref- NJ501- cations of the motion con-
erence Manual NJ301- trol instructions of an
NJ101- NJ/NX-series CPU Unit.
NX1P2-
NY-series Motion Control W561 NY532- Learning about the specifi- The motion control instructions are described.
Instructions Reference NY512- cations of the motion con-
Manual trol instructions of an
NY-series Industrial PC.
Sysmac Studio Version 1 W504 SYSMAC Learning about the operat- Describes the operating procedures of the Sysmac
Operation Manual -SE2 ing procedures and func- Studio.
tions of the Sysmac Studio.
ZW-7000 series Confo- Z362 ZW-7000 Learning how to use the Describes the hardware, setup methods and func-
cal Fiber Type Displace- ZW-7000 series Confocal tions of the ZW-7000 series Confocal Fiber Type
ment Sensor User’s Fiber Type Displacement Displacement Sensors.
Manual’ Sensors.

Revision History
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
Cat. No. W573-E1-02

Revision code
Revision code Date Revised content

01 July 2016 Original production
02 November 2016 Changed the manual name.

Revision History

Procedure to Use Sysmac Libraries

Procedure to Use Sysmac Libraries Installed Using the Installer
Procedure to Use Sysmac Librar-

ies Installed Using the Installer
This section describes the procedure to use Sysmac Libraries that you installed using the installer.
There are two ways to use libraries.
• Using newly installed Sysmac Libraries
• Using upgraded Sysmac Libraries
Version Information
To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.
Using Newly Installed Libraries

1 Start the Sysmac Studio and open or create a new project in which you want to use Sysmac
Libraries.

If you create a new project, be sure to configure the settings as follows to enable the use of
Sysmac Libraries. If you do not configure the following settings, you cannot proceed to the step
2 and later steps.
• Set the project type to Standard Project or Library Project.
• Set the device category to Controller.
• Set the device version to 1.01 or later.

2 Select Project – Library – Show References.
Device

If you have more than one registered device in the project, make sure that the device selected
currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. If you do not select an
NJ/NX-series CPU Unit or an NY-series Industrial PC as the device, Library References does
not appear in the above menu. When the device selected currently is an NJ/NX-series CPU
Unit or an NY-series Industrial PC, the device icon is displayed in the Multiview Explorer.
3 Add the desired Sysmac Library to the list and click the OK Button.
LoadToTorque (Load-to-Torque Conversion)
G5-s
Position, velocity, and function
Servo
torque (load) monitoring TorqueToLoad (Torque-to-Load Conversion)
function
Load C
Unit
The Sysmac Library file is read into the project.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included
in a Sysmac Library appear in the Toolbox.
For the procedure for adding and setting libraries in the above screen, refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504).
4 Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow-
ing two methods.
• Select the desired function block or function in the Toolbox and drag and drop it onto the pro-
gramming editor.
Drug & Drop

• Right-click the programming editor, select Insert Function Block in the menu, and enter the
fully qualified name (\\name of namespace\name of function block).

After you upgrade the Sysmac Studio, check all programs and make sure that there is no error
of the program check results on the Build Tab Page.
Select Project – Check All Programs from the Main Menu.
Using Upgraded Libraries

1 Start the Sysmac Studio and open a project in which any old-version Sysmac Library is
included.
2 Select Project – Library – Show References.
Device

If you have more than one registered device in the project, make sure that the device selected
currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. Otherwise, Library Refer-
ences does not appear in the above menu. When the device selected currently is an
NJ/NX-series CPU Unit or an NY-series Industrial PC, the device icon is displayed in the
Multiview Explorer.
3 Select an old-version Sysmac Library and click the Delete Reference Button.

4 Add the desired Sysmac Library to the list and click the OK Button.

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC
Procedure to Use Sysmac Librar-

ies Uploaded from a CPU Unit or
an Industrial PC
You can use Sysmac Libraries uploaded from a CPU Unit or an Industrial PC to your computer if they
are not installed.
The procedure to use uploaded Sysmac Libraries from a CPU Unit or an Industrial PC is as follows.
Version Information
To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.
1 Start the Sysmac Studio and create a new project in which you want to use Sysmac Libraries.
2 Connect the computer to the CPU Unit or the Industrial PC and place it online.
3 Upload POUs in which any Sysmac Library is used to the computer.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included
in the Sysmac Library used in the uploaded POUs appear in the Toolbox.
4 Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow-
ing two methods.
• Select the desired function block or function in the Toolbox and drag and drop it onto the Lad-
der Editor.
Drug & Drop

• Right-click the programming editor, select Insert Function Block in the menu, and enter the
fully qualified name (\\name of namespace\name of function block).

• The Sysmac Studio installs library files of the uploaded Sysmac Stutio to the specified folder
on the computer if they are not present. However, the Sysmac Studio does not install library
files to the specified folder on the computer if they are present.
The specified folder here means the folder in which library files are installed by the installer.
• Note that uploading Sysmac Libraries from a CPU Unit or an Industrial PC does not install
the manual and help files for the Sysmac Libraries, unlike the case where you install then
using the installer. Please install the manual and help files using the installer if you need
them.


Servo Press Library

What Is the Servo Press Library?
What Is the Servo Press Library?

The Servo Press Library is a collection of software functional objects that control actuators for the servo
presses that are used in assembling and processing machines. The library is provided as function
blocks that are used to build control programming in an NJ/NX-series CPU Unit or an NY-series Indus-
trial PC to generate the Servomotor operation commands that drive the actuator in a servo press, to
monitor operation, and to perform other operations.
System Configuration
The Servo Press Library assumes the following type of system configuration built around an
NJ/NX-series CPU Unit or an NY-series Industrial PC.
Operation commands are generated for a Servomotor that runs an actuator of a servo press according
to an operation pattern prepared in advance. Operation is controlled from the NA/NS-series PT, exter-
nal operation switches, and machine control programming.
The position and load/torque of the actuator used in the servo press are monitored and displayed as
waveforms on an HMI. The operation results and waveform data are saved in memory built into the
CPU Unit or in an SD Memory Card.
NJ/NX-series CPU Unit

NA/NS-series PT
or NY-series Industrial PC
EtherNet/IP
Actuator for servo press G5-series Servo Drive
G5-series Servomotor
EtherCAT
NX-series EtherCAT Slave Terminal
Load cell
Digital I/O Unit
Load Cell Input Unit
External operation switches,
display lamps, etc.
Press-fitting workpiece
Press-fitted workpiece

Servo Press Library Functionality

The Servo Press Library contains software objects that are used to build user programs to control actu-
ators used in servo presses. The Servo Press Library contains the following functions and function
blocks.
NJ/NX-series CPU Unit

or NY-series Industrial PC
Servo press control

programming (user
program) Servo press
actuator
Operations
Operation commands
NA/NS-series
PT G5-series Servo
Servomotor
Monitor and Drive
waveform Function
data
Execution Load data NX-series Load
Load cell
results and Function block Cell Input Unit
SD Memory waveform data
Card
Servo Press Library

objects
Single-axis Program Operation for Servo Press Control

The Servomotor is controlled through a series of operations according to an operation pattern that is
prepared in advance.
The operation pattern can combine different control methods (selectable from position control, velocity
control, torque control, and feedback control), step completion conditions (to set the condition to
change from one operation step to the next step, such as reaching a target position or load), and step
judgment conditions (e.g., monitoring the position or load while an operation step is in progress or after
it ends).
Single-axis program operation Single-axis program operation

started. ended.
Position
Load Position
Load
Time
Step No. 1 2 3 4
Control method Position Velocity Torque Position

control control control control
Step judgments
Step completion condition

Program operation data G5-series Servo

Drive
SP_SingleAxisPrgOpr SP_SingleAxisCtrl
(Single-axis Program Motion instruction (Single-axis Control) Operation
Operation) function block parameters function block commands
Position, velocity, Torque

or torque feedback
LoadToTorque (Load-to-Torque Conversion)

G5-series
Position, velocity, and function
Servomotor
torque (load) monitoring TorqueToLoad (Torque-to-Load Conversion)
function
Load Cell Input
Unit
The related functions and function blocks are as follows:
FB/FUN name Description Reference

SP_SingleAxisPrgOpr Analyzes single-axis program operation data that com- SP_SingleAxisPrgOpr
(Single-axis Program bines multiple single-axis motion controls to generate on page 42
Operation) function block parameters to execute motion instructions.
SingleAxisCtrl Executes motion instructions to operate to the Servo- SingleAxisCtrl on page
(Single-axis Control) motor according to the motion instruction parameters 143
function block generated by the Single-axis Program Operation func-
tion block.
TorqueToLoad Convert units between the load cell measurement val- TorqueToLoad on page
(Torque-to-Load Conversion) ues and Servomotor torque values to monitor the load 173
function value during program operation and perform torque
LoadToTorque feedback control. LoadToTorque on page
(Load-to-Torque Conversion) 178
function
The Single-axis Program Operation function block performs the following four operations.
• Program Status Control
The program operation data is interpreted, and the order of execution is controlled.
• Step Completion Determination
The transition condition for the program operation step is checked to determine when to end the step.
• Step Load Alarm Determination
The load data for each step is checked against a preset condition while program operation is in prog-
ress to determine if an alarm state has occurred.
• Program Load Alarm Determination
The load data is checked against a preset condition while program operation is in progress to deter-
mine if an alarm state has occurred.
This library also contains function blocks that perform these operations individually.
The user can combine multiple function blocks to achieve user-specific single-axis program operation.

G5-series Servo
Drive
SP_SingleAxisPrgOpr SP_SingleAxisCtrl
(Single-axis Program
Program Motion instruction (Single-axis Control) Operation
Operation) function block function block commands
operation data parameters
SP_StepCompleteJudge
(Step Completion G5-series
Determination) function Servomotor
block
SP_StepLoadAlarm (Step
Load Alarm Determination)
function block
SP_PrgLoadAlarm
(Program Load Alarm
Determination) function
block

SP_PrgStatusCtrl The program operation data is interpreted, and the SP_PrgStatusCtrl on
(Program Status Control) order of execution is controlled. page 98
function block
SP_StepCompleteJudge The transition condition for the program operation step SP_StepComplete-
(Step Completion Determina- is checked to determine when to end the step. Judge on page 115
tion) function block
SP_StepLoadAlarm The load data for each step is checked against a preset SP_StepLoadAlarm on
(Step Load Alarm condition while program operation is in progress to page 127
Determination) function block determine if an alarm state has occurred.
SP_PrgLoadAlarm The load data is checked against a preset condition SP_PrgLoadAlarm on
(Program Load Alarm while program operation is in progress to determine if page 135
Determination) function block an alarm state has occurred.

Logging Servo Press Operations, Recording Trace Data, and Saving Data
to an SD Memory Card
The result for the operation for each step of single-axis program operation for servo press operation
and the trace data for the operation are recorded while operation is in progress. You can also save this
data in an SD Memory Card in CSV format.
PrgOpsRsltRec PrgOprRsltCSVWrite
(Program Operation (Program Operation
Result Recorder) Results SD Memory Card
G5-series Servo Execution Write) function block
function block results log
Drive Position,
torque, etc. Saved.
SD Memory Card
PrgOprTracePut PrgOprTraceCSVWrite
(Add Program (Program Operation Trace
Position, Operation Trace Recorder SD Memory
Records) function Trace data Card Write) function block
torque, etc.
G5-series
Saved.
Servomotor
SD Memory Card

PrgOpsRsltRec Records the results of the execution of each step of the PrgOprRsltRec on
(Program Operation Result single-axis program operation as log data. page 182
Recorder) function block
PrgOprRsltCSVWrite Saves the execution results data recorded by the Pro- PrgOprRsltCSVWrite
(Program Operation Results gram Operation Result Recorder function block in an on page 192
SD Memory Card Write) SD Memory Card in CSV format.
function block
PrgOprTracePut Records operation data while single-axis program PrgOprTracePut on
(Add Program Operation operation is in progress as sampled data. page 201
Trace Records) function
PrgOprTraceCSVWrite Saves the trace data recorded with the Add Program PrgOprTraceCSVWrite
(Program Operation Trace Operation Trace Records function in an SD Memory on page 208
Recorder SD Memory Card Card in CSV format.
Write) function block

Servo Press Operation Waveform Data Creation for Graph Display

The data is created to display graphs on an NA/NS-series PT to show the operation waveforms of sin-
gle-axis program operation for a servo press.
G5-series Servo
Drive
XYDataRec (Broken-line
Graph Trace Data XYDataToGraph
Preparation) function (Broken Line Graph
Position, Trace data for
block Display Data
torque, etc. graphs
Conversion) function NA/NS-series PT
G5-series
Servomotor

XYDataRec Samples operation data while single-axis operation is XYDataRec on page
(Broken-line Graph Trace in progress and creates trace data for line graph dis- 218
Data Preparation) function play on the NA/NS-series PT.
block
XYDataToGraph Converts the trace data that was created with the Bro- XYDataToGraph on
(Broken Line Graph Display ken-line Graph Trace Data Preparation function block page 228
Data Conversion) function into a data format that is suitable for displaying as
graphs on the NS-series PT.


Common Specifications of Function Blocks

Common Variables
Common Variables
This section describes the specifications of variables (EN, Execute, Enable, Abort, ENO, Done, Cal-
cRslt, Enabled, Busy, CommandAborted, Error, ErrorID, and ErrorIDEx) that are used for more than
one function or function block. The specifications are described separately for functions, for exe-
cute-type function blocks, and for enable-type function blocks.
Definition of Input Variables and Output Variables

Common input variables and output variables used in functions and function blocks are as follows.
Function/function
block type to use
Data
Variable I/O Function block Meaning Definition
type
Execute- Enable- Function
type type
EN Input BOOL OK Execute The processing is executed while the
variable is TRUE.
Execute OK Execute The processing is executed when the
variable changes to TRUE.
Enable OK Run The processing is executed while the
variable is TRUE.
Abort BOOL OK Abort The processing is aborted.
You can select the aborting method.

Common Variables
Function/function
block type to use
Data
Variable I/O Function block Meaning Definition
type
Execute- Enable- Function
type type
ENO Output BOOL OK Done The variable changes to TRUE when the
processing ends normally.
It is FALSE when the processing ends in
an error, the processing is in progress, or
the execution condition is not met.
Done BOOL OK Done The variable changes to TRUE when the
processing ends normally.
It is FALSE when the processing ends in
an error, the processing is in progress, or
the execution condition is not met.
Busy BOOL OK OK Executing The variable is TRUE when the process-
ing is in progress.
It is FALSE when the processing is not in
progress.
CalcRslt LREAL OK Calculation The calculation result is output.
Result
Enabled BOOL OK Enabled The variable is TRUE when the output is
enabled. It is used to calculate the con-
trol amount for motion control, tempera-
ture control, etc.
Command BOOL OK Command The variable changes to TRUE when the
Aborted Aborted processing is aborted.
It changes to FALSE when the process-
ing is re-executed the next time.
Error BOOL OK OK Error This variable is TRUE while there is an
error.
It is FALSE when the processing ends
normally, the processing is in progress,
or the execution condition is not met.
ErrorID WORD OK OK Error Code An error code is output.
ErrorIDEx DWORD OK OK Expansion An expansion error code is output.
Error Code
Execute-type Function Blocks

• Processing starts when Execute changes to TRUE.
• When Execute changes to TRUE, Busy also changes to TRUE. When processing is completed nor-
mally, Busy changes to FALSE and Done changes to TRUE.
• When continously executes the function blocks of the same instance, change the next Execute to
TRUE for at least one task period after Done changes to FALSE in the previous execution.
• If the function block has a CommandAborted (Instruction Aborted) output variable and processing is
aborted, CommandAborted changes to TRUE and Busy changes to FALSE.
• If an error occurs in the function block, Error changes to TRUE and Busy changes to FALSE.
• For function blocks that output the result of calculation for motion control and temperature control,
you can use the BOOL input variable Abort to abort the processing of a function block. When Abort
changes to TRUE, CommandAborted changes to TRUE and the execution of the function block is
aborted.

Common Variables
Abcd_instance
Abcd
InOut_Val InOut_Val
In-out variables In-out variables
Execute Done
Busy
CommandAborted
Input variables Output variables
Error
ErrorID
ErrorIDEx
• If Execute is TRUE and Done, CommandAborted, or Error changes to TRUE, Done, Command-
Aborted, and Error changes to FALSE when Execute is changed to FALSE.
• If Execute is FALSE and Done, CommandAborted, or Error changes to TRUE, Done,Command-
Aborted, and Error changes to TRUE for only one task period.
• If an error occurs, the relevant error code and expansion error code are set in ErrorID (Error Code)
and ErrorIDEx (Expansion Error Code). The error codes are retained even after Error changes to
FALSE, but ErrorID is set to 16#0000 and ErrorIDEx is set to 16#0000 0000 when Execute changes
to TRUE.
Timing Charts
This section provides timing charts for a normal end, aborted execution, and errors.
 Normal End
Execute
Done
Busy
CommandAborted
Error
ErrorID 16#0000
ErrorIDEx 16#00000000
 Canceled Execution
Execute
Abort
Busy
CommandAborted
Error
ErrorID 16#0000

Common Variables
 Aborted Execution
Execute
Done
Busy
CommandAborted
Error
ErrorID 16#0000
 Errors
Execute
Done
Busy
CommandAborted
Error
ErrorID 16#0000 ErrorID 16#0000 ErrorID
ErrorIDEx 16#00000000 ErrorIDEx 16#00000000 ErrorIDEx

Common Variables
Enable-type Function Blocks

• Processing is executed while Enable is TRUE.
• When Enable changes to TRUE, Busy also changes to TRUE. Enabled is TRUE during calculation of
the output value.
• If an error occurs in the function block, Error changes to TRUE and Busy and Enabled change to
FALSE. When Enable changes to FALSE, Enabled, Busy, and Error change to FALSE.
Abcd_instance
Abcd
InOut_Val InOut_Val
In-out variables In-out variables
Enable Enabled
CalcRslt
Input variables Busy
Output variables
Error
ErrorID
ErrorIDEx
• If an error occurs, the relevant error code and expansion error code are set in ErrorID (Error Code)
and ErrorIDEx (Expansion Error Code). The error codes are retained even after Error changes to
FALSE, but ErrorID is set to 16#0000 and ErrorIDEx is set to 16#0000 0000 when Enable changes to
TRUE.
• For function blocks that calculate the control amount for motion control, temperature control, etc.,
Enabled is FALSE when the value of CalcRslt (Calculation Result) is incorrect. In such a case, do not
use CalcRslt. In addition, after the function block ends normally or after an error occurs, the value of
CalcRslt is retained until Enable changes to TRUE. The control amount will be calculated based on
the retained CalcRslt value, if it is the same instance of the function block that changed Enable to
TRUE. If it is a different instance of the function block, the control amount will be calculated based on
the initial value.
Timing Charts
This section provides timing charts for a normal end and errors.
 Normal End
Enable
Enabled
Retained
CalcRslt Retained
Busy
Error
ErrorID 16#0000

Common Variables
 Errors
Enable
Enabled
Retained
CalcRslt Retained
Busy
Error
ErrorIDEx 16#00000000 ErrorID ErrorID

16#00000000

Precautions
Precautions
This section provides precautions for the use of this function block.
Nesting
You can nest calls to this function block for up to four levels.
For details on nesting, refer to the software user’s manual.
Instruction Options
You cannot use the upward differentiation option for this function block.
Re-execution of Function Blocks

Execute-type function blocks cannot be re-executed by the same instance.
If you do so, the output value will be the initial value.
For details on re-execution, refer to the motion control user’s manual.

Individual Specifications of Function
Blocks
Function block name Name Page

SP_SingleAxisPrgOpr Single-axis Program Operation P.42
SP_PrgStatusCtrl Program Status Control P.98
SP_StepCompleteJudge Step Completion Determination P.115
SP_StepLoadAlarm Step Load Alarm Determination P.127
SP_PrgLoadAlarm Program Load Alarm Determination P.135
SingleAxisCtrl Single-axis Control P.143
TorqueToLoad Torque-to-Load Conversion P.173
LoadToTorque Load-to-Torque Conversion P.178
PrgOprRsltRec Program Operation Results Recorder P.182
PrgOprRsltCSVWrite Write Program Operation Results to SD P.192
Memory Card
PrgOprTracePut Add Program Operation Trace Records P.201
PrgOprTraceCSVWrite Write from Program Operation Trace P.208
Recorder to SD Memory Card
XYDataRec Broken Line Graph Trace Data Prepara- P.218
tion
XYDataToGraph Broken Line Graph Display Data Con- P.228
version

SP_SingleAxisPrgOpr
SP_SingleAxisPrgOpr
The SP_SingleAxisPrgOpr function block executes single-axis program operation that combines multiple sin-
gle-axis motion controls.
Function
FB/
block Name Graphic expression ST expression
FUN
name
SP_Single Sin- FB SP_SingleAxisPrgOpr_instance (
AxisPrg gle-axis SP_SingleAxisPrgOpr_Instance PrgTable,
Opr Program \\OmronLib\ServoPress\SP_SingleAxisPrgOpr PrgLoadAlarm,
PrgTable PrgTable
Opera- Execute,
tion PrgLoadAlarm PrgLoadAlarm Abort,
StartStepNo,
Execute Done
SingleMode,
Abort MCCmdExec Position,
Velocity,
StartStepNo SingleCmdProfile
Load,
SingleMode CurrentStepNo MCCmdDone,
StepCompleteCode,
Position StepLoadAlarmOut SingleCmdProfileNo,
Velocity PrgLoadAlarmOut Done,
MCCmdExec,
Load ExtrOutputCode SingleCmdProfile,
CurrentStepNo,
MCCmdDone StepExec
StepLoadAlarmOut,
StepCompleteCode StepCompleted PrgLoadAlarmOut,
ExtrOutputCode,
SingleCmdProfileNo Busy
StepExec,
CommandAborted StepCompleted,
Busy,
Error
CommandAborted,
ErrorID Error,
ErrorID,
ErrorIDEx ErrorIDEx);
Function Block and Function Information
Item Description
Library file name OmronLib_ServoPress_V1_0.slr
Namespace OmronLib\ServoPress
Function block and function number 00071
Publish/Do not publish source code Not published.
Function block and function version 1.00

SP_SingleAxisPrgOpr
Variables
Input Variables
Name Meaning Data type Default Valid range Unit Description

Execute trigger for this
function block
Depends on
Execute Execute BOOL FALSE --- Executes the function
data type.
block when it changes
to TRUE.
Abort trigger for this
function block
Depends on
Abort Abort BOOL FALSE --- Aborts the function
data type.
to TRUE.
Execution
Step number from which
StartStepNo Start Step USINT 0 0 to 50 ---
to start execution
Number
This variable indicates
whether to execute
operation in Single
Mode.
Depends on
SingleMode Single Mode BOOL FALSE --- TRUE: Execute opera-
data type.
tion in Single Mode.
FALSE: Do not execute
operation in Single
Mode.
Com- The current position
Current Posi- Depends on
Position LREAL 0 mand monitor input for the
tion data type.
units controlled system.
Com- The current velocity
Current Depends on
Velocity LREAL 0 mand monitor input for the
Velocity data type.
units/s controlled system.
The current load moni-
Depends on Load
Load Current Load LREAL 0 tor input for the con-
data type. units*1
trolled system.
Motion instruction com-
Motion pletion
MCCmd Depends on
Instruction BOOL FALSE ---
Done data type. TRUE: Completed
Completion
FALSE: Not completed.
Step This code is matched to
Step Com-
Complete USINT 0 0 to 255 --- the step completion
plete Code
Code condition.
When you consecutively
execute multiple sin-
gle-axis motion control
Single-axis
instructions, this num-
SingleCmd Command
USINT 0 0 to 10 --- ber indicates the ordi-
ProfileNo Profile Num-
nal number of the
ber
current single-axis
motion control instruc-
tion.

SP_SingleAxisPrgOpr
*1. The unit of load is not specified in this function block. Uniquely set newtons (N) or % as a torque conversion
value in the user program that uses this function block.
Output Variables
Name Meaning Data type Valid range Unit Description

Completion of execution
TRUE: Normal end
Depends on
Done Done BOOL --- FALSE: Error end, execution in
data type.
progress, or execution condition
not met
Motion
Function ARRAY[0.
Depends on Execution trigger for next
MCCmdExec Block Exe- .9] OF ---
data type. motion function block
cution Trig- BOOL
ger
Omron-
Lib\Servo
Single-axis
Press\sSI Single-axis control instruction
SingleCmdProfile Command --- ---
NGLE_C table for each step
Profile
MD_PRO
FILE
Current Step The number of the step being
CurrentStepNo USINT 0 to 50 ---
Number executed.
This variable indicates whether
a step load alarm occurred in
the current step.
StepLoadAlarm Step Load Depends on
BOOL --- TRUE: A step load alarm
Out Alarm data type.
occurred.
FALSE: A step load alarm did
not occur.
This variable indicates whether
a program load alarm occurred
in the current single-axis pro-
PrgLoadAlarm Program Depends on gram operation.
BOOL ---
Out Load Alarm data type. TRUE: A program load alarm
occurred.
FALSE: A program load alarm
did not occur.
External Code that is output for each
ExtrOutputCode USINT 0 to 255 ---
Output Code step that is completed.
Step Start Depends on
StepExec BOOL --- The start trigger for the step.
Trigger data type.
Step Com-
Depends on The completion trigger for the
StepCompleted pleted Trig- BOOL ---
data type. step.
ger
Executing
Depends on
Busy Executing BOOL --- TRUE: Executing
data type.
FALSE: Not executing
Execution aborted
Command Instruction Depends on
BOOL --- This variable changes to TRUE
Aborted Aborted data type.
if the instruction is aborted.

SP_SingleAxisPrgOpr

Error end
TRUE: Error end
Depends on
Error Error BOOL --- FALSE: Normal end, execut-
data type.
ing, or execution conditions not
met
An error code is output if an
*1
error occurs.
ErrorID Error Code WORD ---
The value is WORD#16#0 for a
normal end.
An expansion error code is set
Expansion if an error occurs.
ErrorIDEx DWORD *1 ---
Error Code The value is DWORD#16#0 for
a normal end.
*1. For details, refer to Troubleshooting on page 81.
 Structure
The data type of the SingleCmdProfile output variable is the structure OmronLib\ServoPress\sSIN-
GLE_CMD_PROFILE. The specifications are as follows:
Name Meaning Description Data type Valid range Unit Default

Sin- Omron-
gle-axis Lib\ServoPres
Single-axis control instruc-
SingleCmdProfile Com- s\sSIN- --- --- ---
tion tables
mand Pro- GLE_CMD_P
file ROFILE
Sin- ARRAY[1..10]
gle-axis OF Omron-
Single-axis control instruc-
SingleCmdData Com- Lib\ServoPres
tion profile datas
mand s\sSTEP_CM-
Data D_DATA
The control method.
0: Deceleration stop
1: Absolute positioning
Control
CtrlCode 2: Relative positioning USINT 0 to 5 --- 0
Method
3: CSV mode Velocity control
4: Torque control
5: Torque feedback control
Com-
Position *1
Position The position set value. LREAL mand 0
Set Value
units
Com-
Velocity
Velocity The velocity set value. LREAL *1 mand 0
Set Value
units/s
Accelera- Com-
The acceleration rate set
Acceleration tion Rate LREAL *1 mand 0
value.
Set Value units/s2
Decelera- Com-
The deceleration rate set
Deceleration tion Rate LREAL *1 mand 0
value.
Set Value units/s2
Com-
Jerk Set
Jerk The jerk set value. LREAL *1 mand 0
Value
units/s3

SP_SingleAxisPrgOpr

Direction
_mcPositiveDirection: Posi-
tive direction
_mcShortestWay: Shortest
way _mcPosi-
_eMC
Direction Direction _mcNegativeDirection: Neg- *1 --- tiveDirec-
_DIRECTION
ative direction tion
_mcCurrentDirection: Cur-
rent direction
_mcNoDireciton: No direc-
tion specified
The buffer mode selection.
_mcAborting: Aborting
_mcBuffered: Buffered
_mcBlendingLow: Blending
Buffer low _eM-
_mcAbort
BufferMode Mode _mcBlendingPrevious: C_BUFFER_- *1 ---
ing
Selection Blending previous MODE
_mcBlendingNext: Blending
next
_mcBlendingHigh: Blending
high
Torque
Torque The torque set value. LREAL *1 % 0
Set Value
Torque
Torque
Ramp Set The torque ramp set value. LREAL *1 %/s 0
Ramp
Value
Torque Enable whether to enable the posi-
Limit Positive tive torque limit. Depends on
BOOL --- FALSE
Positive Torque data type.
TRUE: Enabled.
Enable Limit
FALSE: Disabled
Torque Enable whether to enable the nega-
Limit Negative tive torque limit. Depends on
BOOL --- FALSE
Negative Torque data type.
TRUE: Enabled.
Enable Limit
FALSE: Disabled
Torque
Positive
Limit 0.0 or 0.1 to
Torque The positive torque limit. LREAL % 300.0
Positive 1000.0
Limit
Val
Torque
Negative
Limit 0.0 or 0.1 to
Torque The negative torque limit. LREAL % 300.0
Negative 1000.0
Limit
Val
Omron-
Torque
Lib\Servo-
TorqueFbk Feedback Torque feedback control
Press\sTORQ *1 --- ---
Params Parame- parameters
UE_FBK_PAR
ters
AMS
Propor-
Kp tional The proportional gain. LREAL 0.0 to 3000.0 --- 1.0
Gain

SP_SingleAxisPrgOpr

Integral
Ki The integral gain.*2 LREAL 0.0 to 3000.0 --- 1.0
Gain
Derivative
Kd The derivative gain.*3 LREAL 0.0 to 3000.0 --- 1.0
Gain
Torque
Torque
Lower The output torque lower limit. LREAL −1,000.0 to 0.0*4 0.1% −300.0
LowLmt
Limit
Torque
TorqueUp The output torque upper
Upper LREAL 0.0 to 1000.0*4 0.1% 300.0
Lmt limit.
Limit
InTorque In Torque The width for determining if
LREAL 0.0 to 100.00*4 0.1% 0.1
Width Width the target torque is reached.
*1. The valid range depends on the value of CtrlCode (Control Method). For details on the valid range, refer to Valid Ranges
of SingleCmdProfile (Single-axis Command Profile) Members on page 67.
*2. The integration time is 1 s.
*3. The derivative time is 1 s.
*4. The value is rounded to the second decimal place.
In-Out Variables

ARRAY[1..50] OF
Program Omron- Program tables that con-
PrgTable --- ---
Tables Lib\ServoPress\s tains settings for each step.
PRG_TABLE
Omron-
Program
Lib\ServoPress\s Conditions necessary for
PrgLoadAlarm Load Alarm --- ---
PRG_LOAD_ALA program load alarm to occur
Conditions
RM
 Structure
The data type of the PrgTable in-out variable is the structure OmronLib\ServoPress\sPRG_TABLE.
The specifications are as follows:

ARRAY[1..50] OF
Program tables that con-
Program Omron-
PrgTable tains settings for each --- --- ---
Tables Lib\ServoPress\sP
step.
RG_TABLE
Omron-
StepCmd Step Com- Instruction data for each
Lib\ServoPress\sS --- --- ---
Data mand Data step
TEP_CMD_DATA

SP_SingleAxisPrgOpr

Control method
0: Single-axis program
operation completion
1: Absolute positioning
2: Relative positioning
3: CSV mode velocity
Control control 0 to 7 or 31 to
CtrlCode USINT --- 0
Method 4: Torque control 39
5: Torque feedback con-
trol
6: Operation hold
7: Skip
8 to 30: Reserved
31 to 39: User defined
Position Set Command
Position The position set value. LREAL *1 0
Value units*2
Velocity Set Command
Velocity The velocity set value. LREAL *1 0
Value units/s
Accelera-
Accelera- The acceleration rate set Command
tion Rate LREAL *1 0
tion value. units/s2
Set Value
Decelera-
Decelera- The deceleration rate set Command
tion Rate LREAL *1 0
tion value. units/s2
Set Value
Jerk Set Command
Jerk The jerk set value. LREAL *1 0
Value units/s3
Direction
_mcPositiveDirection:
Positive direction
_mcShortestWay: Short-
est way _mcPosi
_eMC
Direction Direction _mcNegativeDirection: *1 --- tiveDi-
_DIRECTION
Negative direction rection
_mcCurrentDirection:
Current direction
_mcNoDireciton: No
direction specified
The buffer mode selec-
tion.
_mcBuffered: Buffered
_mcBlendingLow: Blend-
Buffer Buffer Mode ing low _eMC_BUFFER_- _mcAbo
*1 ---
Mode Selection _mcBlendingPrevious: MODE rting
Blending previous
_mcBlendingNext: Blend-
ing next
_mcBlendingHigh: Blend-
ing high
Torque Set
Torque The torque set value. LREAL *1 % 0
Value

SP_SingleAxisPrgOpr

Torque
Torque The torque ramp set
Ramp Set LREAL *1 %/s 0
Ramp value.
Value
Torque
Enable Posi- whether to enable the
Limit positive torque limit. Depends on
tive Torque BOOL --- FALSE
Positive data type.
Limit TRUE: Enabled
Enable
FALSE: Disabled
Torque whether to enable the
Enable Neg-
Limit negative torque limit. Depends on
ative Torque BOOL --- FALSE
Negative data type.
Limit TRUE: Enabled
Enable
FALSE: Disabled
Torque
Limit Positive 0.0 or 0.1 to
The positive torque limit. LREAL % 300
Positive Torque Limit 1000.0
Val
Torque
Limit Negative 0.0 or 0.1 to
The negative torque limit. LREAL % 300
Negative Torque Limit 1000.0
Val
Torque Torque OmronLib\Servo-
Torque feedback control
Fbk Feedback Press\sTORQUE_ *1 --- ---
parameters
Params Parameters FBK_PARAMS
Proportional
Kp Proportional gain LREAL 0.0 to 3,000.0 --- 1.0
Gain
Integral
Ki Integral gain*3 LREAL 0.0 to 3,000.0 --- 1.0
Gain
Derivative
Kd Derivative gain*4 LREAL 0.0 to 3,000.0 --- 1.0
Gain
Torque Torque The output torque lower −1,000.0 to
LREAL 0.1% -300.0
LowLmt Lower Limit limit. 0.0*5
Tor-
Torque The output torque upper 0.0 to
queUp LREAL 0.1% 300.0
Upper Limit limit. 1,000.00*5
Lmt
The width for determining
InTorque In Torque
if the target torque is LREAL 0.0 to 100.00*5 0.1% 0.1
Width Width
reached.
Extr Code that is output for
External
Output each step that is com- USINT 0 to 255 --- 0
Output Code
Code pleted.
Omron-
Step Step Com-
The completion condition Lib\ServoPress\sS
Complete pletion Con- --- --- ---
for step. TEP_CMPLETE_
Data dition
DATA

SP_SingleAxisPrgOpr

Completion type for step
0: Wait for completion of
motion instruction
1: Target absolute posi-
tion
2: Target relative position
3: Target velocity
4: Target load or higher
5: Target load or lower
6: Step complete code
Complete Step Com- match 0 to 11 or 31 to
USINT --- 0
Type pletion Type 7: Continuous detection of 39
position load gradient
8: Continuous load
decrease
9: Continuous load
increase
10: Continuous position
control target
11: Wait
12 to 30: Reserved
The timeout time for the
Step Time- step. Positive num-
TimeOut TIME ms 0
out Time 0: Do not monitor for time- ber or 0
outs.
Step Time- The step number to exe-
TimeOut cute after step timeout.
out Next
NextStep USINT 0 to 50 --- 0
Step Num- 0: End single-axis pro-
No
ber gram operation.
The positioning in-position
Positioning Command
InPos width when value of Com-
In-position LREAL 0.0 to 1000.0 units for 0
Width pleteType is 1, 2, 3, 4, 5,
Width monitoring
or 7.
The target absolute posi- Command
Absolute Target Abso- Depends on
tion when value of Com- LREAL units for 0
Position lute Position data type.
pleteType is 1. monitoring
The target relative posi- Command
Relative Target Rela- Depends on
tion when value of Com- LREAL units for 0
Position tive Position data type.
pleteType is 2. monitoring
Command
The target velocity when
Target Depends on units per
Velocity value of CompleteType is LREAL 0
Velocity data type. second for
3.
monitoring
The target load when
Depends on
Load Target Load value of CompleteType is LREAL Load units*6 0
data type.
4 or 5.
Step Step Com- The step complete code
Depends on
Complete plete Code set value when value of USINT --- 0
data type.
Code Set Value CompleteType is 6.

SP_SingleAxisPrgOpr

The gradient of position
Position load that determines that Load
InflPoint Depends on
Load Gradi- step is completed when LREAL units*6/Com ---
Gradient data type.
ent value of CompleteType is mand units
7.
The absolute position to
Minimum
Monitor start monitoring velocity or Depends on Command
Monitoring LREAL 0
MinPos load when value of Com- data type. units
Position
pleteType is 3, 4, 5, or 7.
The absolute position to
Maximum
Monitor stop monitoring velocity or Depends on Command
Monitoring LREAL 0
MaxPos load when value of Com- data type. units
Position
pleteType is 3, 4, 5, or 7.
The elapsed time from
start of step until load
Monitor Monitoring Positive num-
monitoring starts when TIME ms 0
StartTime Start Time ber or 0
value of CompleteType is
8 or 9.
The elapsed time from
start of step until load
Monitor Monitoring Positive num-
monitoring ends when TIME ms 0
EndTime End Time ber or 0
value of CompleteType is
8 or 9.
The threshold of number
Number of
of consecutive position
InflPoint Consecu-
load gradients that deter-
Gradient tive Position USINT 1 to 255 --- 1
mines that step is com-
Count Load Gradi-
pleted when value of
ents
CompleteType is 7.
Number of
of consecutive load
Load Consecu-
decreases that deter-
Decrease tive Load USINT 1 to 255 --- 1
Count Decreases
Threshold
CompleteType is 8.
Number of
of consecutive load
Load Consecu-
increases that deter-
Increase tive Load USINT 1 to 255 --- 1
Count Increases
Threshold
CompleteType is 9.
The next step number to
execute when value of
Step Num- CompleteType is 3, 4, 5,
Unachiev-
ber When 7, 8, or 9 and step was
edNext USINT 0 to 50 --- 0
Step Not not completed.
StepNo
Completed
0: End single-axis pro-
gram operation.
The wait time when value Positive num-
WaitTime Wait Time TIME ms 0
of CompleteType is 11. ber or 0
Omron-
Step Load
StepLoad The conditions for step Lib\ServoPress\sS
Alarm Con- --- --- ---
Alarm load alarm. TEP_LOAD_ALA
ditions
RM

SP_SingleAxisPrgOpr

The type of step load
alarm determination.
0: Do not perform deter-
mination.
Step Load 1: Perform determination
StepAlarm Alarm Deter- while step execution is in 0 to 2 or 31 to
USINT --- 0
Type mination progress. 39
Type
2: Perform determination
when step is completed.
3 to 30: Reserved
Monitoring
Reference
Monitor Range Mini- The minimum position of Depends on
LREAL units for 0
MinPos mum Posi- monitoring range. data type.
monitoring*7
tion
Monitoring Reference
Monitor Range Maxi- The maximum position of Depends on unit for
LREAL 0
MaxPos mum Posi- monitoring range. data type. monitor-
tion ing.*7
Upper/Lowe
r Monitoring Reference
InPos The upper/lower monitor-
Limit LREAL 0.0 to 1000.0 units for 0
Width ing limit in-position width.
In-position monitoring*7
Width
Monitoring The lower limit of load that
Monitor Depends on
Load Range determines that no step LREAL Load units*6 0
MinLoad data type.
Lower Limit load alarm occurred.
Monitoring The upper limit of load
Monitor Depends on
Load Range that determines that no LREAL Load units*6 0
MaxLoad data type.
Upper Limit step load alarm occurred.
*1. The valid range depends on the value of CtrlCode (Control Method). For details on the valid range, refer to Valid Ranges
of SingleCmdProfile (Single-axis Command Profile) Members on page 67.
*2. For details, refer to Unit Conversion Settings in the motion control user’s manual.
*6. The unit of load is not specified in this function block. Uniquely set newtons (N) or % as a torque conversion value in the
user program that uses this function block.
*7. This reference unit depends on the target axis parameter unit setting. It is specified as the absolute position from the axis
home.
The data type of the PrgLoadAlarm in-out variable is the structure OmronLib\ServoPress\sPRG_-
LOAD_ALARM. The specifications are as follows:

Program Omron-
PrgLoad Load The program load alarm condi- Lib\ServoPress\
--- --- ---
Alarm Alarm tions. sPRG_-
Conditions LOAD_ALARM

SP_SingleAxisPrgOpr

The type of program load alarm
Program determination.
Load 0: Do not perform determination.
PrgAlarm Alarm 1: Trapezoid area determination USINT 0 to 2 or 31 to 39 --- 0
Type Determi-
2: Rectangle area determination
nation
Type 3 to 30: Reserved
31 to 39:User defined
The standard type for determina-
tion.
Standard
UnitType 0: Elapsed time from start of exe- USINT 0 or 1 --- 0
Type
cution of the function block
1: Current position of axis
ARRAY[0..4] OF
Trapezoid Trapezoid
The trapezoid area data. sPLA_TRAPEZ_ --- --- ---
Data Area Data
DATA
The type of determination condi-
tion for trapezoid area data.
Alarm Alarm 0: Do not perform determination. USINT 0 to 2 --- 0
Type Type
1: Outside area
2: Inside area
Monitor-
Monitor ing Lower The elapsed time*1 until monitor-
Positive number or
Lower Limit ing starts when value of UnitType TIME ms 0
0
Time Elapsed is 0.
Time
Monitor-
Monitor ing Upper The elapsed time*1 until monitor-
Positive number or
Upper Limit ing ends when value of UnitType TIME ms 0
0
Time Elapsed is 0.
Time
Refer-
Minimum ence
Monitor The lower limit position of monitor-
Monitor- Depends on data units
Lower ing range when value of UnitType LREAL 0
ing Posi- type. for
Pos is 1.
tion moni-
toring
Refer-
Maximum ence
Monitor The upper limit position of the
Upper monitoring range when the value LREAL 0
ing Posi- type. for
Pos of UnitType is 1.
tion moni-
toring
Monitor-
LoadMin ing Start The lower limit of the load at the Depends on data Load
LREAL 0
Lower Point Mini- monitoring start point. type. units*2
mum Load
Monitor-
ing Start
LoadMax The upper limit of the load at the Depends on data Load
Point Max- LREAL 0
Lower monitoring start point. type. units*2
imum
Load
Monitor-
LoadMin ing End The lower limit of the load at the Depends on data Load
LREAL 0
Upper Point Mini- monitoring end point. type. units*2
mum Load

SP_SingleAxisPrgOpr

Monitor-
ing End
LoadMax The upper limit of the load at the Depends on data Load
Point Max- LREAL 0
Upper monitoring end point. type. units*2
imum
Load
ARRAY[0..9] OF
Rectangle Rectangle
The rectangle area data. sPLA_RECTA_- --- --- ---
Data Area Data
DATA
The type of determination condi-
tion for trapezoid area data.
Alarm Alarm 0: Do not perform determination. USINT 0 to 2 --- 0
Type Type
1: Outside area
2: Inside area
Monitor-
Monitor ing Lower The elapsed time*1 until monitor-
Positive number or
Lower Limit ing starts when value of UnitType TIME ms 0
0
Time Elapsed is 0.
Time
Monitor-
Monitor ing Upper The elapsed time*1 until monitor-
Positive number or
Upper Limit ing ends when value of UnitType TIME ms 0
0
Time Elapsed is 0.
Time
Refer-
Minimum ence
Monitor The lower limit position of monitor-
Lower ing range when value of UnitType LREAL 0
ing Posi- type. for
Pos is 1.
tion moni-
toring
Refer-
Maximum ence
Monitor The upper limit position of the
Upper monitoring range when the value LREAL 0
ing Posi- type. for
Pos of UnitType is 1.
tion moni-
toring
Load
LoadMin Depends on data Load
Lower The lower limit of the load. LREAL 0
Limit type. units*2
Limit
Load
LoadMax Depends on data Load
Upper The upper limit of the load. LREAL 0
Limit type. units*2
Limit
Upper/Lo Refer-
wer Moni- ence
The upper/lower limit in-position
InPos toring units
range when the value of UnitType LREAL 0.0 to 1000.0 0
Width Limit for
is 1.
In-posi- moni-
tion Width toring
*1. This parameter gives the elapsed time from when execution of the function block starts.
*2. The unit of load is not specified in this function block. Uniquely set newtons (N) or % as a torque conversion value in the
user program that uses this function block.

SP_SingleAxisPrgOpr
Function
This function block executes single-axis program operation that combines multiple motion controls,
including position control, velocity control, torque control, and torque feedback control in combination
with the SingleAxisCtrl (Single-axis Control) function block.
This function block also performs the following.
• Performs step load alarm determination for each step of the single-axis program operation.
• Performs program load alarm determination through the entire single-axis program operation.
This section describes the following items.

• Defining single-axis program operation that combines multiple single-axis motion controls
• Step command data
• Step completion condition
• Connections with the SingleAxisCtrl (Single-axis Control) function block
• Step load alarm determination
• Program load alarm determination

SP_SingleAxisPrgOpr
Defining Single-axis Program Operation That Combines Multiple

Single-axis Motion Controls
Use the PrgTable (Program Tables) in-out variable to define the single-axis program operation that
combines multiple single-axis motion controls.
 PrgTable (Program Tables)

PrgTable is a structure array that gives the settings for a series of single-axis motion controls in
order of execution. The following conceptual diagram illustrates PrgTable.
PrgTable[1] StepCmdData StepCompleteData

Control method: Absolute positioning Completion type: Target absolute position
Position set value: 100 Step timeout time: 10 s
Velocity set value: 10/s Target absolute position: 100
: :
Control method: CSV mode velocity control Completion type: Target relative position
Velocity set value: 20/s Target relative position: 20
: :
Executed PrgTable[3] StepCmdData StepCompleteData
in order. Control method: Relative positioning Completion type: Target load
Velocity set value: 120/s Target load: 90 N
: :
Control method: Absolute positioning Completion type: Target velocity
Velocity set value: 200/s Target velocity: 20/s
:
: :
: :
Control method: Decelerate to a stop Completion type: Target load
Velocity set value: 20/s Target load: 100 N
:
The members of PrgTable include StepCmdData (Step Command Data), StepCompleteData (Step
Completion Condition), and StepLoadAlarm (Step Load Alarm Conditions). Of these, step load
alarm determination is described below for StepLoadAlarm.
StepCmdData is a data set that describes aspects of individual motion controls, such as the control
method, position set value, and velocity set value.
StepCompleteData is a data set that describes the completion conditions for the motion controls that
are given in StepCmdData.
When single-axis program control is started, the motion control given in PrgTable[1].StepCmdData
is executed first. When the completion condition given in PrgTable[1].StepCompleteData is met, the
motion control given in PrgTable[2].StepCmdData is executed next. This function block is completed
(i.e.,Done is TRUE) if one of the following conditions is met.
• The condition satisfied PrgTable.StepCompleteData (Step Completion Condition) in the step for
which CtrlCode is set to 0 (single-axis program operation completion).
(Example 1) In the step for which CtrlCode is set to 0 (single-axis program operation completion)
and CompleteType is set to 0 (wait for completion of motion instruction), after the completion of
the MC_Stop instruction (CtrlCode is set to 0) that is executed in the SingleAxisCtrl function block,
Done changes to TRUE and this function block is completed.

SP_SingleAxisPrgOpr
(Example 2) In the step for which CtrlCode is set to 0 (single-axis program operation completion)
and CompleteType is set to 1 (target absolute position), if the Position (Current Position) input
variable in this function block becomes to AbsolutePosition (i.e., a condition of end) according the
MC_Stop instruction executed in the SingleAxisCtrl function block, Done changes to TRUE and
this function block is completed.
• Controls up to PrgTable[50] are executed.
• Execution of the step specified with StartStepNo (Execution Start Step Number) is completed
when SingleMode is TRUE.
• A timeout occurred during a step for which TimeOutNextStepNo is set to USINT#0.
• A step for which UnachievedNextStepNo is set to USINT#0 was not completed.
The stages of single-axis program operation given in the array elements of PrgTable are called
steps. Also, the element numbers in PrgTable are called the step numbers. The flow of a series of
steps is called the step sequence.
The PrgTable array size is 50. Therefore, you can set a maximum of 50 single-axis program opera-
tion steps.

If UnachievedNextStepNo is set to 0 and the step completion conditions are not met, Done
changes to TRUE and this function block is completed. At this time, the MC_Stop (Stop)
instruction will not be executed for the next SingleAxisCtrl (Single-axis Control) function block.
Set UnachievedNextStepNo to a value other than 0 and specify the operation if the step com-
pletion conditions are not met.

SP_SingleAxisPrgOpr
Step Command Data

Specify the motion controls to execute for the steps with PrgTable.StepCmdData (Step Command
Data).
Specify the control methods for motion controls with CtrlCode (Control Method). If the value of CtrlCode
is between 0 to 5, the motion control instructions or motion control in the SingleAxisCtrl (Single-axis
Control) function block that is connected after this function block are executed. The following table
gives the relation between the value of CtrlCode, the control method, and the motion control instruction
that is executed in the SingleAxisCtrl (Single-axis Control) function block.
Value of CtrlCode Control method Motion control instruction or motion control function
Single-axis program opera-
0 MC_Stop Instruction
tion completion
1 Absolute positioning MC_MoveAbsolute (Absolute Positioning) instruction
2 Relative positioning MC_MoveRelative (Relative Positioning) instruction
3 CSV mode velocity control CSV mode velocity control
4 Torque control MC_TorqueControl (Torque Control) instruction
5 Torque feedback control Torque feedback control
6 Operation hold ---
7 Skip ---
 Operation Hold
When CtrlCode is set to USINT#6, motion control instructions are not executed in the SingleAxisCtrl
(Single-axis Control) function block. Therefore, the motion control instruction operation that was
executed in the previous step is held.
Velocity
Step 1 Step 2 Step 3
CSV mode velocity Operation Relative positioning
control hold
MC_Axis000
Velocity Profile
Time
 Skip
If CtrlCode is set to USINT#7, the function block immediately moves to the next step. This control
method is called skipping.

SP_SingleAxisPrgOpr
Step Completion Condition

Specify the completion conditions for the steps with PrgTable.StepCompleteData (Step Completion
Condition).
Specify the step completion type with CompleteType (Step Completion Type). The following table
shows the relation between the value of CompleteType and the step completion type.
Value of CompleteType Step completion type

0 Wait for completion of motion instruction
1 Target absolute position
2 Target relative position
3 Target velocity
4 Target load or higher
5 Target load or lower
6 Step complete code match
7 Continuous detection of position load gradient
8 Continuous load decrease
9 Continuous load increase
10 Continuous position control target
11 Wait
The meanings of the step completion types and the meaning of timeout are explained below.
 Wait for Completion of Motion Instruction (CompleteType = USINT#0)

When the MCCmdDone (Motion Instruction Completion) input variable changes to TRUE, the step is
ended.
This completion condition is selected when the completion of the motion control instruction (i.e.,
Done is TRUE) is used as a step completion condition.
 Target Absolute Position (CompleteType = USINT#1)

It is determined that the step is completed when the difference between the axis current position and
the value of AbsolutePosition (Target Absolute Position) is equal to or lower than the value of Step-
CompleteData.InPosWidth (Positioning In-position Width).
The following conceptual diagram illustrates reaching the target absolute position.
Position StepCompleteData.InPosWidth
AbsolutePosition
Current position
of the axis
Step started. Step ended. Time

SP_SingleAxisPrgOpr
 Target Relative Position (CompleteType = USINT#2)

It is determined that the step is completed when the difference between the axis current position and
the value of (Current position of the axis at the start of the step + RelativePosition (Target Relative
Position)) is less than or equal to the value of StepCompleteData.InPosWidth (Positioning In-position
Width).
The following conceptual diagram illustrates reaching the target relative position.
Position RelativePosition StepCompleteData.InPosWidth
Current
position of
the axis
Step started. Step ended. Time
 Target Velocity (CompleteType = USINT#3)

If the current velocity of the axis at the start of the step is lower than the value of StepComplete-
Data.Velocity (Target Velocity), it is determined that the step is completed when the current velocity
of the monitoring target is equal to or higher than the value of StepCompleteData.Velocity.
If the current velocity of the monitoring target at the start of the step is higher than the value of Step-
CompleteData.Velocity, it is determined that the step is completed when the current velocity of the
monitoring target is equal to or lower than the value of StepCompleteData.Velocity.
However, step completion is only determined when the current position of the monitoring target is
between (MonitorMinPos (Minimum Monitoring Position) + StepCompleteData.InPosWidth (Posi-
tioning In-position Width)) and (MonitorMaxPos (Maximum Monitoring Position) - StepComplete-
Data.InPosWidth). If the step is not completed even when the current position of the monitoring
target exceeds MonitorMinPos - StepCompleteData.InPosWidth, the step is ended immediately, and
processing moves to the step specified with UnachievedNextStepNo (Step Number When Step Not
Completed). The single-axis program operation ends if UnachievedNextStepNo is USINT#0.
The following conceptual diagram illustrates reaching the target velocity.
Step completion StepCompleteData.InPosWidth

determination range
Velocity
StepCompleteData.Velocity
Step ended.
Step started.
Current velocity of
the monitoring
target
Position
MonitorMinPos MonitorMaxPos
It is determined that the step is completed when MonitorMinPos = MonitorMaxPos, regardless of the
current position of the monitoring target.

SP_SingleAxisPrgOpr
 Target Load or Higher (CompleteType = USINT#4)

If the current load of the monitoring target is equal to or higher than the value of StepComplete-
Data.Load (Target Load), it is determined that the step is completed.
target exceeds MonitorMinPos − StepCompleteData.InPosWidth, the step is ended immediately,
and processing moves to the step specified with UnachievedNextStepNo (Step Number When Step
Not Completed). The single-axis program operation ends if UnachievedNextStepNo is USINT#0.
The following conceptual diagram illustrates being equal to or higher than the target load.

determination range
Load value
Step ended.
StepCompleteData.Load
Step started. Current load value of

the monitoring target
Position

SP_SingleAxisPrgOpr
 Target Load or Lower (CompleteType = USINT#5)

If the current load of the monitoring target is equal to or lower than the value of StepComplete-
Data.Load (Target Load), it is determined that the step is completed.
The following conceptual diagram illustrates being equal to or lower than the target load.

determination range
Load value
Step started.
Current load value of
the monitoring target
Step ended.
StepCompleteData.Load
Position
 Step Complete Code Match (CompleteType = USINT#6)

It is determined that the step is completed when the value of the StepCompleteCode (Step Com-
plete Code) input variable in this function block matches the value of StepCompleteData.StepCom-
pleteCode (Step Complete Code Set Value).
Use this when you want to end the step under any conditions.

SP_SingleAxisPrgOpr
 Continuous Detection of Position Load Gradient (CompleteType = USINT#7)

The position load gradient is defined with the following formula.
Load for the current task period - Load for the previous task period
Position load gradient =
Current position in the current task period - Current position in the previous task period
It is determined that the step is completed when the relation between the current load gradient and
the value of InflPointGradient (Position Load Gradient) satisfies the following formula in consecutive
task periods for more than InflPointGradientCount (Number of Consecutive Position Load Gradi-
ents).
• InflPointGradient > 0
Position load gradient > InflPointGradient
• InflPointGradient < 0
Position load gradient < InflPointGradient
The following conceptual diagram illustrates a continuous detection of position load gradient.
Current load value of Step completion StepCompleteData.InPosWidth

the monitoring target determination range
Load value
Step ended.
The number of consecutive task periods with a
gradient that exceeds InflPointGradient equals
InflPointGradientCount or higher.
Previous task period
Step started.
Position

SP_SingleAxisPrgOpr
 Continuous Load Decrease (CompleteType = USINT#8)

It is determined that the step is completed when the load decreases to less than the load of the pre-
vious task period consecutively for the number of times or more than LoadDecreaseCount (Number
of Consecutive Load Decreases Threshold).
However, it is determined that the step is completed only when the elapsed time from the start of the
step is between MonitorStartTime (Monitoring Start Time) and MonitorEndTime (Monitoring End
Time). If the step is not completed even when the elapsed time exceeds MonitorEndTime, the step
is ended immediately, and processing moves to the step specified with UnachievedNextStepNo
(Step Number When Step Not Completed). The single-axis program operation ends if Unachieved-
NextStepNo is USINT#0.
The following conceptual diagram illustrates a continuous load decrease.
Step completion
Current load for determination range
the axis
The load decrease continues for LoadDecreaseCount
Load value or more times.
Step ended.
Step started.
MonitorStartTime MonitorEndTime Elapsed time

It is determined that the step is completed when MonitorStartTime = MonitorEndTime, regardless of
the elapsed time from the start of the step.

SP_SingleAxisPrgOpr
 Continuous Load Increase (CompleteType = USINT#9)

It is determined that the step is completed when the load increases to higher than the load of the
previous task period consecutively for the number of times or more than LoadIncreaseCount (Num-
ber of Consecutive Load Increases Threshold).
However, it is determined that the step is completed only when the elapsed time from the start of the
step is between MonitorStartTime (Monitoring Start Time) and MonitorEndTime (Monitoring End
Time). If the step is not completed even when the elapsed time exceeds MonitorEndTime, the step
is ended immediately, and processing moves to the step specified in UnachievedNextStepNo (Step
Number When Step Not Completed). The single-axis program operation ends if UnachievedNext-
StepNo is USINT#0.
The following conceptual diagram illustrates a continuous load increase.
Current load for Step completion

the axis determination range
Load value
Step ended.
Step started.
The load increase continues for LoadIncreaseCount

or more times.
MonitorStartTime MonitorEndTime Elapsed time

It is determined that the step is completed when MonitorStartTime = MonitorEndTime, regardless of
the elapsed time from the start of the step.
 Continuous Position Control Target (CompleteType = USINT#10).

When CtrlCode is set to USINT#1 (absolute positioning) or CtrlCode is set to USINT#2 (relative
positioning), you can perform continuous position control by setting the value of StepCmdData.Buf-
ferMode (Buffer Mode Selection) to one of the following: _mcBlendingLow (Blending Low), _mc-
BlendingPrevious (Blending Previous), _mcBlendingNext (Blending Next), or _mcBlendingHigh
(Blending High).
To perform continuous position control, set the step complete condition to continuous position con-
trol target.
 Wait (CompleteType = USINT#11)

After the step starts, it is determined that the step is completed when the time set in WaitTime (Wait
Time) has elapsed. If the value of WaitTime is higher than the value set in TimeOut (Step Timeout
Time), the step will time out when the time set in TimeOut has elapsed from the start of the step.
 Timeout
If the step is not completed even if the time set in TimeOut (Step Timeout Time) has elapsed from
the start of the step, it will be determined that the step timed out. If a timeout occurs, the process
moves to the step specified in TimeOutNextStepNo (Step Timeout Next Step Number). The sin-
gle-axis program operation ends when TimeOutNextStepNo is USINT#0.

If TimeOutNextStepNo is set to 0 and the step timeout occurs, Done changes to TRUE and this
function is completed. At this time, the MC_Stop (Stop) instruction will not be executed for the
next SingleAxisCtrl (Single-axis Control) function block. Set TimeOutNextStepNo to a value
other than 0 and specify the operation if the step timeout occurs.

SP_SingleAxisPrgOpr
Connections with the SingleAxisCtrl (Single-axis Control) Function

Block
When this function block is executed in a user program, the SingleAxisCtrl (Single-axis Control) func-
tion block is connected as the next function block.
The role of this function block is to output MCCmdExec (Motion Function Block Execution Trigger) and
SingleCmdProfile (Single-axis Command Profile) to the SingleAxisCtrl (Single-axis Control) function
block at the appropriate timing for each step.
MCCmdExec is the execution trigger for the SingleAxisCtrl (Single-axis Control) function block.
SingleCmdProfile is a data set that describes the single-axis motion control for each step. The Single-
AxisCtrl (Single-axis Control) function block interprets SingleCmdProfile, and executes single-axis
motion control for each step.
A simplified connection between this function block and the SingleAxisCtrl (Single-axis Control) func-
tion block is given in the following figure. The following table gives the three signal lines to connect.
Signal line in the connected SingleAxisCtrl (Single-Axis Control)

Signal line in this function block
function block
MCCmdExec[0] Execute
SingleCmdProfile SingleCmdProfile
SingleCmdProfileNo SingleCmdProfileNo
SP_SingleAxisPrgOpr SingleAxisCtrl
SingleCmdProfile SingleCmdProfile
SingleCmdProfileNo MCCmdExec Execute SingleCmdProfileNo

SP_SingleAxisPrgOpr
 Valid Ranges of SingleCmdProfile (Single-axis Command Profile) Members

The valid ranges for SingleCmdProfile (Single Command Profile) depend on the value of CtrlCode
(Control Method). The following table shows the relationship between the value of CtrlCode and the
valid ranges of the members.
Also, the values listed in the following table are the same as those for the valid ranges of StepCmd-
Data (Step Command Data). Three hyphens (---) in the table mean that any setting will be disabled.
Value of CtrlCode
1: Absolute posi-
Member 0: Deceleration tioning 5: Torque feed-
3: Velocity control 4: Torque control
stop 2: Relative posi- back control
tioning
Positive number,
Position --- negative number or --- --- ---
0
Positive number,
Positive number or Positive number or
Velocity --- Positive number negative number or
0 0
0
Acceleration --- --- ---
0 0
Positive number or Positive number or Positive number or
Deceleration --- ---
0 0 0
Jerk --- --- ---
0 0
_mcPositiveDirec-
tion
_mcShortestWay _mcPositiveDirec-
_mcNegativeDirec- tion
Direction --- --- ---
tion _mcNegativeDirec-
_mcCurrentDirec- tion
tion
_mcNoDireciton
_mcAborting
_mcBuffered
_mcBlendingLow
Buffer _mcAborting
_mcAborting _mcBlendingPrevi- --- ---
Mode _mcBuffered
ous
_mcBlendingNext
_mcBlendingHigh
Torque --- --- --- 0 to 1000.0 −1,000.0 to 1,000.0
Torque Positive number or Positive number or
--- --- ---
Ramp 0 0
Torque
Limit
TRUE or FALSE TRUE or FALSE TRUE or FALSE TRUE or FALSE TRUE or FALSE
Positive
Enable
Torque
Limit
TRUE or FALSE TRUE or FALSE TRUE or FALSE TRUE or FALSE TRUE or FALSE
Negative
Enable
Torque
Limit
0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0
Positive
Val

SP_SingleAxisPrgOpr
Value of CtrlCode
1: Absolute posi-
Member 0: Deceleration tioning 5: Torque feed-
3: Velocity control 4: Torque control
stop 2: Relative posi- back control
tioning
Torque
Limit
0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0 0.0 or 0.1 to 1000.0
Negative
Val
TorqueFbk *1
--- --- --- ---
Params
*1. For details, refer to Torque Feedback Control Function on page 162.
Step Load Alarm Determination

Error determination is performed for the axis current position and load for each step in a single-axis pro-
gram operation. This function is called step load alarm determination. Also, an error that occurs is
known as a step load alarm. When a step load alarm occurs, the StepLoadAlarmOut (Step Load Alarm)
output variable changes to TRUE.
 Settings for Step Load Alarm Conditions

Step load alarm determination conditions are set for each step with StepLoadAlarm (Step Load
Alarm Conditions).
 StepAlarmType (Step Load Alarm Determination Type)

StepAlarmType (Step Load Alarm Determination Type) indicates the type of step load alarm determi-
nation for the step. The following table shows the relation between the value of StepAlarmType and
the step load alarm determination type.
Value of StepAlarmType Step load alarm determination type

0 Do not perform step load alarm determination.*1
Perform determination while step execution is in
1
progress.
2 Perform determination when step is completed.
*1. The value of StepLoadAlarmOut is always FALSE.

SP_SingleAxisPrgOpr
 Perform Determination While Step Execution Is in Progress (StepAlarmType

= USINT#1)
If StepAlarmType is set to USINT#1, determination is performed while the step is in progress.
Load error determination is performed for the step in progress when the current position of the axis
is between (MonitorMinPos (Monitoring Range Minimum Position) + StepLoadAlarm.InPosWidth
(Upper/Lower Monitoring Limit In-position Width)) and (MonitorMaxPos (Monitoring Range Maxi-
mum Position) − StepLoadAlarm.InPosWidth).
Error determination is not performed when the current position of the axis is not between (MonitorM-
inPos + StepLoadAlarm.InPosWidth) and (MonitorMaxPos − StepLoadAlarm.InPosWidth). If that is
the case, the value of StepLoadAlarmOut changes to FALSE.
The following table shows the relation between the current position of the axis, the load, and the
value of StepLoadAlarmOut.
Value of Step-
Current position of the axis Load value
LoadAlarmOut
Less than (MonitorMinPos + StepLoadA-
--- FALSE
larm.InPosWidth)
Less than MonitorMinLoad TRUE
Between (MonitorMinPos + StepLoadA-
Between MonitorMinLoad and
larm.InPosWidth) and (MonitorMaxPos - StepLoad- FALSE
MonitorMaxLoad, inclusive
Alarm.InPosWidth)
Greater than MonitorMaxLoad. TRUE
Greater than (MonitorMaxPos − StepLoadA-
--- FALSE
larm.InPosWidth)
The relations given in the above table are illustrated in the following diagram.
StepLoadAlarm.InPosWidth
Load value
MonitorMaxLoad StepLoadAlarmOut = TRUE

StepLoadAlarmOut = FALSE
MonitorMinLoad
MonitorMinPos MonitorMaxPos Current position

SP_SingleAxisPrgOpr
 Perform Determination When Step Is Completed (StepAlarmType = USINT#2)

If StepAlarmType is set to USINT#2, determination is performed when the step is completed.
Error determination is performed for the current position of the axis and the load when the step is
completed. The value of StepLoadAlarmOut changes to FALSE until the step is completed. The fol-
lowing table shows the relation between the current position of the axis, the load, and the value of
StepLoadAlarmOut when the step is completed.
Value of Step-
Current position of the axis Load value
LoadAlarmOut
Less than (MonitorMinPos + StepLoadA-
--- TRUE
larm.InPosWidth)
Less than MonitorMinLoad TRUE
Between (MonitorMinPos + StepLoadA-
Between MonitorMinLoad and
larm.InPosWidth) and (MonitorMaxPos - StepLoad- FALSE
MonitorMaxLoad, inclusive
Alarm.InPosWidth)
Greater than MonitorMaxLoad. TRUE
Greater than (MonitorMaxPos − StepLoadA-
--- TRUE
larm.InPosWidth)
StepLoadAlarm.InPosWidth
Load value
MonitorMaxLoad StepLoadAlarmOut = TRUE

StepLoadAlarmOut = FALSE
MonitorMinLoad
MonitorMinPos MonitorMaxPos Current position
Program Load Alarm Determination

The function block determines load and current position errors throughout an entire single-axis program
operation. This function is called program load alarm determination. Also, an error that occurs is known
as a program load alarm. When a program load alarm occurs, the PrgLoadAlarmOut (Program Load
Alarm) output variable changes to TRUE.
 Setting Program Load Alarm Conditions

Set the conditions for program load alarm determination with the PrgLoadAlarm (Program Load
Alarm Conditions) in-out variable.

SP_SingleAxisPrgOpr
 PrgAlarmType (Program Load Alarm Determination Type)

PrgAlarmType (Program Load Alarm Determination Type) indicates the type of program load alarm
determination. The following table shows the relation between the value of PrgAlarmType and the
program load alarm determination type.
Value of PrgAlarmType Program load alarm determination type

0 Do not perform program load alarm determination.*1
1 Trapezoid area determination
2 Rectangle area determination
*1. The value of PrgLoadAlarmOut is always FALSE.
 Trapezoid Area Determination

Trapezoid area determination is performed when PrgAlarmType is set to USINT#1.
The trapezoid area is evaluated for errors that result from the relation between the trapezoid area
and the load. Trapezoid area determination is performed when the time that has elapsed from the
start of execution of this function block is between MonitorUpperTime (Monitoring Upper Limit
Elapsed Time) and MonitorLowerTime (Monitoring Lower Limit Elapsed Time), inclusive.
The trapezoid area must be enclosed within the following four points: LoadMaxUpper (Monitoring
End Point Maximum Load) and LoadMinUpper (Monitoring End Point Minimum Load) at the maxi-
mum elapsed time, and LoadMaxLower (Monitoring Start Point Maximum Load) and LoadMinLower
(Monitoring Start Point Minimum Load) at the minimum elapsed time.
The following conceptual diagram illustrates the trapezoid area.
Load value
LoadMaxUpper
Trapezoid area
LoadMaxLower
LoadMinUpper
LoadMinLower
MonitorLowerTime MonitorUpperTime Elapsed time
You can set the current position of the axis as the reference type to evaluate outside the time
elapsed from the execution of this function block. To do so, read the above figure as if MonitorUp-
perTime were replaced with (MonitorUpperPos + PrgLoadAlarm.InPosWidth) and MonitorLower-
Time as if it were replaced with (MonitorLowerPos − PrgLoadAlarm.InPosWidth).
Set the reference type to evaluate with UnitType (Standard Type), as given in the following table.
Value of UnitType Standard type for determination

0 Elapsed time from start of execution of the function block
1 Current position of the axis

SP_SingleAxisPrgOpr
You can select whether to perform error determination when the load is within the trapezoid area or
when the load is outside the trapezoid area. The following table shows how to set AlarmType (Alarm
Type) to specify whether error determination is performed inside or outside the area.
Value of AlarmType Area for error determination

1 Outside area
2 Inside area
Load error determination is not performed when the elapsed time is not between MonitorUpperTime
and MonitorLowerTime, inclusive. If that is the case, the value of PrgLoadAlarmOut changes to
FALSE.
The following table shows the relation between the elapsed time, the value of AlarmType, the load,
and the value of PrgLoadAlarmOut.
Value of Alarm- Value of PrgLoadAlar-

Elapsed time Load value
Type mOut
Less than MonitorLowerTime --- --- FALSE
Outside area TRUE
1
Between MonitorLowerTime and Inside area FALSE
MonitorUpperTime, inclusive Outside area FALSE
2
Inside area TRUE
Greater than MonitorUpperTime --- --- FALSE
• AlarmType = USINT#1
Load value
LoadMaxUpper
LoadMaxLower PrgLoadAlarmOut = TRUE

LoadMinUpper PrgLoadAlarmOut = FALSE
LoadMinLower

SP_SingleAxisPrgOpr
Load value
LoadMaxUpper
LoadMaxLower PrgLoadAlarmOut = TRUE

LoadMinUpper PrgLoadAlarmOut = FALSE
LoadMinLower
MonitorLowerTime MonitorUpperTime
Elapsed time
TrapezoidData (Trapezoid Area) is a size 5 array. Therefore, you can set a maximum of five trape-
zoid areas.
 Rectangle Area Determination

Rectangle area determination is performed when PrgAlarmType is USINT#2.
Rectangle area determination is evaluated for errors that result from the relation between the rectan-
gle area and the load. Rectangle area determination is performed when the time that has elapsed
from the start of execution of this function block is between MonitorUpperTime (Monitoring Upper
Limit Elapsed Time) and MonitorLowerTime (Monitoring Lower Limit Elapsed Time).
The rectangle area must be enclosed within the following four straight lines: MonitorUpperTime
(Monitoring Upper Limit Elapsed Time) and MonitorLowerTime (Monitoring Lower Limit Elapsed
Time) of the elapsed time, and LoadMaxLimit (Load Upper Limit) and LoadMinLimit (Load Lower
Limit) of the elapsed time. The following conceptual diagram illustrates the rectangle area.
Load value
LoadMaxLimit
Rectangle area
LoadMinLimit

You can set the current position of the axis as the reference type to evaluate outside the time
elapsed from the execution of this function block. To do so, read the above figure as if MonitorUp-
perTime were replaced with (MonitorUpperPos + PrgLoadAlarm.InPosWidth) and MonitorLower-
Time as if it were replaced with (MonitorLowerPos − PrgLoadAlarm.InPosWidth).
Set the reference type to evaluate with UnitType (Standard Type), as given in the following table.
Value of UnitType Standard type for determination

0 Elapsed time from start of execution of the function block
1 Current position of the axis

SP_SingleAxisPrgOpr
You can select whether to perform error determination when the load is within the rectangle area or
when the load is outside the rectangle area. The following table shows how to set AlarmType (Alarm
Type) to specify whether error determination is performed inside or outside the area.
Value of AlarmType Area for error determination

1 Outside area
2 Inside area
Load error determination is not performed when the elapsed time is not between MonitorUpperTime
and MonitorLowerTime, inclusive. If that is the case, the value of PrgLoadAlarmOut changes to
FALSE.
The following table shows the relation between the elapsed time, the value of AlarmType, the load,
and the value of PrgLoadAlarmOut.
Value of Alarm- Value of PrgLoadAlar-

Elapsed time Load value
Type mOut
Less than MonitorLowerTime --- --- FALSE
Outside area TRUE
1
Between MonitorLowerTime and Inside area FALSE
MonitorUpperTime, inclusive Outside area FALSE
2
Inside area TRUE
Greater than MonitorUpperTime --- --- FALSE
Load value
LoadMaxLimit
PrgLoadAlarmOut = TRUE
LoadMinLimit PrgLoadAlarmOut = FALSE

Load value
LoadMaxLimit
PrgLoadAlarmOut = TRUE
LoadMinLimit PrgLoadAlarmOut = FALSE

RectangleData (Rectangle Data) is a size 10 array. Therefore, you can set a maximum of 10 rectan-
gle areas.

SP_SingleAxisPrgOpr
Meanings of Variables
The meanings of the other variables are described below.
 StartStepNo (Execution Start Step Number)

This variable is used to specify the step number to start execution of single-axis program operation.
For example, if StartStepNo is set to USINT#4, the execution of the operation starts from Prg-
Table[4].
However, if StartStepNo is set to USINT#0, the function block is ended immediately and single-axis
program operation is not executed.
 SingleMode (Single Mode)

The execution of only a certain step without execution of a step sequence set with PrgTable (Pro-
gram Tables) is called Single Mode. If you change the value of SingleMode (Single Mode) to TRUE
and execute this function block, only the step specified with StartStepNo (Execution Start Step Num-
ber) is executed and execution of this function block is ended.
 Position (Current Position), Velocity (Current Velocity), and Load (Current

Load)
These variables are used to input the current position monitor, the current velocity monitor, and the
current load monitor for the controlled system. These values are used in step completion determina-
tion, step load alarm determination, and program load alarm determination.
 MCCmdDone (Motion Instruction Completion)

This variable indicates when execution of the current motion control instruction is completed. It is
used to set waiting for motion instruction completion as a condition for completion of a step.
It is determined that the step is completed when the value of MCCmdDone (Motion Instruction Com-
pletion) is TRUE.
 StepCompleteCode (Step Complete Code)

This variable is used to set step complete code match as a condition for completion of a step.
It is determined that the step is completed when the value of the StepCompleteCode (Step Com-
plete Code) matches the value of StepCompleteData.StepCompleteCode (Step Complete Code Set
Value). For details on step completion conditions, refer to Step Completion Condition on page 59.
 SingleCmdProfileNo (Single-axis Command Profile Number)

When you consecutively execute multiple single-axis motion control instructions, this number indi-
cates the ordinal number of the current single-axis motion control instruction. Connect this variable
to the SingleCmdProfileNo output variable in the SingleAxisCtrl (Single-axis Control) function block.
 MCCmdExec (Motion Function Block Execution Trigger)

An execution trigger for the SingleAxisCtrl (Single-axis Control) function block that connects to the
SP_SingleAxisPrgOpr function block is output to MCCmdExec[0]. Connect MCCmdExec[0] to the
Execute input variable in the SingleAxisCtrl (Single-axis Control) function block.

SP_SingleAxisPrgOpr
 SingleCmdProfile (Single-axis Command Profile)

SingleCmdProfile is a data set that describes the single-axis motion control for each step and it is
input to the SingleAxisCtrl (Single-axis Control) function block.
Connect this variable to the SingleCmdProfile in-out variable in the SingleAxisCtrl (Single-axis Con-
trol) function block.
 CurrentStepNo (Current Step Number)

This variable gives the number of the current step. When single-axis program operation is stopped,
the final output value is retained.
 ExtrOutputCode (External Output Code)

This is the external output code that is set with PrgTable.ExtrOutputCode (External Output Code).
The code is output in the next task period for each step that is completed. Use it when you want to
detect the completion of a specific step from outside the function block.
 StepExec (Step Start Trigger)

This variable is used to notify the next function block that a step has started. Every time a step is
started, its value changes to TRUE for one task period.
 StepCompleted (Step Completed Trigger)

This variable is used to notify the next function block that a step has ended. Every time a step is
ended, its value changes to TRUE for one task period.

SP_SingleAxisPrgOpr
Timing Charts
The timing charts for the SP_SingleAxisPrgOpr function block are given together with the timing charts
for the SingleAxisCtrl (Single-axis Control) function block that is connected after it.
The following timing chart shows the operation patterns given in the sample programming of this func-
tion block. The behavior of output variables in the SingleAxisCtrl (Single-axis Control) function block will
change according to the settings of PrgTable (Program Tables).
 Normal End
• Busy (Executing) changes to TRUE when Execute in the function block changes to TRUE. If
MCCmdExec (Motion Function Block Execution Trigger) changes to TRUE in the same task
period, Busy (Executing) in the SingleAxisCtrl (Single-axis Control) function block also changes to
TRUE.
• When the step sequence is completed, the execution of the function block is ended. When Busy
changes to FALSE, Done changes to TRUE. The example in the following figure uses four steps.
• Step completion determination is performed based on StepCompleteData (Step Completion Con-
dition), so the completion of the execution of the SingleAxisCtrl (Single-axis Control) function
block may lag behind the completion of the execution of the SP_SingleAxisPrgOpr function block.
• ExtrOutputCode (External Output Code) is output when execution of the next step after the com-
pleted step starts.
• The value of ExtrOutputCode (External Output Code) in the final step is retained even after Done
changes to TRUE.
SP_SingleAxisPrgOpr FB
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
Done
FALSE
MCCmdExec[0] TRUE
FALSE
ExtrOutputCode 0 1 2 3 4
SingleAxisCtrl FB
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
CommandAborted
FALSE
Velocity
MC_Axis000
Velocity Profile
Time
Step No.1 Step No.2 Step No.3
Step No.4 (End)

SP_SingleAxisPrgOpr
 Aborting Execution
The following timing chart gives an example when executing the MC_Stop (Stop) instruction at the
same time as Abort in this function block is executed.
• When the value of Abort is changed to TRUE, the processing is aborted.
• The value of ExtrOutputCode (External Output Code) that is being output when processing is
aborted is retained even after processing is aborted.
Execute TRUE
FALSE
TRUE
Abort
FALSE
TRUE
Busy
FALSE
TRUE
Done
FALSE
TRUE
CommandAborted
FALSE
MCCmdExec[0] TRUE
FALSE
ExtrOutputCode 0 1
SingleAxisCtrl FB
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
CommandAborted
FALSE
MC_Stop Instruction
TRUE
Execute
FALSE
Velocity
MC_Axis000
Velocity Profile
Time
Step No.1 Step No.2

SP_SingleAxisPrgOpr
 Error End
The following timing chart gives an example when a control method outside the range is specified to
StepCmdData (Step Command Data) in the third step of PrgTable (Program Tables).
• If an error occurs during execution of this function block, Error changes to TRUE for two task peri-
ods. You can find out the cause of the error by referring to the values output by ErrorID (Error
Code) and ErrorIDEx (Expansion Error Code).
• The value of ExtrOutputCode (External Output Code) that is being output when an error occurs is
retained even after the function block is ended for the error.
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
Done
FALSE
TRUE
Error
FALSE
ErrorID 16#0000 16#3C4A
ErrorIDEx 16#0000 0000 16#0003 0003
MCCmdExec[0] TRUE
FALSE
ExtrOutputCode 0 1 2
SingleAxisCtrl FB
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
CommandAborted
FALSE
Velocity
MC_Axis000
Velocity Profile
Time
Step No.1 Step No.2 Step No.3 (Error occurs.)

SP_SingleAxisPrgOpr

• Connect the SingleCmdProfileNo (Single-axis Command Profile Number) output variable in the Sin-
gleAxisCtrl (Single-axis Control) function block to the SingleCmdProfileNo (Single-axis Command
Profile Number) input variable in the SP_SingleAxisPrgOpr function block. If you do not connect
these variables, step sequence progress management may not be normal when you perform contin-
uous position control (i.e., blending).
• Execute the SP_SingleAxisPrgOpr function block and the SingleAxisCtrl (Single-axis Control) func-
tion block in the same task when you connect these two function blocks. If these two function blocks
are executed in the different task, the motion control may not be correctly executed.
• Even if execution ends before the PrgTable[50] step, the MC_Stop (Stop) instruction will not be exe-
cuted for the next SingleAxisCtrl (Single-axis Control) function block.
• If CtrlCode is set to USINT#6 (operation hold) and the motion control instruction for the previous step
is not completed, the operation continues at the set value of the motion control instruction for the pre-
vious step.
• If CompleteType is set to USINT#1 (target absolute position), measurement positions from an exter-
nal sensor or other measurement device are input to Position (Current Position). If the measurement
position cannot follow the target value, it may be determined that the step is completed immediately
after the step starts. Make adjustments so that the measurement position can follow the target value.
• If CompleteType is set to USINT#3 (target velocity), input the command current velocity to Velocity
(Current Velocity).
• If CompleteType is set to USINT#1 (target absolute position) or USINT#2 (target relative position),
measurement positions from an external sensor or other measurement device are input to Position
(Current Position). If noise or other disturbances are present, it may be determined that the step is
completed immediately after the step starts. In cases like this, change the step completion conditions.
• To perform continuous position control (i.e., blending), set CompleteType to USINT#10 (continuous
position control target). If the step completion condition is set to any other setting, step sequence
progress management may not be normal.
• When CtrlCode is set to USINT#1 (absolute positioning) or CtrlCode is set to USINT#2 (relative posi-
tioning), you can perform continuous position control by setting the value of StepCmdData.Buffer-
Mode (Buffer Mode Selection) to one of the following: _mcBlendingLow (Blending Low),
_mcBlendingPrevious (Blending Previous), _mcBlendingNext (Blending Next), or _mcBlendingHigh
(Blending High). However, the following restrictions apply:
a) All values must be the same in Buffer Mode.
b) There must be no more than 10 continuous position control instructions.

• If you use TorqueLimitPisitiveVal (Positive Torque Limit) or TorqueLimitNegativeVal (Negative
Torque Limit) in this function block, make sure to connect the TorqueLimitParam (Torque
Limit Settings) output variable in the SingleAxisCtrl (Single-axis Control) function block that is
combined with this function block to the MC_SetTorqueLimit (Set Torque Limit) instruction.
• If execution of the SP_SingleAxisPrgOpr function block is aborted, function blocks used in
combination with it, such as the SingleAxisCtrl (Single-axis Control) function block, will not
stop. Create a user program that stops axis processing when the SP_SingleAxisPrgOpr func-
tion block is aborted.
• If the SP_SingleAxisPrgOpr function block ends in error, function blocks used in combination
with it, such as a SingleAxisCtrl (Single-axis Control) function block, will not stop. Create a
user program that stops axis processing when the SP_SingleAxisPrgOpr function block ends
in an error.

SP_SingleAxisPrgOpr
Troubleshooting
The error codes, expansion error codes, status, descriptions, and corrections are given in the following
table.
Expansion error
Error code Status Description Correction
code
16#0000 16#00000000 Normal end
16#3C4A 16#00000001 Execution start The value of StartStepNo (Exe- Check the valid range of the
step number cution Start Step Number) value of StartStepNo (Execution
range exceeded the valid range. Start Step Number) and set the
exceeded value within the valid range.
16#00000002 Next step num- The value of NextStepNo (Next Check the valid range of the
ber range Step Number) exceeded the value of NextStepNo (Next Step
exceeded valid range. Number) and set the value within
the valid range.
16#  0003 Control method The value of CtrlCode (Control Check the valid range of the
*1 range Method) is outside the valid value of CtrlCode (Control
exceeded range. Method) and set the value within
the valid range.
16#00000004 Incorrect task An attempt was made to execute Execute this function block in a
setting this function block in a task primary periodic task or a peri-
period which is not a primary odic task.
task period or a periodic task.
16#3C4B 16# 0001* Step timeout The value of TimeOut (Step Tim- Check the valid range of the
1 time out of eout Time) is outside the valid value for TimeOut (Step Timeout
range range. Time) and set the value within the
valid range.
16# 0002 Step timeout The value of TimeOutNext- Check the valid range of the
*1 next step num- StepNo (Step Timeout Next Step value for TimeOutNextStepNo
ber out of range Number) is outside the valid (Step Timeout Next Step Num-
range. ber) and set the value within the
valid range.
16# 0003 Illegal monitor- The value of MonitorMinPos Set MonitorMinPos (Minimum
*1 ing position (Minimum Monitoring Position) is Monitoring Position) to a value
greater than the value of that is less than or equal to the
MonitorMaxPos (Maximum value of MonitorMaxPos (Maxi-
Monitoring Position). mum Monitoring Position).
16# 0004 Monitoring start The value of MonitorStartTime Check the valid range of the
*1 time out of (Monitoring Start Time) is outside value for MonitorStartTime (Moni-
range the valid range. toring Start Time) and set the
value within the valid range.
16# 0005 Monitoring end The value of MonitorEndTime Check the valid range of the
*1 time out of (Monitoring End Time) is outside value for MonitorEndTime (Moni-
range the valid range. toring End Time) and set the
16# 0006 Illegal monitor- The value of MonitorStartTime Set MonitorStartTime (Monitor-
*1 ing time (Monitoring Start Time) is greater ing Start Time) to a value that is
than the value of MonitorEnd- less than or equal to the value of
Time (Monitoring End Time). MonitorEndTime (Monitoring End
Time).

SP_SingleAxisPrgOpr
Expansion error
code
16#3C4B 16# 0007 Number of con- The value of InflPointGradient- Check the valid range for the
*1 secutive posi- Count (Number of Consecutive value of InflPointGradientCount
tion load Position Load Gradients) is out- (Number of Consecutive Posi-
gradients out of side the valid range. tion Load Gradients) and set the
range value within the valid range.
16# 0008 Number of con- The value of LoadDecreaseC- Check the valid range for the
*1 secutive load ount (Number of Consecutive value of LoadDecreaseCount
decreases Load Reductions Threshold) is (Number of Consecutive Load
threshold out of outside the valid range. Reductions Threshold) and set
range the value within the valid range.
16# 0009 Number of con- The value of LoadIncreaseCount Check the valid range for the
*1 secutive load (Number of Consecutive Load value of LoadIncreaseCount
increases Increases Threshold) is outside (Number of Consecutive Load
threshold out of the valid range. Increases Threshold) and set the
16# 000A Step number The value of UnachievedNext- Check the valid range of the
*1 when step not StepNo (Step Number When value for UnachievedNextStepNo
completed Step Not Completed) is outside (Step Number When Step Not
the valid range. Completed) and set the value
within the valid range.
16# 000B Wait time out of The value of WaitTime (Wait Check the valid range of the
*1 range Time) is outside the valid range. value for WaitTime (Wait Time)
and set the value within the valid
range.
16# 000C Position load The value of InflPointGradient Check the valid range for the
*1 gradient out of (Position Load Gradient) is out- value of InflPointGradient (Posi-
range side the valid range. tion Load Gradient) and set the
16# 000D Step completion The value of CompleteType Check the valid range of the
*1 type out of (Step Completion Type) value for CompleteType (Step
range exceeded the valid range. Completion Type) and set the
16# 000E Positioning The value of InPosWidth (Posi- Check the valid range of the
*1 in-position width tioning In-position Width) is out- value for InPosWidth (Positioning
out of range side the valid range. In-position Width) and set the
16#0000000F Incorrect task An attempt was made to execute Execute this function block in a

SP_SingleAxisPrgOpr
Expansion error
code
16#3C4C 16# 0001* Illegal monitor- The value of MonitorMinPos Set MonitorMinPos (Monitoring
1 ing position (Monitoring Range Minimum Range Minimum Position) to a
Position) is greater than the value that is less than or equal to
value of MonitorMaxPos the value of MonitorMaxPos
(Monitoring Range Maximum (Monitoring Range Maximum
Position). Position).
16# 0002 Illegal monitor- The value of MonitorMinLoad Set MonitorMinLoad (Monitoring
*1 ing load (Monitoring Load Range Lower Load Range Lower Limit) to a
Limit) is greater than the value of value that is less than or equal to
MonitorMaxLoad (Monitoring the value of MonitorMaxLoad
Load Range Upper Limit). (Monitoring Load Range Upper
Limit).
16# 0003 Step load Alarm The value of StepAlarmType Check the valid range of the
*1 determination (Step Load Alarm Determination value for StepAlarmType (Step
type out of Type) is outside the valid range. Load Alarm Determination Type)
range and set the value within the valid
range.
16# 0004 Upper/lower The value of InPosWidth Check the valid range of the
*1 monitoring limit (Upper/Lower Monitoring Limit value for InPosWidth
in-position width In-position Width) is outside the (Upper/Lower Monitoring Limit
out of range valid range. In-position Width) and set the

SP_SingleAxisPrgOpr
Expansion error
code
16#3C4D 16#00000001 Program load The value of PrgAlarmType (Pro- Check the valid range of the
alarm gram Load Alarm Determination value for PrgAlarmType (Pro-
determination Type) is outside the valid range. gram Load Alarm Determination
type out of Type) and set the value within the
range valid range.
16#00000002 Standard type The value of UnitType (Standard Check the valid range of the
out of range Type) is outside of the valid value for UnitType (Standard
range. Type) and set the value within the
valid range.
16#00000003 Trapezoid area The value of Check the valid range of the
data alarm type TrapezoidData.AlarmType value for TrapezoidData.Alarm-
out of range (Alarm Type) is outside of the Type (Alarm Type) and set the
valid range. value within the valid range.
data monitoring TrapezoidData.MonitorLowerTim value for TrapezoidData.Monitor-
lower limit e (Monitoring Lower Limit LowerTime (Monitoring Lower
elapsed time Elapsed Time) is outside of the Limit Elapsed Time) and set the
out of range valid range. value within the valid range.
data monitoring TrapezoidData.MonitorUpperTim value for TrapezoidData.Moni-
upper limit e (Monitoring Upper Limit torUpperTime (Monitoring Upper
16#00000006 Illegal trape- The value of Set TrapezoidData.MonitorLow-
zoid area data TrapezoidData.MonitorLowerTim erTime (Monitoring Lower Limit
monitoring e (Monitoring Lower Limit Elapsed Time) to a value that is
lower limit Elapsed Time) is greater than less than or equal to the value of
elapsed time the value of TrapezoidData.MonitorUpper-
TrapezoidData.MonitorUpperTim Time (Monitoring Upper Limit
e (Monitoring Upper Limit Elapsed Time).
Elapsed Time).
zoid area data TrapezoidData.MonitorLowerPos erPos (Minimum Monitoring Posi-
monitoring posi- (Minimum Monitoring Position) is tion) to a value that is less than or
tion greater than the value of equal to the value of Trapezoid-
TrapezoidData.MonitorUpperPos Data.MonitorUpperPos (Maxi-
(Maximum Monitoring Position). mum Monitoring Position).

SP_SingleAxisPrgOpr
Expansion error
code
16#3C4D 16#00000008 Illegal trape- The value of Set the value of Trapezoid-
zoid area data TrapezoidData.LoadMinLower Data.LoadMinLower (Monitoring
monitoring start (Monitoring Start Point Minimum Start Point Minimum Load) to a
point load Load) is greater than the value of value that is less than or equal to
TrapezoidData.LoadMaxLower the value of TrapezoidData.Load-
(Monitoring Start Point Maximum MaxLower (Monitoring Start Point
Load). Maximum Load).
16#00000009 Illegal trape- The value of Set the value of Trapezoid-
zoid area data TrapezoidData.LoadMinUpper Data.LoadMinUpper (Monitoring
monitoring end (Monitoring End Point Minimum End Point Minimum Load) to a
point load Load) is greater than the value of value that is less than or equal to
TrapezoidData.LoadMaxUpper the value of TrapezoidData.Load-
(Monitoring End Point Maximum MaxUpper (Monitoring End Point
Load). Maximum Load).Set the value of
TrapezoidData.LoadMinUpper
(Monitoring End Point Minimum
Load) to a value that is less than
or equal to the value of Trape-
zoidData.LoadMaxUpper (Moni-
toring End Point Maximum Load).
16#0000000A Rectangle area The value of Check the valid range of the
data alarm type RectangleData.AlarmType value for RectangleData.Alarm-
16#0000000B Rectangle area The value of Check the valid range of the
data monitoring RectangleData.MonitorLowerTi value for RectangleData.Monitor-
lower limit me (Monitoring Lower Limit LowerTime (Monitoring Lower
16#0000000C Rectangle area The value of Check the valid range of the
data monitoring RectangleData.MonitorUpperTi value for RectangleData.Moni-
upper limit me (Monitoring Upper Limit torUpperTime (Monitoring Upper
16#0000000D Illegal rectan- The value of Set RectangleData.MonitorLow-
gle area data RectangleData.MonitorLowerTi erTime (Monitoring Lower Limit
monitoring me (Monitoring Lower Limit Elapsed Time) to a value that is
elapsed time the value of RectangleData.MonitorUpper-
RectangleData.MonitorUpperTi Time (Monitoring Upper Limit
me (Monitoring Upper Limit Elapsed Time).
Elapsed Time).
16#0000000E Illegal rectan- The value of Set RectangleData.MonitorLow-
gle area data RectangleData.MonitorLowerPo erPos (Minimum Monitoring Posi-
monitoring posi- s (Minimum Monitoring Position) tion) to a value that is less than or
tion is greater than the value of equal to the value of Rectangle-
RectangleData.MonitorUpperPo Data.MonitorUpperPos (Maxi-
s (Maximum Monitoring mum Monitoring Position).
Position).

SP_SingleAxisPrgOpr
Expansion error
code
16#3C4D 16#0000000F Illegal rectan- The value of Set the value of Rectangle-
gle area data RectangleData.LoadMinLimit Data.LoadMinLimit (Load Lower
load (Load Lower Limit) is greater Limit) to a value that is less than
than the value of or equal to the value of Rectan-
RectangleData.LoadMaxLimit gleData.LoadMaxLimit (Load
(Load Upper Limit). Upper Limit).
16#00000010 Illegal trape- The positional relationships Set the values of
zoid area data between the values of TrapezoidData.MonitorLowerTim
TrapezoidData.MonitorLowerTim e (Monitoring Lower Limit
e (Monitoring Lower Limit Elapsed Time),
Elapsed Time), TrapezoidData.MonitorUpperTim
TrapezoidData.MonitorUpperTim e (Monitoring Upper Limit
e (Monitoring Upper Limit Elapsed Time),
Elapsed Time), TrapezoidData.MonitorLowerPos
TrapezoidData.MonitorLowerPos (Minimum Monitoring Position),
(Minimum Monitoring Position), TrapezoidData.MonitorUpperPos
TrapezoidData.MonitorUpperPos (Maximum Monitoring Position),
(Maximum Monitoring Position), TrapezoidData.LoadMinLower
TrapezoidData.LoadMinLower (Monitoring Start Point Minimum
(Monitoring Start Point Minimum Load),
Load), TrapezoidData.LoadMaxLower
TrapezoidData.LoadMaxLower (Monitoring Start Point Maximum
(Monitoring Start Point Maximum Load),
Load), TrapezoidData.LoadMinUpper
TrapezoidData.LoadMinUpper (Monitoring End Point Minimum
(Monitoring End Point Minimum Load), and
Load), and TrapezoidData.LoadMaxUpper
TrapezoidData.LoadMaxUpper (Monitoring End Point Maximum
(Monitoring End Point Maximum Load) so that the enclosed area
Load) do not form a trapezoid. is a trapezoid.
16#00000011 Upper/lower The value of InPosWidth Check the valid range of the
monitoring limit (Upper/Lower Monitoring Limit value for InPosWidth
*1. The boxes () are the BCD values of CurrentStepNo (Current Step Number) when the error occurred. For example,
if CurrentStepNo is USINT#11, ErrorIDEx is DWORD#16#00110001.

SP_SingleAxisPrgOpr
Sample Programming
This sample programming shows how to use single-axis program operation for absolute positioning
accompanied by torque control. The SP_SingleAxisPrgOpr (Single-axis Program Operation) and Sin-
gleAxisCtrl (Single-axis Control) function blocks are used for single-axis program operation, and the
MC_SetTorqueLimit (Torque Control) instruction is used to perform torque control.

• The sample programming shows only the portion of a program that uses the function or func-
tion block from the library.
• When you use the actual device, include user programming for device safety instructions,
interlocks, I/O with other devices, and other control procedures.
• Create a user program that will produce the intended device operation.
• Check the user program for proper execution before you use it for actual operation.
Conditions
The following figure shows a system configuration for the sample programming.
Servomotor
NJ/NX-series CPU Unit Servo Drive
(servo press
actuator)
EtherCAT
Load cell
• MC_Axis000 is allocated to the Servomotor as a axis. The display unit for the axis is millimeters.
• The unit for the load measurement value that is input by the load cell is newtons. In the program
operation data for single-axis program operation, the measurement value is converted to a torque
and handled as a percentage of the Servomotor’s rated torque. The sample programming uses the
LoadToTorque (Load-to-Torque Conversion) function to convert the units.

SP_SingleAxisPrgOpr
Processing
1 Confirm that the axis can communicate and then turn ON the servo.
2 When the axis enters Servo ON state, execute homing.
3 Change the StartPG variable to TRUE after home has been defined to start single-axis program
operation.
Single-axis program operation uses the following type of operation pattern. It is set when the
StartPG variable changes to TRUE.
Position [mm]
200.0
100.0
50.0
Time
Velocity [mm/s]
200.0
100.0
50.0
Time
StartPG No torque
Torque limit: 20% limit Torque limit: 50%
Step No.1 Step No.2 Step No.3 Step No.4 (End)
Ladder Diagram
The following gives the main variables.
 Internal Variables
Initial
Name Data Type Comment
Value
PWR MC_Power Instance of the MC_Power (Power
Servo) instruction
HM MC_Home Instance of the MC_Home (Home)
instruction
SET_TRQ_LMT MC_SetTorqueLimit Instance of the MC_SetTorque-
Limit (Set Torque Limit) instruction
MV MC_Move Instance of the MC_Move (Posi-
tioning) instruction
STP MC_Stop Instance of the MC_Stop (Stop)
instruction

SP_SingleAxisPrgOpr
Initial
Value
SINGLE_AXIS_PRG_OPR OmronLib\ServoPress\SP_Sin- Instance of the SP_SingleAxisPr-
gleAxisPrgOpr gOpr (Single-axis Program Opera-
SINGLE_AXIS_CTRL OmronLib\ServoPress\Single- Instance of the SingleAxisCtrl
AxisCtrl (Single-axis Control) function
block
PrgTable ARRAY[1..50] OF Omron- Program table
Lib\ServoPress\sPRG_TABLE
PrgLoadAlarm OmronLib\ServoPress\sPRG_- Program load alarm conditions
LOAD_ALARM
Lock1 BOOL Starts Servo ON.
Pwr_Status BOOL Servo ON state
Hm_D BOOL Ends homing.
StartPg BOOL Starts single-axis program opera-
tion.
SingleAxisPrgOpr_Abt BOOL Abort trigger for single-axis pro-
gram operation
SingleAxisPrgOpr_Start- USINT Start step number
StepNo
SingleAxisCtrl_D BOOL Ends single-axis control execu-
tion.
SingleAxisCtrl_SingleCmd- USINT Single-axis command profile num-
ProfileNo ber
SingleAxisPrgOpr_Bsy BOOL Single-axis program operation
busy
SingleAxisPrgOpr_Err BOOL Single-axis program operation
fault
MCCmdExec ARRAY[0..9] OF BOOL Motion function block execution
trigger
SingleCmdProfile OmronLib\ServoPress\sSIN- Single-axis command profile
GLE_CMD_PROFILE
StepCompleted BOOL Ends step.
StepExec BOOL Starts step.
CurrentStepNo USINT Current step number
MV_ex BOOL Execution trigger for interrupt
motion operation
Load LREAL Load measurement value
TorqueVal LREAL Load-to-torque conversion value
MechaPrm OmronLib\Servo- Servo press actuator machine
Press\sMECHA_PARAMS parameters
 External Variables
Initial
Value
MC_Axis000 _sAXIS_REF --- Servo axis
_EC_PDSlavTbl ARRAY[1..192] OF BOOL --- Communications enabled status
_EC_CommErrTbl ARRAY[1..192] OF BOOL --- Communications error status

SP_SingleAxisPrgOpr
 Algorithm

SP_SingleAxisPrgOpr

SP_SingleAxisPrgOpr

SP_SingleAxisPrgOpr
ST
Initial
Value
PWR MC_Power Instance of the MC_Power (Power
Servo) instruction
HM MC_Home Instance of the MC_Home (Home)
instruction
SET_TRQ_LMT MC_SetTorqueLimit Instance of the MC_SetTorqueLimit
(Set Torque Limit) instruction
MV MC_Move Instance of the MC_Move (Position-
ing) instruction
STP MC_Stop Instance of the MC_Stop (Stop)
instruction
SINGLE_AXIS_PRG_OPR OmronLib\ServoPress\SP_S- Instance of the SP_SingleAxisPr-
ingleAxisPrgOpr gOpr (Single-axis Program Opera-
SINGLE_AXIS_CTRL OmronLib\ServoPress\Single- Instance of the SingleAxisCtrl (Sin-
AxisCtrl gle-axis Control) function block
Lib\Servo-
Press\sPRG_TABLE
PrgLoadAlarm OmronLib\Servo- Program load alarm conditions
Press\sPRG_LOAD_ALARM
Lock1 BOOL Starts Servo ON.
Pwr_Status BOOL Servo ON state
Hm_D BOOL Ends homing.
tion.
gram operation
StepNo
SingleAxisCtrl_D BOOL Ends single-axis control execution.
ProfileNo ber
SingleAxisPrgOpr_Bsy BOOL Single-axis program operation busy
SingleAxisPrgOpr_Err BOOL Single-axis program operation fault
MCCmdExec ARRAY[0..9] OF BOOL Motion function block execution trig-
ger
GLE_CMD_PROFILE
MV_ex BOOL Execution trigger for interrupt motion
operation
Load LREAL Load measurement value
TorqueVal LREAL Load-to-torque conversion value
MechaPrm OmronLib\Servo- Servo press actuator machine
Press\sMECHA_PARAMS parameters

SP_SingleAxisPrgOpr
Initial
Value
_EC_PDSlavTbl ARRAY[1..192] OF BOOL --- Communications enabled status
_EC_CommErrTbl ARRAY[1..192] OF BOOL --- Communications error status
 Algorithm
//Start-up condition
IF (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Lock1:=TRUE;
ELSE
Lock1:=FALSE;
END_IF;
//R_TRIG (Rise edge)

inst1_R_TRIG( Clk := Pwr_Status, Q => UpTrig_Pwr_Status );
inst2_R_TRIG( Clk := StartPg, Q => UpTrig_StartPg );
inst3_R_TRIG( Clk := PrgRsltCSVWrite_StartPg, Q => UpTrig_PrgRsltCSVWrite_StartPg );
inst4_R_TRIG( Clk := PrgTraceCSVWrite_StartPg, Q => UpTrig_PrgTraceCSVWrite_StartPg
);
inst5_R_TRIG( Clk := XY_Graph_StartPg, Q => UpTrig_XY_Graph_StartPg );
//Start single axis porgram operation after homing complete.

IF (MC_Axis000.Details.Homed=TRUE) THEN
SingleAxisPrgOpr_Ex:=UpTrig_StartPg;
END_IF;
//Stop motion at program operation abort.

IF SingleAxisPrgOpr_Abt=TRUE THEN
StopTrig1:=TRUE;
ELSE
StopTrig1:=FALSE;
END_IF;
//Stop motion at program operation error.

IF SingleAxisPrgOpr_Err=TRUE THEN
StopTrig2:=TRUE;
ELSE
StopTrig2:=FALSE;
END_IF;
//Set program operation data.

IF SingleAxisPrgOpr_Ex=TRUE THEN
//Start Step No.
SingleAxisPrgOpr_StartStepNo:=USINT#1;
//Step No.1
PrgTable[1].StepCmdData.CtrlCode:=USINT#1;
PrgTable[1].StepCmdData.Position:=LREAL#50.0;
PrgTable[1].StepCmdData.Velocity:=LREAL#50.0;
PrgTable[1].StepCmdData.Acceleration:=LREAL#1000.0;
PrgTable[1].StepCmdData.Deceleration:=LREAL#1000.0;
PrgTable[1].StepCmdData.BufferMode:=_eMC_BUFFER_MODE#_mcAborting;
PrgTable[1].StepCmdData.TorqueLimitPositiveEnable:=BOOL#TRUE;
PrgTable[1].StepCmdData.TorqueLimitNegativeEnable:=BOOL#TRUE;
PrgTable[1].StepCmdData.TorqueLimitPositiveVal:=LREAL#20.0;
PrgTable[1].StepCmdData.TorqueLimitNegativeVal:=LREAL#20.0;
PrgTable[1].StepCmdData.ExtrOutputCode:=USINT#1;
PrgTable[1].StepCompleteData.CompleteType:=USINT#0;

SP_SingleAxisPrgOpr
//Step No.2
PrgTable[2].StepCmdData.TorqueLimitPositiveEnable:=BOOL#FALSE;
PrgTable[2].StepCmdData.TorqueLimitNegativeEnable:=BOOL#FALSE;
//Step No.3
PrgTable[3].StepCmdData.TorqueLimitPositiveEnable:=BOOL#TRUE;
PrgTable[3].StepCmdData.TorqueLimitNegativeEnable:=BOOL#TRUE;
PrgTable[3].StepCmdData.TorqueLimitPositiveVal:=LREAL#50.0;
PrgTable[3].StepCmdData.TorqueLimitNegativeVal:=LREAL#50.0;
//Step No.4 (Operation end)

PrgTable[4].StepCmdData.TorqueLimitPositiveEnable:=BOOL#FALSE;
PrgTable[4].StepCmdData.TorqueLimitNegativeEnable:=BOOL#FALSE;
END_IF;
//Mechanical parameters
MechaPrm.ReductionGearParam.Rn:=1;
MechaPrm.ReductionGearParam.Rd:=5;
MechaPrm.ReductionGearParam.n2:=0.9;
MechaPrm.BallScrewParam.n1:=0.95;
MechaPrm.BallScrewParam.R:=10.0;
MechaPrm.MotorRatedParam.Tr:=0.64;
TorqueVal:=\\OmronLib\ServoPress\LoadToTorque(
EN:=TRUE,
ENO=>LoadToTorque_Out,
Load:=Load,
MechaParams:=MechaPrm
);
//MC_Power
PWR(
Axis := MC_Axis000,
Enable := Lock1,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);
//MC_Home
HM(
Axis := MC_Axis000,
Execute := UpTrig_Pwr_Status,
Done => Hm_D,

SP_SingleAxisPrgOpr
Busy => Hm_Bsy,

CommandAborted=> Hm_Ca,
Error => Hm_Err,
ErrorID => Hm_ErrID
);
//SP_SingleAxisPrgOpr
SINGLE_AXIS_PRG_OPR(
PrgTable := PrgTable,
PrgLoadAlarm := PrgLoadAlarm,
Execute := SingleAxisPrgOpr_Ex,
Abort := SingleAxisPrgOpr_Abt,
StartStepNo := SingleAxisPrgOpr_StartStepNo,
SingleMode := SingleAxisPrgOpr_SingleMode,
Position := MC_Axis000.Act.Pos,
Velocity := MC_Axis000.Act.Vel,
Load := TorqueVal,
MCCmdDone := SingleAxisCtrl_D,
SingleCmdProfileNo := SingleAxisCtrl_SingleCmdProfileNo,
Done => SingleAxisPrgOpr_D,
MCCmdExec => MCCmdExec,
SingleCmdProfile => SingleCmdProfile,
CurrentStepNo => CurrentStepNo,
StepLoadAlarmOut => StepLoadAlarmOut,
PrgLoadAlarmOut => PrgLoadAlarmOut,
ExtrOutputCode => ExtrOutputCode,
StepExec => StepExec,
StepCompleted => StepCompleted,
Busy => SingleAxisPrgOpr_Bsy,
CommandAborted=> SingleAxisPrgOpr_Ca,
Error => SingleAxisPrgOpr_Err,
ErrorID => SingleAxisPrgOpr_ErrID,
ErrorIDEx => SingleAxisPrgOpr_ErrIDEx
);
//SingleAxisCtrl
SINGLE_AXIS_CTRL(
Axis := MC_Axis000,
SingleCmdProfile := SingleCmdProfile,
Execute := MCCmdExec[0],
MeasuringTorque:=TorqueVal,
VelOverrideEnable := SingleAxisCtrl_VelOvrEn,
InputVelFactor := SingleAxisCtrl_VelFactor,
ItgReset := BOOL#FALSE,
BufferMode := _eMC_BUFFER_MODE#_mcAborting,
Done => SingleAxisCtrl_D,
TargetReached => SingleAxisCtrl_TgtRch,
SingleCmdProfileNo => SingleAxisCtrl_SingleCmdProfileNo,
TorqueLimitParam => SingleAxisCtrl_TrqLmtPrm,
OverrideEnabled => SingleAxisCtrl_OvrEd,
Busy => SingleAxisCtrl_Bsy,
Active => SingleAxisCtrl_Act,
CommandAborted=> SingleAxisCtrl_Ca,
Error => SingleAxisCtrl_Err,
ErrorID => SingleAxisCtrl_ErrID,
ErrorIDEx => SingleAxisCtrl_ErrIDEx
);
//MC_SetTorqueLimit
SET_TRQ_LMT(
Axis:=MC_Axis000,
Enable:=SingleAxisPrgOpr_Bsy,
PositiveEnable := SingleAxisCtrl_TrqLmtPrm.TorqueLimitPositiveEnable,
PositiveValue := SingleAxisCtrl_TrqLmtPrm.TorqueLimitPositiveVal,
NegativeEnable := SingleAxisCtrl_TrqLmtPrm.TorqueLimitNegativeEnable,

SP_SingleAxisPrgOpr
NegativeValue := SingleAxisCtrl_TrqLmtPrm.TorqueLimitNegativeVal,
Enabled => SetTrqLmt_Ed,
Busy => SetTrqLmt_Bsy,
Error => SetTrqLmt_Err,
ErrorID => SetTrqLmt_ErrID
);
//Arrangement of the other motion instructions to interrupt program operation in

progress.
//MC_Move
MV(
Axis := MC_Axis000,
Execute := Mv_Ex,
Position := LREAL#1234.5,
Velocity := LREAL#1234.5,
BufferMode := _eMC_BUFFER_MODE#_mcAborting,
Done => Mv_D,
Busy => Mv_Bsy,
Active => Mv_Act,
CommandAborted=> Mv_Ca,
Error => Mv_Err,
ErrorID => Mv_ErrID
);
//MC_Stop
STP(
Axis := MC_Axis000,
Execute := (StopTrig1 OR StopTrig2),
Done => Stp_D,
Busy => Stp_Bsy,
Active => Stp_Act,
CommandAborted=> Stp_Ca,
Error => Stp_Err,
ErrorID => Stp_ErrID
);

SP_PrgStatusCtrl
SP_PrgStatusCtrl
The SP_PrgStatusCtrl function block interprets the program data and controls the next function block step by
step.
Function
FB/
FUN
name
SP_Prg Program FB SP_PrgStatusCtrl_instance (
StatusCtrl Status SP_PrgStatusCtrl_Instance PrgTable,
Control \\OmronLib\ServoPress\SP_PrgStatusCtrl Execute,
PrgTable PrgTable SingleStepMode,
StartStepNo,
Execute Done
Abort,
SingleStepMode MCCmdExec StepCompleted,
StepExit,
StartStepNo SingleCmdProfile
NextStepNo,
Abort StepExec Done,
MCCmdExec,
StepCompleted CurrentStepNo
SingleCmdProfile,
StepExit ExtrOutputCode StepExec,
CurrentStepNo,
NextStepNo Busy
ExtrOutputCode,
CommandAborted Busy,
CommandAborted,
Error Error,
ErrorID ErrorID,
ErrorIDEx);
ErrorIDEx
Item Description
Publish/Do not publish source code Not published.

SP_PrgStatusCtrl
Variables
Input Variables

function block
Depends on
data type.
to TRUE.
whether to execute
operation in Single
Mode.
SingleStep- Depends on
Single Mode BOOL FALSE --- TRUE: Execute opera-
Mode data type.
tion in Single Mode.
FALSE: Do not execute
operation in Single
Mode.
Execution
Step number from which
StartStepNo Start Step USINT 0 0 to 50 ---
to start execution
Number
function block
Depends on
Abort Abort BOOL FALSE --- The function block is
data type.
aborted when it
changes to TRUE.
The step is completed
Step Step Com- Depends on when the step comple-
BOOL FALSE ---
Completed pleted Trigger data type. tion trigger changes to
TRUE.
The step is aborted
Step Abort Depends on when the step abortion
StepExit BOOL FALSE ---
Trigger data type. trigger changes to
TRUE.
Number of the step that
is executed after the
Next Step step is aborted.
NextStepNo USINT 0 0 to 50 ---
Number
0: End single-axis pro-
gram operation.

SP_PrgStatusCtrl
Output Variables

TRUE: Normal end
Depends on
data type.
not met.
Execution trigger for the motion
Motion function block.
Function ARRAY[0.
Depends on TRUE: The function block is
MCCmdExec Block Exe- .9] OF ---
data type. executed.
cution Trig- BOOL
ger FALSE: The function block is
not executed.
Omron-
Lib\Servo-
Single-axis
NGLE_C table for each step
Profile
MD_PRO
FILE
Step Start Depends on
StepExec BOOL --- Step start trigger
Trigger data type.
Current Step The number of the step being
CurrentStepNo USINT 0 to 50 ---
Number executed.
External Depends on Code that is output for each
ExtrOutputCode USINT ---
Output Code data type. step that is completed.
Executing
Depends on
data type.
Execution aborted
if the function block is aborted.
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
An expansion error code is out-
Expansion put if an error occurs.
a normal end.
 Structure
The data type of the SingleCmdProfile output variable is the structure OmronLib\ServoPress\sSIN-
GLE_CMD_PROFILE. Refer to Structure in SP_SingleAxisPrgOpr on page 42 for details.
SP_PrgStatusCtrl
In-Out Variables

ARRAY[1.
.50] OF
Omron-
Program Program tables that contain set-
PrgTable Lib\Servo --- ---
Tables tings for each step
Press\sP
RG_TABL
E
 Structure
Refer to Structure in SP_SingleAxisPrgOpr on page 42 for details.
Function
The SP_PrgStatusCtrl function block interprets PrgTable (Program Tables) and controls the next func-
tion block for each step. The following function blocks can come next: SingleAxisCtrl (Single-axis Con-
trol), SP_StepCompleteJudge (Step Completion Determination), and SP_StepLoadAlarm (Step Load
Alarm Determination).
SP_PrgStatusCtrl
Relation with Other Function Blocks

This function block provides the single-axis program operation in combination with the SP_StepCom-
pleteJudge (Step Completion Determination), SP_StepLoadAlarm (Step Load Alarm Determination),
and SP_PrgLoadAlarm (Program Load Alarm Determination) function blocks. The following conceptual
diagram illustrates the relationships between the functions blocks and variables. This figure excludes
the variables that are not necessary for this description.
Single-axis program operation SingleAxisCtrl

MCCmdExec[0]
PrgTable SP_PrgStatusCtrl Execute
SingleCmdProfile
Execute SingleCmdProfile
PrgTable MCCmdExec
Execute SingleCmdProfile
StepExec
Busy
Execute
SP_StepLoadAlarm
Execute
SP_PrgLoadAlarm
Enable
• The MCCmdExec[0] (Motion Function Block Execution Trigger) variable that is output from the
SP_PrgStatusCtrl function block is used as the Execute variable for the SingleAxisCtrl (Single-axis
Control) function block.
• The SingleCmdProfile (Single-axis Command Profile) variable that is output from the SP_PrgSta-
tusCtrl function block is used as the SingleCmdProfile (Single-axis Command Profile) variable for the
SingleAxisCtrl (Single-axis Control) function block.
• The StepExec (Step Start Trigger) variable that is output from the SP_PrgStatusCtrl function block is
used as the Execute variable for the SP_StepCompleteJudge (Step Completion Determination) func-
tion block and the SP_StepLoadAlarm (Step Load Alarm Determination) function block.
• The Busy (Executing) variable that is output from the SP_PrgStatusCtrl function block is used as the
Enable variable in the SP_PrgLoadAlarm (Program Load Alarm Determination) function block.

Execute the following four functions blocks which consist of single-axis program operation in
the same task. If these function blocks are executed in the different task, the completion for
each step or the completion for the program operation may not be correctly determined.
• SP_PrgStatusCtrl (Program Status Control)
• SP_StepCompleteJudge (Step Completion Determination)
• SP_StepLoadAlarm (Step Load Alarm Determination)
• SP_PrgLoadAlarm (Program Load Alarm Determination)
SP_PrgStatusCtrl
PrgTable (Program Tables)

The SP_PrgStatusCtrl function block interprets PrgTable (Program Tables). For detailed on the specifi-
cations of PrgTable, refer to Defining Single-axis Program Operation That Combines Multiple Sin-
gle-axis Motion Controls on page 56 in the description of the SP_SingleAxisPrgOpr (Single-axis
Program Operation) function block.
 SingleStepMode (Single Mode)

The execution of only a certain step without execution of a step sequence set with PrgTable (Pro-
gram Tables) is called Single Mode. If you change the value of SingleStepMode (Single Mode) to
TRUE and execute this function block, only the step specified with StartStepNo (Execution Start
Step Number) is executed.
 StartStepNo (Execution Start Step Number)

This variable is used to specify the step number to start execution of single-axis program operation.
For example, if StartStepNo is set to USINT#4, the execution of the operation starts from Prg-
Table[4].

This variable is a trigger signal that indicates when a step is completed. Every time a step is ended,
its value changes to TRUE for one task period.
 StepExit (Step Abort Trigger)

This variable is a trigger signal that indicates when a step is aborted. If the value of StepExit (Step
Abort Trigger) changes to TRUE, the current step is canceled and processing moves to the step that
is specified with NextStepNo (Next Step Number).
 NextStepNo (Next Step Number)

If the value of StepExit (Step Abort Trigger) changes to TRUE, the processing moves to the step that
is specified with NextStepNo (Next Step Number).
 MCCmdExec (Motion Function Block Execution Trigger)

An execution trigger for the SingleAxisCtrl (Single-axis Control) function block that connects to the
SP_SingleAxisPrgOpr function block is output to MCCmdExec[0]. Connect MCCmdExec[0] to the
Execute input variable in the SingleAxisCtrl (Single-axis Control) function block.
 SingleCmdProfile (Single-axis Command Profile)

SingleCmdProfile contains data that describes the single-axis motion control for each step and it is
input to the SingleAxisCtrl (Single-axis Control) function block. Connect this variable to the SingleC-
mdProfile in-out variable in the SingleAxisCtrl (Single-axis Control) function block.
 StepExec (Step Start Trigger)

This variable is used to notify the next function block that a step has started. Every time a step is
started, its value changes to TRUE for one task period.
SP_PrgStatusCtrl

This variable gives the number of the current step. When single-axis program operation is stopped,
the final output value is retained.
 ExtrOutputCode (External Output Code)

This is the external output code that is set with PrgTable.ExtrOutputCode (External Output Code).
The code is output to the next task period for each step that is completed. Use it when you want to
detect the completion of a specific step from outside the function block.
Timing Charts
The following timing chart shows a case that the operation patterns shown in the sample programming
of the SP_SingleAxisPrgOpr (Single-axis Program Operation) function block are operated in this func-
tion block.
 Normal End
• Busy (Executing) changes to TRUE when Execute in the function block changes to TRUE.
• The value of CurrentStepNo (Current Step Number) is updated whenever a step is completed.
• After execution of the step is completed, the value of CurrentStepNo (Current Step Number) is
retained until the value of Execute changes to TRUE again.
Execute TRUE
FALSE
TRUE
StepCompleted
FALSE
TRUE
Busy
FALSE
TRUE
Done
FALSE
StepExec TRUE
FALSE
MCCmdExec[0] TRUE
FALSE
CurrentStepNo 1 2 3 4
ExtrOutputCode 0 1 2 3 4
SP_PrgStatusCtrl
• Even after the step is aborted, the value of CommandAborted (Instruction Aborted) is retained
until the value of Execute changes to FALSE.
• CurentStepNo (Current Step Number) is retained until the value of Execute changes to TRUE
again.
• Abort is given priority over StepCompleted (Step Completed Trigger).
Execute TRUE
FALSE
TRUE
Abort
FALSE
TRUE
StepCompleted
FALSE
TRUE
Busy
FALSE
TRUE
Done
FALSE
TRUE
CommandAborted
FALSE
StepExec TRUE
FALSE
MCCmdExec[0] TRUE
FALSE
CurrentStepNo 1 2 3
SP_PrgStatusCtrl
 Aborting Steps
• If the value of StepExit (Step Abort Trigger) changes to TRUE, the current step is aborted and the
step specified with NextStepNo (Next Step Number) is executed. The following shows a case that
a value of 8 is specified to NextStepNo.
• CurentStepNo (Current Step Number) is retained until the value of Execute changes to TRUE
again.
• If StepExit (Step Abort Trigger) and StepCompleted (Step Completed Trigger) change to TRUE at
the same, StepCompleted is given priority.
Execute TRUE
FALSE
TRUE
StepCompleted
FALSE
TRUE
StepExit
FALSE
NextStepNo 8
TRUE
Busy
FALSE
TRUE
Done
FALSE
TRUE
CommandAborted
FALSE
StepExec TRUE
FALSE
MCCmdExec[0] TRUE
FALSE
CurrentStepNo 1 2 3 8
ExtrOutputCode 0 1 2 3
SP_PrgStatusCtrl
 Error End
The following timing chart gives an example when a control method outside the range is specified to
StepCmdData (Step Command Data) in the third step of PrgTable (Program Tables).
• If an error occurs during execution of this function block, Error changes to TRUE. You can find out
the cause of the error by referring to the values output by ErrorID (Error Code) and ErrorIDEx
(Expansion Error Code).
• If an error occurs, processing does not move to the next step.
• The value of Error is retained while the value of Execute is TRUE.
Execute TRUE
FALSE
TRUE
StepCompleted
FALSE
TRUE
Busy
FALSE
TRUE
Done
FALSE
TRUE
CommandAborted
FALSE
Error TRUE
FALSE
ErrorID 16#0000 16#3C4A
ErrorIDEx 16#0000 0000 16#0003 0003
StepExec TRUE
FALSE
MCCmdExec[0] TRUE
FALSE
CurrentStepNo 1 2

• The values of SingleStepMode (Single Mode) and StartStepNo (Execution Start Step Number) are
valid while Execute is TRUE. The value is not refreshed even if it is changed during processing of this
function block.
• If the value of Abort, StepCompleted (Step Completed Trigger), StepExit (Step Abort Trigger), Next-
StepNo (Next Step Number), or PrgTable.StepCmdData (Step Command Data) is changed during
execution of this function block, the value is updated for the processing within the same task period.
SP_PrgStatusCtrl
Troubleshooting
table.
Expansion error
code
16#0000 16#00000000 Normal end
16#3C4A 16#00000001 Execution start The value of StartStepNo (Exe- Check the valid range of the
step number cution Start Step Number) value of StartStepNo (Execution
range exceeded the valid range. Start Step Number) and set the
exceeded value within the valid range.
16#00000002 Next step num- The value of NextStepNo (Next Check the valid range of the
ber range Step Number) exceeded the value of NextStepNo (Next Step
exceeded valid range. Number) and set the value within
the valid range.
16#000003*1 Control method The value of CtrlCode (Control Check the valid range of the
range Method) is outside the valid value of CtrlCode (Control
exceeded range. Method) and set the value within
the valid range.
*1. The boxes () are the BCD values of CurrentStepNo (Current Step Number) when the error occurred. For example, if
CurrentStepNo is USINT#11, ErrorIDEx is DWORD#16#00110003.
Sample Programming
Single-axis program operation is implemented by combining the SP_PrgStatusCtrl (Program Status
Control) function block, the SP_StepCompleteJudge (Step Completion Determination) function block,
the SP_StepLoadAlarm (Step Load Alarm Determination) function block, and the SP_PrgLoadAlarm
(Program Load Alarm Determination) function block.
This sample programming shows only the portion that executes single-axis program operation. It also
shows only the minimum rungs required for operation of the sample programming shown for the SP_S-
ingleAxisPrgOpr (Single-axis Program Operation) function block. Add other rungs as necessary, such
as stop rungs when a determination is made.
Refer to the descriptions of the ladder diagram and structured text program for the replacement method
to apply this sample programming to the SP_SingleAxisPrgOpr (Single-axis Program Operation) func-
tion block sample programming.

SP_PrgStatusCtrl
Conditions
The conditions are the same as those for the SP_SingleAxisPrgOpr (Single-axis Program Operation)
function block sample programming.
Processing
Change the StartPG variable to TRUE after home has been defined to start single-axis program opera-
tion.
Ladder Diagram
Initial
Value
SP_PrgStatusCtrl_instance OmronLib\ServoPress\SP_Prg- Instance of the SP_PrgStatusCtrl
StatusCtrl (Program Status Control) func-
tion block
SP_StepComplete- OmronLib\ServoPress\SP_Step- Instance of the SP_StepCom-
Judge_instance CompleteJudge pleteJudge (Step Completion
Determination) function block
SP_StepLoadAlarm_in- OmronLib\ServoPress\SP_Step- Instance of the SP_StepLoadA-
stance LoadAlarm larm (Step Load Alarm Determi-
nation) function block
SP_PrgLoadAlarm_in- OmronLib\ServoPress\SP_Pr- Instance of the SP_PrgLoadA-
stance gLoadAlarm larm (Program Load Alarm
LOAD_ALARM
StartPg BOOL Starts single-axis program oper-
ation.
gram operation
StepNo
tion.
SingleAxisCtrl_SingleCmd- USINT Single-axis command profile
ProfileNo number
busy
fault
trigger
GLE_CMD_PROFILE
SP_PrgStatusCtrl
Initial
Value
 Algorithm
The algorithm can be used in the same manner as in the SP_SingleAxisPrgOpr (Single-axis Pro-
gram Operation) function block sample programming by replacing the sixth rung of that sample pro-
gramming (SP_SingleAxisPrgOpr (Single-axis Program Operation) function block instance) with the
following ladder programming.
SP_PrgStatusCtrl
 How To Apply To the SP_SingleAxisPrgOpr (Single-axis Program Operation)

Function Block Sample Programming
The algorithm can be used in the same manner as in the SP_SingleAxisPrgOpr (Single-axis Pro-
gram Operation) function block sample programming by replacing the sixth rung of that sample pro-
gramming (i.e., instance of the SP_SingleAxisPrgOpr (Single-axis Program Operation) function
block) with the above ladder programming.
SP_PrgStatusCtrl
ST
Initial
Value
SP_PrgStatusCtrl_instance OmronLib\ServoPress\SP_Prg- Instance of the SP_PrgStatusCtrl
StatusCtrl (Program Status Control) function
block
SP_StepComplete- OmronLib\ServoPress\SP_Step- Instance of the SP_StepCom-
Judge_instance CompleteJudge pleteJudge (Step Completion
SP_StepLoadAlarm_in- OmronLib\ServoPress\SP_Step- Instance of the SP_StepLoadA-
stance LoadAlarm larm (Step Load Alarm Determina-
SP_PrgLoadAlarm_in- OmronLib\ServoPress\SP_Pr- Instance of the SP_PrgLoadAlarm
stance gLoadAlarm (Program Load Alarm Determina-
LOAD_ALARM
tion.
gram operation
StepNo
tion.
ProfileNo ber
busy
fault
trigger
GLE_CMD_PROFILE
Initial
Value
SP_PrgStatusCtrl
 Algorithm
//Start trigger

END_IF;
//Error stop
IF PrgStatusCtrl_Err OR StepCompleteJudge_Err OR StepLoadAlarm_Err OR PrgLoadA-
larm_Err THEN
SingleAxisPrgOpr_Err:=TRUE;
ErrorStop:=TRUE;
ELSE
SingleAxisPrgOpr_Err:=FALSE;
ErrorStop:=FALSE;
END_IF;
//Abort each FBs

Abort_SingleAxisPrgOpr:=SingleAxisPrgOpr_Abt OR ErrorStop;
//SP_PrgOprCtrl
SP_PrgStatusCtrl_instance(
SingleStepMode := SingleAxisPrgOpr_SingleMode,
Abort := Abort_SingleAxisPrgOpr,
StepCompleted := StepCompleted,
NextStepNo := NextStepNo,
Done => PrgStatusCtrl_Done,
Error => PrgStatusCtrl_Err
);
//SP_StepCompleteJudge
SP_StepCompleteJudge_instance(
Execute := StepExec,
CurrentStepNo := CurrentStepNo,
Load := TorqueVal,
Done => StepCompleted,
NextStepNo => NextStepNo,
Error => StepCompleteJudge_Err
);
//SP_StepLoadAlarm
SP_StepLoadAlarm_instance(
Execute := StepExec,
SP_PrgStatusCtrl
Load := TorqueVal,
Error => StepLoadAlarm_Err
);
//SP_PrgLoadAlarm
SP_PrgLoadAlarm_instance(
Enable := SingleAxisPrgOpr_Bsy,
Load := TorqueVal,
Error => PrgLoadAlarm_Err
);
 How To Apply To the SP_SingleAxisPrgOpr (Single-Axis Program Operation)

Function Block Sample Programming
The following code shows the SP_SingleAxisPrgOpr (Single-Axis Program Operation) function
block instance code in the SP_SingleAxisPrgOpr (Single-Axis Program Operation) function block
sample programming.
//SP_SingleAxisPrgOpr
SINGLE_AXIS_PRG_OPR(
Abort := SingleAxisPrgOpr_Abt,
SingleMode := SingleAxisPrgOpr_SingleMode,
Load := TorqueVal,
Done => SingleAxisPrgOpr_D,
StepLoadAlarmOut => StepLoadAlarmOut,
PrgLoadAlarmOut => PrgLoadAlarmOut,
ExtrOutputCode => ExtrOutputCode,
StepCompleted => StepCompleted,
CommandAborted=> SingleAxisPrgOpr_Ca,
Error => SingleAxisPrgOpr_Err,
ErrorID => SingleAxisPrgOpr_ErrID,
ErrorIDEx => SingleAxisPrgOpr_ErrIDEx
);
The same operations can be executed in this sample programming as those in the SP_SingleAxis-
PrgOpr (Single-axis Program Operation) function block sample programming by replacing the above
code. The following part in this sample programming is included in the SP_SingleAxisPrgOpr (Sin-
gle-axis Program Operation) function block sample programming. If you make the replacement, use
the part after the comment of //Error stop.
//Start trigger

END_IF;
The SP_StepCompleteJudge function block performs step completion determination based on the step com-
pletion conditions.
Function
FB/
FUN
name
SP_Step Step FB SP_StepCompleteJudge_instance (
Complete Comple- SP_StepCompleteJudge_Instance PrgTable,
Judge tion \\OmronLib\ServoPress\SP_StepCompleteJudge Execute,
PrgTable PrgTable
Determi- CurrentStepNo,
nation Execute Done Abort,
Position,
CurrentStepNo TimeOut Velocity,
Abort Unachieved Load,
MCCmdDone,
Position NextStepNo StepCompleteCode,
Velocity MonitorEnabled SingleCmdProfileNo,
Done,
Load Busy TimeOut,
CommandAborted Unachieved,
MCCmdDone
NextStepNo,
StepCompleteCode Error MonitorEnabled,
ErrorID
Busy,
SingleCmdProfileNo
CommandAborted,
ErrorIDEx Error,
ErrorID,
ErrorIDEx);
Item Description
Function block and function 00073
number
Publish/Do not publish Do not publish
source code
Function block and function 1.00
version
Variables
Input Variables

function block
Depends on
data type.
to TRUE.
Current Current Step Step number to evalu-
USINT 1 1 to 50 ---
StepNo Number ate for step completion
function block
Depends on
data type.
to TRUE.
Com- The current position
Position LREAL 0 mand monitor input for the
tion data type.
units monitoring target.
Com- The current velocity
Current Depends on
Velocity LREAL 0 mand monitor input for the
Velocity data type.
units/s monitoring target.
Depends on Load
Load Current Load LREAL 0 tor input for the monitor-
data type. units*1
ing target.
Motion instruction com-
Motion pletion
MCCmd Depends on
Instruction BOOL FALSE ---
Done data type. TRUE: Completed
Completion
FALSE: Not completed.
Step Code to match to the
Step Com-
Complete USINT 0 0 to 255 --- step completion condi-
plete Code
Code tion.
When you consecutively
execute multiple sin-
gle-axis motion control
Single-axis
instructions, this num-
SingleCmd Command
USINT 0 0 to 10 --- ber indicates the ordi-
ProfileNo Profile Num-
nal number of the
ber
current single-axis
motion control instruc-
tion.
Output Variables

TRUE: Normal end
Depends on
data type.
not met
Timeout occurrence
Timeout Depends on
TimeOut BOOL --- TRUE: Timeout occurred.
Occurrence data type.
FALSE: Timeout did not occur.
Whether the step has been
Step Incom- Depends on completed or not*1
Unachieved BOOL ---
pletion data type. TRUE: Step not completed.
FALSE: Step completed.
Next Step Number of next step to exe-
NextStepNo USINT 0 to 50 ---
Number cute*2*3
Load monitoring*4
Load Moni- Depends on TRUE: Monitoring in progress.
MonitorEnabled BOOL ---
toring data type. FALSE: Monitoring not in prog-
ress.
Executing
Depends on
data type.
Execution aborted
Error end
TRUE: Error end
Depends on
data type.
met
*5
error occurs.
normal end.
a normal end.
*1. CompleteType (Step Completion Type) is enabled in the following cases.
Target velocity (CompleteType = USINT3)
Equal to or greater than target load (CompleteType = USINT#4)
Equal to or less than target load (CompleteType = USINT#5)
Continuous detection of position load gradient (CompleteType = USINT7)
Continuous load decrease (CompleteType = USINT#8)
Continuous load increase (CompleteType = USINT#9)
*2. If the value of TimeOut (Timeout Occurrence) is FALSE, the value of NextStepNo is 0.
*3. If the value of Unachieved (Step Incompletion) is FALSE, the value of NextStepNo is 0.
*4. CompleteType (Step Completion Type) is enabled in the following cases.

Equal to or greater than target load (CompleteType = USINT#4)
Equal to or less than target load (CompleteType = USINT#5)
Continuous detection of position load gradient (CompleteType = USINT7)
Continuous load decrease (CompleteType = USINT#8)
Continuous load increase (CompleteType = USINT#9)
In-Out Variables

ARRAY[1.
.50] OF
Omron-
Program Program tables that contains
Tables settings for each step
Press\sP
RG_TABL
E
 Structure
Function
This function block determines whether a step is completed based on the step completion conditions
that are set in PrgTable (Program Tables).
This function block provides the single-axis program operation in combination with the SP_PrgStatusC-
trl (Program Status Control), SP_StepLoadAlarm (Step Load Alarm Determination), and SP_PrgLoadA-
larm (Program Load Alarm Determination) function blocks. Refer to Relation with Other Function Blocks
on page 102 in the description of the SP_PrgStatusCtrl (Program Status Control) function block on rela-
tion with these function blocks.
Step Completion Conditions

Specify the completion conditions for the steps with PrgTable.StepCompleteData (Step Completion
Condition).
For details on step completion conditions, refer to Step Completion Condition on page 59 in the
description of the SP_SingleAxisPrgOpr (Single-axis Program Operation) function block.
 CurrentStepNo (Executing Step Number)

This variable gives the number of the current step. This step is evaluated for step completion.
 Position (Current Position), Velocity (Current Velocity), and Load (Current

Load)
These variables are used to input the current position monitor, the current velocity monitor, and the
current load monitor for the monitoring target.
 MCCmdDone (Motion Instruction Completion)

This variable indicates when execution of the current motion control instruction is completed. It is
used when waiting for motion instruction completion (CompleteType = USINT#0) is set as the condi-
tion for completion of the step.
It is determined that the step is completed when the value of MCCmdDone (Motion Instruction Com-
pletion) is TRUE. For details on step completion conditions, refer to Step Completion Condition on
page 59 in the description of the SP_SingleAxisPrgOpr (Single-axis Program Operation) function
block.
 StepCompleteCode (Step Complete Code)

This variable is used when step complete code match (CompleteType = USINT#6) is set as the con-
dition for completion of the step. It is determined that the step is completed when the value of the
StepCompleteCode (Step Complete Code) matches the value of StepCompleteData.StepComplete-
Code (Step Complete Code Set Value). For details on step completion conditions, refer to Step
Completion Condition on page 59 in the description of the SP_SingleAxisPrgOpr (Single-axis Pro-
gram Operation) function block.

cates the ordinal number of the current single-axis motion control instruction.
 TimeOut (Timeout Occurrence)

The variable indicates whether a timeout occurred in the step.
If the step is not completed even if the time set with StepCompleteData.TimeOut (Step Timeout
Time) has elapsed from the start of the step, it will be determined that the step timed out. If a timeout
occurs, the value of TimeOut (Timeout Occurrence) changes to TRUE, and execution of this func-
tion block is ended.
 Unachieved (Step Incompletion)

This variable indicates when a step is not completed when CompleteType (Step Completion Type) is
target velocity (CompleteType = USINT3), equal to or greater than target load (CompleteType =
USINT4), equal to or less than target load (CompleteType = USINT5), continuous detection of posi-
tion load gradient (CompleteType = USINT7), continuous load decrease (CompleteType = USINT8),
or continuous load increase (CompleteType = USINT9).
If the current position of the axis exceeds MonitorMinPos (Maximum Monitoring Position) but does
not meet the step completion condition, it is determined that the step was not completed, and the
value of Unachieved (Step Incompletion) changes to TRUE. If it is determined that the step was not
completed, the execution of this function block is ended.
 NextStepNo (Next Step Number)

This is the number of the step to execute when a timeout occurs or a step is not completed. If the
value of TimeOut (Timeout Occurrence) or the value of Unachieved (Step Incompletion) is FALSE,
the value of NextStepNo (Next Step Number) changes to zero.
 MonitorEnabled (Load Monitoring)

This variable indicates whether load monitoring is in progress. When CompleteType (Step Comple-
tion Type) is target velocity (CompleteType = USINT3), equal to or greater than target load (Com-
pleteType = USINT4), equal to or less than target load, (CompleteType = USINT5), continuous
detection of position load gradient (CompleteType = USINT7), continuous load decrease (Complete-
Type = USINT8), or continuous load increase (CompleteType = USINT9), and the value of Position
(Current Position) is between MonitorMinPos (Minimum Monitoring Position) and MonitorMaxPos
(Maximum Monitoring Position), the value of MonitorEnabled (Load Monitoring) changes to TRUE.
Timing Charts
 Normal End
• If the step completion condition is met, the value of Done changes to TRUE and execution of this
function block is ended.
Position, velocity, or load Step started. Step ended.

Target
Time
Execute TRUE
FALSE
TimeOut TRUE
FALSE
Unachived TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
 Timeout Occurrence
• If a timeout occurs, the value of TimeOut (Timeout Occurrence) changes to TRUE and execution
of this function block is ended.
• The value of NextStepNo (Next Step Number) is retained even after a timeout occurs until the
value of Execute changes to TRUE.
• Even if a timeout occurs, an error will not occur.
Position, velocity, or load Step started. Timeout occurred.

Target
StepCompleteData.TimeOut Time
Execute TRUE
FALSE
TimeOut TRUE
FALSE
NextStepNo 16#0 Next step number
Unachived TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
Error TRUE
FALSE
ErrorID 16#0000
ErrorIDEx 16#0000 0000
 Step Incompletion
• If the value of Position (Current Position) is between MonitorMinPos (Minimum Monitoring Posi-
tion) and MonitorMaxPos (Maximum Monitoring Position), the value of MonitorEnabled (Load
Monitoring) changes to TRUE.
• If the step is not completed, the value of Unachieved (Step Incompletion) changes to TRUE, and
the execution of this function block is ended.
• If both a timeout and step incompletion occur in the same task period, step incompletion takes pri-
ority.
• The value of NextStepNo (Next Step Number) is retained even after step incompletion occurs until
the value of Execute changes to TRUE.
• Even if step incompletion occurs, an error will not occur.
Load value Step started. Step incompletion occurred.

Target
Position
Execute TRUE
FALSE
Unachieved TRUE
FALSE
NextStepNo 16#0 Next step number
MonitorEnabled TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
Error TRUE
FALSE
ErrorID 16#0000
ErrorIDEx 16#0000 0000
Execute TRUE
FALSE
TRUE
Abort
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
CommandAborted
FALSE
 Error End
Execute TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
Error TRUE
FALSE
ErrorID 16#0000 ErrorID
ErrorIDEx 16#0000 0000 ErrorIDEx

• The value of CurrentStepNo (Current Step Number) and the value of StepCompleteData (Step Com-
pletion Condition) are enabled when the value of Execute changes to TRUE. The value is not
refreshed even if it is changed during processing of this function block.
• If the value of Abort, Position (Current Position), Velocity (Current Velocity), Load (Current Load),
StepCompleteCode (Step Complete Code), or SingleCmdProfleNo (Single-axis Command Profile
Number) is changed during execution of this function block, the value is updated by the processing
within the same task period.
Troubleshooting
table.
Expansion error
code
16#0000 16#00000000 Normal end
16#3C4B 16# 0001 *1 Step timeout The value of TimeOut (Step Tim- Check the valid range of the
time out of eout Time) is outside the valid value for TimeOut (Step Timeout
range range. Time) and set the value within
the valid range.
16# 0002 Step timeout The value of TimeOutNext- Check the valid range of the
*1 next step num- StepNo (Step Timeout Next Step value for TimeOutNextStepNo
ber out of range Number) is outside the valid (Step Timeout Next Step Num-
range. ber) and set the value within the
valid range.
16# 0003 Illegal monitor- The value of MonitorMinPos Set MonitorMinPos (Minimum
*1 ing position (Minimum Monitoring Position) is Monitoring Position) to a value
greater than the value of that is less than or equal to the
MonitorMaxPos (Maximum value of MonitorMaxPos (Maxi-
Monitoring Position). mum Monitoring Position).
16# 0004 Monitoring start The value of MonitorStartTime Check the valid range of the
*1 time out of (Monitoring Start Time) is out- value for MonitorStartTime (Mon-
range side the valid range. itoring Start Time) and set the
16# 0005 Monitoring end The value of MonitorEndTime Check the valid range of the
*1 time out of (Monitoring End Time) is out- value for MonitorEndTime (Moni-
range side the valid range. toring End Time) and set the
16# 0006 Illegal monitor- The value of MonitorStartTime Set MonitorStartTime (Monitoring
*1 ing time (Monitoring Start Time) is greater Start Time) to a value that is less
than the value of MonitorEnd- than or equal to the value of
Time (Monitoring End Time). MonitorEndTime (Monitoring End
Time).
Expansion error
code
16#3C4B 16# 0007 Number of con- The value of InflPointGradient- Check the valid range for the
*1 secutive posi- Count (Number of Consecutive value of InflPointGradientCount
tion load Position Load Gradients) is out- (Number of Consecutive Position
gradients out of side the valid range. Load Gradients) and set the
16# 0008 Number of con- The value of LoadDecreaseC- Check the valid range for the
*1 secutive load ount (Number of Consecutive value of LoadDecreaseCount
decreases Load Decreases Threshold) is (Number of Consecutive Load
threshold out of outside the valid range. Decreases Threshold) and set
range the value within the valid range.
16# 0009 Number of con- The value of LoadIncreaseCount Check the valid range for the
*1 secutive load (Number of Consecutive Load value of LoadIncreaseCount
increases Increases Threshold) is outside (Number of Consecutive Load
threshold out of the valid range. Increases Threshold) and set the
16# 000A Step number The value of UnachievedNext- Check the valid range of the
*1 when step not StepNo (Step Number When value for UnachievedNext-
completed Step Not Completed) is outside StepNo (Step Number When
the valid range. Step Not Completed) and set the
16# 000B Wait time out of The value of WaitTime (Wait Check the valid range of the
*1 range Time) is outside the valid range. value for WaitTime (Wait Time)
range.
16# 000C Position load The value of InflPointGradient Check the valid range for the
*1 gradient out of (Position Load Gradient) is out- value of InflPointGradient (Posi-
range side the valid range. tion Load Gradient) and set the
16# 000D Step completion The value of CompleteType Check the valid range of the
*1 type out of (Step Completion Type) value for CompleteType (Step
range exceeded the valid range. Completion Type) and set the
16# 000E Positioning The value of InPosWidth (Posi- Check the valid range of the
*1 in-position width tioning In-position Width) is out- value for InPosWidth (Positioning
out of range side the valid range. In-position Width) and set the
16#0000000F Incorrect task An attempt was made to execute Execute this function block in a
Sample Programming
Refer to Sample Programming on page 108 in the description of the SP_PrgStatusCtrl (Program Status
SP_StepLoadAlarm
SP_StepLoadAlarm
The SP_StepLoadAlarm function block performs step load alarm determination based on the step load alarm
conditions.
Function
FB/
FUN
name
SP_Step Step FB SP_StepLoadAlarm_instance (
Load Load SP_StepLoadAlarm_Instance PrgTable,
Alarm Alarm \\OmronLib\ServoPress\SP_StepLoadAlarm Execute,
PrgTable PrgTable
Determi- CurrentStepNo,
nation Execute Done StepCompleted,
Abort,
CurrentStepNo StepLoadAlarmOut Position,
StepCompleted MonitorEnabled Load,
Done,
Abort Busy StepLoadAlarmOut,
Position CommandAborted MonitorEnabled,
Busy,
Load Error CommandAborted,
ErrorID Error,
ErrorID,
ErrorIDEx ErrorIDEx);
Item Description
Publish/Do not publish source code Do not publish
SP_StepLoadAlarm
Variables
Input Variables

function block
Depends on
data type.
to TRUE.
CurrentStep Current Step Depends on Step number to evalu-
USINT 1 ---
No Number data type. ate for step load alarm
The step is completed
Step Step Com- Depends on when the step comple-
BOOL FALSE ---
Completed pleted Trigger data type. tion trigger changes to
TRUE.
function block
Depends on
data type.
to TRUE.
Com-
mand The current position
Position LREAL 0 units for monitor input for the
tion data type.
monitor- monitoring target.
ing
Depends on Load
Load Current Load LREAL 0 tor input for the monitor-
data type. units*1
ing target.
SP_StepLoadAlarm
Output Variables

TRUE: Normal end
Depends on
data type.
not met
Step load alarm
TRUE: A step load alarm
StepLoadAlarm Step Load Depends on
BOOL --- occurred.
Out Alarm data type.
FALSE: A step load alarm did
not occur.
Load monitoring
ress.
Executing
Depends on
Busy Executing BOOL --- TRUE: Executing.
data type.
FALSE: Not executing.
Execution aborted
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
a normal end.
In-Out Variables

ARRAY[1.
.50] OF
Omron-
Program Program tables that contain set-
Tables tings for each step.
Press\sP
RG_TABL
E
 Structure
SP_StepLoadAlarm
Function
This function performs step load alarm determination based on the step load alarm conditions that are
set in PrgTable (Program Tables).
trl (Program Status Control), SP_StepCompleteJudge (Step Completion Determination), and SP_Pr-
gLoadAlarm (Program Load Alarm Determination) function blocks. Refer to Relation with Other
Function Blocks on page 102 in the description of the P_PrgStatusCtrl (Program Status Control) func-
tion block on relation with these function blocks.
Step Load Alarm Conditions

Step load alarm conditions are set for each step with PrgTable.StepLoadAlarm (Step Load Alarm Con-
ditions).
For details on step load alarm conditions, refer to Step Load Alarm Determination on page 68 in the
description of the SP_SingleAxisPrgOpr (Single-axis Program Operation) function block.

This variable gives the number of the current step. Step load alarm determination is performed for
this step.

This variable is a trigger signal that indicates when a step is completed. If the value of StepCom-
pleted (Step Completed Trigger) changes to TRUE, the step is recognized as completed and the
function block moves to the next step.
 Position (Current Position) and Load (Current Load)

These variables are used to input the current position monitor and the current load monitor for the
monitoring target.
 StepLoadAlarmOut (Step Load Alarm)

This variable indicates whether a step load alarm occurred in the step. When a step load alarm
occurs, the value of StepLoadAlarmOut (Step Load Alarm) changes to TRUE.

This variable indicates whether load monitoring is in progress. If the value of Position (Current Posi-
tion) is between MonitorMinPos (Minimum Monitoring Position) and MonitorMaxPos (Maximum
Monitoring Position), the value of MonitorEnabled (Load Monitoring) changes to TRUE.
SP_StepLoadAlarm
Timing Charts
 Normal End for Determination While Step Is in Progress
• The value of StepLoadAlarmOut (Step Load Alarm) changes to TRUE if the step load alarm condi-
tion is met.
• If the value of Position (Current Position) is between MonitorMinPos (Minimum Monitoring Posi-
tion) and MonitorMaxPos (Maximum Monitoring Position), the value of MonitorEnabled (Load
Monitoring) changes to TRUE.
• Step load alarm determination ends when the value of StepCompleted (Step Completed Trigger)
changes to TRUE. The value of StepLoadAlarmOut (Step Load Alarm) changes to FALSE.
Step started. Step ended.

Load value MonitorMinPos MonitorMaxPos
MonitorMaxLoad
MonitorMinLoad
Current position
Execute TRUE
FALSE
StepCompleted TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
MonitorEnabled
FALSE
TRUE
StepLoadAlarmOut
FALSE
SP_StepLoadAlarm
 Normal End for Determination When Step Is Completed

• Step load alarm determination is performed when the value of StepCompleted (Step Completed
Trigger) changes to TRUE. The value of StepLoadAlarmOut (Step Load Alarm) changes to TRUE
if the step load alarm condition is met, but for only one task period.
• The value of StepLoadAlarmOut (Step Load Alarm) changes to FALSE while the value of Step-
Completed (Step Completed Trigger) is FALSE.
Step started. Step ended.

Load value
MonitorMaxLoad
MonitorMinLoad
Current position
Execute TRUE
FALSE
StepCompleted TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
StepLoadAlarmOut
FALSE
SP_StepLoadAlarm
• The value of StepLoadAlarmOut (Step Load Alarm) changes to FALSE if execution is aborted.
Step started.
MonitorMaxLoad
MonitorMinLoad
Current position
Execute TRUE
FALSE
Abort TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
StepLoadAlarmOut
FALSE
CommandAborted TRUE
FALSE
 Error End
Execute TRUE
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
Error TRUE
FALSE

If the value of CurrentStepNo (Current Step Number), StepCompleted (Step Completed Trigger), Abort,
Position (Current Position), or Load (Current Load) is changed during execution of this function block,
the value is updated for the processing within the same task period.
SP_StepLoadAlarm
Troubleshooting
table.
Expansion error
code
16#0000 16#00000000 Normal end
16#3C4C 16# 0001 *1 Illegal monitor- The value of MonitorMinPos Set MonitorMinPos (Monitoring
ing position (Monitoring Range Minimum Range Minimum Position) to a
Position) is greater than the value that is less than or equal to
value of MonitorMaxPos the value of MonitorMaxPos
(Monitoring Range Maximum (Monitoring Range Maximum
Position). Position).
16# 0002 Illegal monitor- The value of MonitorMinLoad Set MonitorMinLoad (Monitoring
*1 ing load (Monitoring Load Range Lower Load Range Lower Limit) to a
Limit) is greater than the value of value that is less than or equal to
MonitorMaxLoad (Monitoring the value of MonitorMaxLoad
Load Range Upper Limit). (Monitoring Load Range Upper
Limit).
16# 0003 Step load alarm The value of StepAlarmType Check the valid range of the
*1 determination (Step Load Alarm Determination value for StepAlarmType (Step
type out of Type) is outside the valid range. Load Alarm Determination Type)
range and set the value within the valid
range.
16# 0004 Upper/lower The value of InPosWidth Check the valid range of the
*1 monitoring limit (Upper/Lower Monitoring Limit value for InPosWidth
Sample Programming
SP_PrgLoadAlarm
SP_PrgLoadAlarm
The SP_PrgLoadAlarm function block performs program load alarm determination based on the program load
alarm conditions.
Function
FB/
FUN
name
SP_Prg Program FB SP_PrgLoadAlarm_instance (
Load Load SP_PrgLoadAlarm_Instance PrgLoadAlarm,
Alarm Alarm \\OmronLib\ServoPress\SP_PrgLoadAlarm Enable,
PrgLoadAlarm PrgLoadAlarm
Determi- Position,
nation Enable Enabled Load,
Enabled,
Position PrgLoadAlarmOut PrgLoadAlarmOut,
Load MonitorEnabled MonitorEnabled,
Busy,
Busy Error,
Error ErrorID,
ErrorIDEx);
ErrorID
ErrorIDEx
Item Description
SP_PrgLoadAlarm
Variables
Input Variables

Enable
Depends on TRUE: Enable.
Enable Enable BOOL FALSE ---
data type. FALSE: Do not enable
execution.
Command The current position
Position LREAL 0 units for monitor input for the
tion data type.
monitoring monitoring target.
Depends on Load
Load Current Load LREAL 0 tor input for the moni-
data type. units*1
toring target.
Output Variables

Enabled
Depends on TRUE: Enabled.
Enabled Enabled BOOL ---
data type.
FALSE: Not enabled.
Program load alarm
TRUE: A program load alarm
PrgLoadAlarm Program Depends on
BOOL --- occurred.
Out Load Alarm data type.
FALSE: A program load alarm
did not occur.
Load monitoring
ress.
Executing
Depends on
Busy Executing BOOL --- TRUE: Executing.
data type.
FALSE: Not executing.
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
a normal end.
SP_PrgLoadAlarm
In-Out Variables

Omron-
Lib\Servo
Program
Press\sP Conditions necessary for pro-
PrgLoadAlarm Load Alarm --- ---
RG_LOA gram load alarm to occur
Conditions
D_ALAR
M
 Structure
The data type of the PrgLoadAlarm in-out variable is the structure OmronLib\ServoPress\sPRG_-
LOAD_ALARM.
SP_PrgLoadAlarm
Function
This function block performs program load alarm determination based on PrgLoadAlarm (Program
Load Alarm Conditions).
trl (Program Status Control), SP_StepCompleteJudge (Step Completion Determination), and SP_Pr-
gLoadAlarm (Program Load Alarm Determination) function blocks. Refer to Relation with Other
Function Blocks on page 102 in the description of the SP_PrgStatusCtrl (Program Status Control) func-
tion block on relation with these function blocks.
Program Load Alarm Conditions

Set the program load alarm conditions with PrgLoadAlarm (Program Load Alarm Conditions).
For details on program load alarm conditions, refer to Program Load Alarm Determination on page 70 in
the description of the SP_SingleAxisPrgOpr (Single-axis Program Operation) function block.

These variables are used to input the current position monitor and the current load monitor for the
monitoring target.
 PrgLoadAlarmOut (Program Load Alarm)

This variable indicates whether a program load alarm occurred. If a program load alarm occurs, the
PrgLoadAlarmOut (Program Load Alarm) changes to TRUE.

This variable indicates whether load monitoring is in progress. If the value of Position (Current Posi-
tion) is between MonitorMinPos (Minimum Monitoring Position) and MonitorMaxPos (Maximum
Monitoring Position), the value of MonitorEnabled (Load Monitoring) changes to TRUE.
SP_PrgLoadAlarm
Timing Charts
 Normal End
• Busy (Executing) changes to TRUE when Enable in the function block changes to TRUE.
• If the program load alarm condition is met, the value of PrgLoadAlarmOut (Program Load Alarm)
changes to TRUE.
• If the program load alarm condition is not met, the value of PrgLoadAlarmOut (Program Load
Alarm) changes to FALSE.
• When the value of Enable changes to FALSE, the value of PrgLoadAlarmOut (Program Load
Alarm) changes to FALSE.
LoadMaxLimit
LoadMinLimit
Current position
Enable TRUE
FALSE
Enabled TRUE
FALSE
TRUE
Busy
FALSE
TRUE
MonitorEnabled
FALSE
TRUE
PrgLoadAlarmOut
FALSE
 Error End
• The value of Error is retained while the value of Enable is TRUE.
Enable TRUE
FALSE
TRUE
Enabled
FALSE
TRUE
Busy
FALSE
Error TRUE
FALSE
SP_PrgLoadAlarm

If the value of Position (Current Position) or Load (Current Load) is changed during execution of this
function block, the value is updated for the processing within the same task period.
Troubleshooting
table.
Expansion error
code
16#0000 16#00000000 Normal end
16#3C4D 16#00000001 Program load The value of PrgAlarmType Check the valid range of the
alarm (Program Load Alarm Determi- value for PrgAlarmType (Pro-
determination nation Type) is outside the valid gram Load Alarm Determination
type out of range. Type) and set the value within
range the valid range.
16#00000002 Standard type The value of UnitType (Standard Check the valid range of the
out of range Type) is outside of the valid value for UnitType (Standard
range. Type) and set the value within
the valid range.
data alarm type TrapezoidData.AlarmType value for TrapezoidData.Alarm-
data monitoring TrapezoidData.MonitorLowerTim value for TrapezoidData.Monitor-
lower limit e (Monitoring Lower Limit LowerTime (Monitoring Lower
data monitoring TrapezoidData.MonitorUpperTim value for TrapezoidData.Moni-
upper limit e (Monitoring Upper Limit torUpperTime (Monitoring Upper
zoid area data TrapezoidData.MonitorLowerTim erTime (Monitoring Lower Limit
monitoring e (Monitoring Lower Limit Elapsed Time) to a value that is
elapsed time the value of TrapezoidData.MonitorUpper-
TrapezoidData.MonitorUpperTim Time (Monitoring Upper Limit
e (Monitoring Upper Limit Elapsed Time).
Elapsed Time).
zoid area data TrapezoidData.MonitorLowerPo erPos (Minimum Monitoring
monitoring posi- s (Minimum Monitoring Position) Position) to a value that is less
tion is greater than the value of than or equal to the value of
TrapezoidData.MonitorUpperPo TrapezoidData.MonitorUpper-
s (Maximum Monitoring Pos (Maximum Monitoring Posi-
Position). tion).
SP_PrgLoadAlarm
Expansion error
code
16#3C4D 16#00000008 Illegal trape- The value of Set the value of Trapezoid-
zoid area data TrapezoidData.LoadMinLower Data.LoadMinLower (Monitoring
monitoring start (Monitoring Start Point Minimum Start Point Minimum Load) to a
point load Load) is greater than the value value that is less than or equal to
of the value of TrapezoidData.Load-
TrapezoidData.LoadMaxLower MaxLower (Monitoring Start
(Monitoring Start Point Maximum Point Maximum Load).
Load).
16#00000009 Illegal trape- The value of Set the value of Trapezoid-
zoid area data TrapezoidData.LoadMinUpper Data.LoadMinUpper (Monitoring
monitoring end (Monitoring End Point Minimum End Point Minimum Load) to a
point load Load) is greater than the value value that is less than or equal to
of the value of TrapezoidData.Load-
TrapezoidData.LoadMaxUpper MaxUpper (Monitoring End Point
(Monitoring End Point Maximum Maximum Load).
Load).
16#0000000A Rectangle area The value of Check the valid range of the
data alarm type RectangleData.AlarmType value for RectangleData.Alarm-
16#0000000B Rectangle area The value of Check the valid range of the
data monitoring RectangleData.MonitorLowerTi value for RectangleData.Monitor-
lower limit me (Monitoring Lower Limit LowerTime (Monitoring Lower
16#0000000C Rectangle area The value of Check the valid range of the
data monitoring RectangleData.MonitorUpperTi value for RectangleData.Moni-
upper limit me (Monitoring Upper Limit torUpperTime (Monitoring Upper
16#0000000D Illegal rectan- The value of Set RectangleData.MonitorLow-
gle area data RectangleData.MonitorLowerTi erTime (Monitoring Lower Limit
monitoring me (Monitoring Lower Limit Elapsed Time) to a value that is
elapsed time the value of RectangleData.MonitorUpper-
RectangleData.MonitorUpperTi Time (Monitoring Upper Limit
me (Monitoring Upper Limit Elapsed Time).
Elapsed Time).
16#0000000E Illegal rectan- The value of Set RectangleData.MonitorLow-
gle area data RectangleData.MonitorLowerPo erPos (Minimum Monitoring
monitoring posi- s (Minimum Monitoring Position) Position) to a value that is less
tion is greater than the value of than or equal to the value of
RectangleData.MonitorUpperPo RectangleData.MonitorUpper-
s (Maximum Monitoring Pos (Maximum Monitoring Posi-
Position). tion).
SP_PrgLoadAlarm
Expansion error
code
16#3C4D 16#0000000F Illegal rectan- The value of Set the value of Rectangle-
gle area data RectangleData.LoadMinLimit Data.LoadMinLimit (Load Lower
load (Load Lower Limit) is greater Limit) to a value that is less than
than the value of or equal to the value of Rectan-
RectangleData.LoadMaxLimit gleData.LoadMaxLimit (Load
(Load Upper Limit). Upper Limit).
16#00000010 Illegal trape- The positional relationships Set the values of
zoid area data between the values of TrapezoidData.MonitorLowerTim
TrapezoidData.MonitorLowerTim e (Monitoring Lower Limit
e (Monitoring Lower Limit Elapsed Time),
Elapsed Time), TrapezoidData.MonitorUpperTim
TrapezoidData.MonitorUpperTim e (Monitoring Upper Limit
e (Monitoring Upper Limit Elapsed Time),
Elapsed Time), TrapezoidData.MonitorLowerPos
TrapezoidData.MonitorLowerPo (Minimum Monitoring Position),
s (Minimum Monitoring TrapezoidData.MonitorUpperPos
Position), (Maximum Monitoring Position),
TrapezoidData.MonitorUpperPo TrapezoidData.LoadMinLower
s (Maximum Monitoring (Monitoring Start Point Minimum
Position), Load),
TrapezoidData.LoadMinLower TrapezoidData.LoadMaxLower
(Monitoring Start Point Minimum (Monitoring Start Point Maximum
Load), Load),
TrapezoidData.LoadMaxLower TrapezoidData.LoadMinUpper
(Monitoring Start Point Maximum (Monitoring End Point Minimum
Load), Load), and
TrapezoidData.LoadMinUpper TrapezoidData.LoadMaxUpper
(Monitoring End Point Minimum (Monitoring End Point Maximum
Load), and Load) so that the enclosed area
TrapezoidData.LoadMaxUpper is a trapezoid.
(Monitoring End Point Maximum
Load) do not form a trapezoid.
16#00000011 Upper/lower The value of InPosWidth Check the valid range of the
monitoring limit (Upper/Lower Monitoring Limit value for InPosWidth
Sample Programming
SingleAxisCtrl
SingleAxisCtrl
The SingleAxisCtrl function block executes position control, velocity control, torque control, and torque feed-
back control.
Function
FB/
FUN
name
SingleAx- Sin- FB SingleAxisCtrl_instance (
isCtrl gle-axis SingleAxisCtrl_Instance Axis,
\\OmronLib\ServoPress\SingleAxisCtrl
Control SingleCmdProfile,
Axis Axis
Execute,
SingleCmdProfile SingleCmdProfile MeasuringTorque,
VelOverrideEnable,
Execute Done InputVelFactor,
MeasuringTorque TargetReached ItgReset,
BufferMode,
VelOverrideEnable SingleCmdProfileNo Done,
InputVelFactor TorqueLimitParam TargetReached,
SingleCmdProfileNo,
ItgReset OverrideEnabled TorqueLimitParam,
BufferMode Busy
OverrideEnabled,
Busy,
Active Active,
CommandAborted
CommandAborted,
Error,
Error ErrorID,
ErrorIDEx);
ErrorID
ErrorIDEx
Item Description
SingleAxisCtrl
Variables
Input Variables

function block
Depends on
data type.
to TRUE.
Measuring Measured −1000.0 to
LREAL 0 %*3 Measured actual torque
Torque Torque 1000.0*1*2
Whether to enable or
disable the velocity
VelOverride Velocity Over- Depends on override
BOOL FALSE ---
Enable ride Enable data type.
TRUE: Enabled
FALSE: Disabled.
Velocity Over-
InputVel 0 or Velocity override input
ride Input LREAL 100 %
Factor 0.01 to 500*4 value
Value
Integral processing
reset
Integral Pro- Depends on TRUE: Resets the pro-
ItgReset BOOL FALSE ---
cessing Reset data type. cessing.
FALSE: Does not reset
the processing.
Operation for multi-exe-
_eM- cution of motion control
Buffer Mode _mcAb
BufferMode C_BUFFER _mcAborting --- instructions
Selection orting
_MODE
*1. A setting less than LREAL#-1000.0 is treated as LREAL#-1000.0. A setting greater than LREAL#1000.0 is
treated as LREAL#1000.0.
*3. Set the percentage of the rated torque.
*4. Values of 500 and higher are treated as 500. Values of less than 0.01 are treated as 0.01. However, 0 is treat-
ed as 0.
Output Variables

TRUE: Normal end
Depends on
data type.
not met
Whether or not the target was
reached
Target Depends on TRUE: The target velocity was
TargetReached BOOL ---
Reached data type. reached.
FALSE: The target velocity was
not reached.
SingleAxisCtrl

When you consecutively exe-
Single-axis cute multiple single-axis motion
SingleCmd Command control instructions, this number
USINT 0 to 10 ---
ProfileNo Profile Num- indicates the ordinal number of
ber the current single-axis motion
control instruction.
Omron-
Lib\Servo
Press\sT
TorqueLimit Torque Limit
ORQUE_ --- --- Torque limit settings
Param Settings
LIM-
IT_PARA
M
Whether the velocity override is
Override Depends on enabled
OverrideEnabled BOOL ---
Enabled data type. TRUE: Enabled.
FALSE: Disabled.
Executing
Depends on
data type.
Controlling
Depends on
Active Controlling BOOL --- TRUE: Controlling
data type.
FALSE: Not controlling
Execution aborted
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
a normal end.
SingleAxisCtrl
 Structure
The data type of the TorqueLimitParam output variable is the structure OmronLib\Servo-
Press\sTORQUE_LIMIT_PARAM. The specifications are as follows:
Name Meaning Description Data type Valid range Unit

Omron-
Torque
TorqueLimit Lib\ServoPress\
Limit Set- Torque limit settings --- ---
Param sTORQUE_LIMI
tings
T_PARAM
Enable whether to enable the
TorqueLimit Positive positive torque limit. Depends on data
BOOL ---
PositiveEnable Torque type.
TRUE: Enabled.
Limit
FALSE: Disabled.
Enable whether to enable the
TorqueLimit
Negative negative torque limit. Depends on data
Negative BOOL ---
Torque type.
Enable TRUE: Enabled.
Limit
FALSE: Disabled.
Positive
TorqueLimit 0.0 or
Torque Positive torque limit LREAL %
PositiveVal 0.1 to 1,000.0
Limit
Negative
TorqueLimit 0.0 or
Torque Negative torque limit LREAL %
NegativeVal 0.1 to 1,000.0
Limit
SingleAxisCtrl
 Output Variable Update Timing
Variable Timing for changing to TRUE Timing for changing to FALSE

Done • When CtrlCode is set to USINT#0 (decel- • When Execute is TRUE and changes to
eration stop) and the axis decelerates to FALSE
a stop and the velocity reaches 0 • After one task period when Execute is
• When CtrlCode is set to USINT#1 (abso- FALSE
lute positioning) or USINT#2 (relative
positioning) and positioning is completed
• If the value of CtrlCode is not one of the
above values, this variable does not
change to TRUE.
TargetReached • When CtrlCode is set to USINT#3 (veloc- • When Error changes to TRUE
ity control) and the target velocity is • When CommandAborted changes to
reached TRUE
• When CtrlCode is set to USINT#4 (torque • When this function block is re-executed
control) and the target torque is output and the target values are changed
• When CtrlCode is set to USINT#5 (torque
feedback control) and the difference
between MeasuringTorque (Measured
Torque) and TargetTorque (Target
Torque) becomes equal to or less than
InTorqueWidth (In Torque Width)
• When CtrlCode is not set to one of the
above values, this variable changes to
TRUE at the same time as Done but for
only one task period.
Busy When Execute changes to TRUE • When Error changes to TRUE
• When CommandAborted changes to
TRUE
Active When output is started using the control • When Error changes to TRUE
method set in CtrlCode • When CommandAborted changes to
TRUE
Command • When this function block is aborted by • When Execute is TRUE and changes to
Aborted another instruction or function block FALSE
• When this function block is aborted • After one task period when Execute is
because an error occurred in another FALSE
instruction or function block
• When this function block is started during
execution of an MC_Stop instruction
Error When the start conditions or input parame- When the error is cleared
ters for this function block contain the cause
of an error
SingleAxisCtrl
In-Out Variables

_sAX-
Axis Axis --- --- Axis *1
IS_REF
Omron-
Lib\Servo
Single-axis
NGLE_C tables
Profile
MD_PRO
FILE
*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default:
MC_Axis***) or a system-defined axis variable name (_MC_AX[**]).
 Structure
The data type of the SingleCmdProfile in-out variable is the structure OmronLib\ServoPress\sSIN-
GLE_CMD_PROFILE. Refer to Structure in SP_SingleAxisPrgOpr on page 42 for details.
For information on member valid ranges for SingleCmdProfile, refer to Valid Ranges of SingleCmd-
Profile (Single-axis Command Profile) Members on page 67.
SingleAxisCtrl
Function
You can set the parameters in SingleCmdProfile (Single-axis Command Profile) and execute this func-
tion block to execute position control, velocity control, torque control, and torque feedback control.
The next motion control instruction or motion control function is executed in this function block depend-
ing on the value of CtrlCode (Control Method).
Value of Motion control instruction or

Control method Reference
CtrlCode motion control function
0 Deceleration stop MC_Stop instruction
Absolute position- MC_MoveAbsolute (Absolute Posi-
1 motion control instructions reference
ing tioning) instruction
manual
Relative position- MC_MoveRelative (Relative Posi-
2
ing tioning) instruction
CSV mode veloc- CSV Mode Velocity Control Function
3 CSV mode velocity control
ity control on page 159
MC_TorqueControl (Torque Control) motion control instructions reference
4 Torque control
Instruction manual
Torque feedback Torque Feedback Control Function
5 Torque feedback control
control on page 162
When CtrlCode is set to USINT#1 (absolute positioning) or USINT#2 (relative positioning), you can use
Blending Mode to continuously execute up to 10 function blocks without stopping.
The next member of SingleCmdProfile (Single-axis Command Profile) is output in the same task period
as TorqueLimitParam (Torque Limit Settings). If you input these members to the MC_SetTorqueLimit
(Set Torque Limit) instruction and use the torque control function of the Servo Drive, the output torque
of the Servo Drive will be limited.
• TorqueLimitPositiveEnable (Enable Positive Torque Limit)
• TorqueLimitNegativeEnable (Enable Negative Torque Limit)
• TorqueLimitPositiveVal (Positive Torque Limit)
• TorqueLimitNegativeVal (Negative Torque Limit)
SingleAxisCtrl
 MeasuringTorque (Measured Torque)

This variable gives the actual axis torque that is measured. It is used as a feedback input of the
actual torque monitor value in the torque feedback control. Convert the rated torque for the Servo-
motor to the percentage that is assumed as 100% and input the percentage in increments of %.
Use the LoadToTorque (Torque-to-Load Conversion) function when you convert the force that is
measured by an externally-mounted load cell in newtons into a percentage in increments of % to the
rated torque. Refer to LoadToTorque on page 178 for the details.
 VelOverrideEnable (Velocity Override Enable)

This variable is used to enable changes to the target velocity or the velocity limit.
When the value of VelOverrideEnable (Velocity Override Enable) is TRUE, you can change the tar-
get velocity or the velocity limit. Set the new target velocity or velocity limit with InputVelFactor
(Velocity Override Input Value).
 InputVelFactor (Velocity Override Input Value)

This variable gives the input value when you change the target velocity or the velocity limit. The
value of InputVelFactor (Velocity Override Input Value) is enabled only when the value of VelOverri-
deEnable (Velocity Override Enable) is TRUE.
The parameter to which InputVelFactor applies depends on the value of CtrlCode (Control Method),
as described in the following table.
Motion control instruction or Parameter for which

Value of
Control method motion control function executed the value of InputVel-
CtrlCode
in this function block Factor is applied
0 Deceleration stop MC_Stop Instruction Not applied.
MC_MoveAbsolute (Absolute Posi-
1 Absolute positioning Target velocity*1
tioning) instruction
MC_MoveRelative (Relative Position-
2 Relative positioning Target velocity*1
ing) instruction
3 CSV mode velocity control CSV Mode velocity control Target velocity*1
MC_TorqueControl (Torque Control)
4 Torque control Velocity limit*2
Instruction
5 Torque feedback control Torque feedback control Velocity limit*1
*1. If the value of InputVelFactor is changed while execution of the function block is in process, the value is
refreshed for the processing within the same task period.
*2. The value of InputVelFactor is not refreshed even if it is changed during processing of the function block.
 ItgReset (Integral Processing Reset)

This variable indicates whether or not to stop integral processing when performing torque feedback
control when CtrlCode is set to USINT#5. The relationship between the value of ItgReset (Integral
Processing Reset) and the integral processing is as follows:
Value of ItgReset Integral processing

TRUE Stop.
FALSE Do not stop.
If the value of CtrlCode is not 5, the value of ItgReset is disabled.
SingleAxisCtrl
 BufferMode (Buffer Mode Selection)

BufferMode specifies how operations join when this function block is executed during execution of
another motion control instruction. The only valid value is _mcAborting (Aborting). This means that
the motion control instruction currently being executed is aborted and this function block is exe-
cuted.
For details on buffer mode selections, refer to the motion control user’s manual.
 TargetReached (Target Reached)

This variable indicates whether or not the target was reached. The value of TargetReached (Target
Reached) changes to TRUE when the target is reached.

cates the ordinal number of the current single-axis motion control instruction.
Connect this variable to the SingleCmdProfileNo input variable in the SP_SingleAxisPrgOpr (Sin-
gle-axis Program Operation) function block.
 TorqueLimitParam (Torque Limit Settings)

This variable indicates whether the positive and negative torque limit values are enabled and gives
the torque limit values.
 OverrideEnabled (Override Enabled)

This variable indicates whether the velocity override is enabled. If the value of VelOverrideEnable
(Velocity Override Enable) is TRUE, the value of OverrideEnabled is also TRUE.
SingleAxisCtrl
Other Specifications
This section describes other specifications.
 Stopping Execution of This Function Block

To stop execution of this function block, use the MC_Stop (Stop) instruction, or set CtrlCode to
USINT#0 to re-execute the function block.
 Mapping Data Objects

For any value of CtrlCode (Control Method), map the following object data in the Detailed Settings
Area of the Axis Basic Settings Display of the Sysmac Studio.
Value of Ctrl-
Control method Object data mapping
Code
0 Deceleration stop *1
1 Absolute positioning *1
2 Relative positioning *1
• Target velocity (60FF hex)

3 CSV mode velocity control • Modes of operation (6060 hex)
• Modes of operation display (6061 hex)
• Target velocity (6071 hex)
• Modes of operation (6060 hex)
4 Torque control
• Torque actual value (6077 hex)
• Target velocity (6071 hex)
• Modes of operation (6060 hex)
5 Torque feedback control
• Torque actual value (6077 hex)
*1. For details, refer to information on required objects for PDO mapping in the motion control instructions ref-
erence manual.
 Continuous Position Control (Blending Mode) Specification

If you perform blending of consecutive position control operations, specify Blending Mode in Sin-
gleCmdProfile (Single-axis Command Profile).
SingleAxisCtrl
Timing Charts
 Normal End of Single-axis Control
The timing chart when you use this function block for single-axis control depends of the value of Ctrl-
Code (Control Method). For details, refer to the manual for instructions for each control method.
 Normal End of Continuous Position Control

Continuous position control can be executed when CtrlCode is set to USINT#1 (absolute position-
ing) or USINT#2 (relative positioning).
The following timing chart is for continuous operation of three position instructions when
SingleCmdProfile. BufferMode is set to _mcBlendingPrevious (Blending previous).
• Busy (Executing) changes to TRUE when Execute changes to TRUE.
• When these three position instructions are completed, the value of Done changes to TRUE.
• The value of SingleCmdProfileNo (Single-axis Command Profile Number) indicates the serial
location of the current position instruction from the beginning.
Velocity
Current velocity of the axis
Time
Execute TRUE
FALSE
Busy TRUE
FALSE
Done TRUE
FALSE
CommandAborted TRUE
FALSE
SingleCmdProfileNo 0 1 2 3 0
SingleAxisCtrl
 When Re-execution of this Function Block Is Performed with Aborting

If you change the value of CtrlCode (Control Method) during execution of this function block and
re-execute the function block with Aborting, the operation for each output variable is shown in the
following timing chart.
Current
velocity
Command velocity Velocity limit
Current
torque
Time
Torque measured
with an external sensor
Execute TRUE
FALSE
SingleCmdProfile.
SingleCmdData[1].CtrlCode 1 3 4 5
Busy TRUE
FALSE
Active TRUE
FALSE
Done TRUE
FALSE
CommandAborted TRUE
FALSE
Error TRUE
FALSE
SingleAxisCtrl
 Error End
If an error occurs during function block execution, Error will change to TRUE and the axis will stop.
You can find out the cause of the error by referring to the values output by ErrorID (Error Code) and
ErrorIDEx (Expansion Error Code).
TRUE
Execute
FALSE
TRUE
Busy
FALSE
TRUE
Active
FALSE
TRUE
CommandAborted
FALSE
TRUE
Error
FALSE
ErrorIDEx 16#0000 ErrorIDEx
Re-execution of Motion Instructions

Whether this function block can be re-executed depends on the value of CtrlCode (Control Method) of
the current instance of the function block. The following table indicates whether this function block can
be re-executed for the different values of CtrlCode, and gives restrictions. However, re-execution of the
function block refers to the execution of this function block when the value of CtrlCode is the same as
the current instance of the function block.
Value of
Re-exe-
Ctrl- Control method Restrictions*1
cution
Code
When you re-execute the function block, the value of
0 Deceleration stop Yes Deceleration (Deceleration Set Value) changes.
The value of Jerk (Jerk Set Value) does not change.
You can change the following input variables when you
re-execute the function block: Position (Position Set
1 Absolute positioning Yes Value), Velocity (Velocity Set Value), Accerelation (Accel-
eration Set Value), and Deceleration (Deceleration Set
Value).
re-execute the function block: Position (Position Set
2 Relative positioning Yes Value), Velocity (Velocity Set Value), Accerelation (Accel-
eration Set Value), and Deceleration (Deceleration Set
Value).
Yes A Motion Control Instruction Re-execution Disabled event
3 CSV mode velocity control
(error code: 543B hex) will occur.
re-execute the function block: Velocity (Velocity Set
4 Torque control Yes
Value), Accerelation (Acceleration Set Value), and
Deceleration (Deceleration Set Value).
Any of the input variables can be changed when you
5 Torque feedback control Yes
re-execute the function block.
*1. For details on restrictions, refer to the manual for instructions for each control method.
SingleAxisCtrl
Multi-execution of Motion Instructions

For details on multi-execution of motion control instructions, refer to the motion control user’s manual.
 Execution of Other Instructions during Execution of this Function Block

Whether other instructions can be executed during the execution of this function block depends on
the value of CtrlCode (Control Method) of the current instance of the function block. For details, refer
to the manual for instructions for each control method.

If another motion control instruction is executed for the axis for which the SingleAxisCtrl (Sin-
gle-axis Control) function block is being executed, write the user program so that multi-execu-
tion of the other instruction is not started until after execution of this function block is started.
This function block alternatingly and internally performs multi-execution of two MC_TorqueControl
(Torque Control) instructions each task period. Therefore, in a user program that executes an
MC_Move (Positioning) instruction before this function block, as in the following figure, if multi-execu-
tion of the MC_Move (Positioning) instruction is performed during execution of this function block, the
MC_TorqueControl (Torque Control) instruction that is executed later aborts execution of the MC_Move
(Positioning) instruction.
Execute A MC_Move_instance
MC_Move
SingleAxisCtrl_instance
Execute B
SingleAxisCtrl

CtrlCode=USINT#5 MC_TorqueControl_instance1
MC_TorqueControl
MC_TorqueControl_instance2
MC_TorqueControl
SingleAxisCtrl
The following figure shows a timing chart for this programming.
MC_Move Instruction
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
Active
FALSE
CommandAborted TRUE
FALSE
SingleAxisCtrlFB
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
Active
FALSE
CommandAborted TRUE
FALSE
On the other hand, in a user program that executes an MC_Move (Positioning) instruction after this
function block, the MC_Move (Positioning) instruction is not aborted because multi-execution of the
MC_Move (Positioning) instruction is performed after execution of the MC_TorqueControl (Torque
Control) instruction in this function block.
SingleAxisCtrl_instance
Execute A SingleAxisCtrl

CtrlCode=USINT#5 MC_TorqueControl_instance1
MC_TorqueControl
MC_TorqueControl_instance2
MC_TorqueControl
Execute B MC_Move_instance
MC_Move
SingleAxisCtrl
The following figure shows a timing chart for this programming.
SingleAxisCtrlFB
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
Active
FALSE
CommandAborted TRUE
FALSE
MC_Move Instruction
Execute TRUE
FALSE
TRUE
Busy
FALSE
TRUE
Active
FALSE
CommandAborted TRUE
FALSE
SingleAxisCtrl
CSV Mode Velocity Control Function

The CSV mode velocity control function is executed when CtrlCode is set to USINT#3.
This function uses Velocity (Velocity Set Value), Acceleration (Acceleration Rate Set Value), Decelera-
tion (Deceleration Rate Set Value), and Jerk (Jerk Set Value) to calculate the velocity command value
and outputs it to the Servo Drive each task period in Cyclic Synchronous Velocity (CSV) Control Mode.
In this function, CSV mode velocity control is implemented by using the velocity command value that is
calculated from Velocity (Target Velocity), Acceleration (Acceleration Rate), and Deceleration (Deceler-
ation Rate) to change the Velocity (Target Velocity) input variable of the MC_SyncMoveVelocity (Cyclic
Synchronous Velocity Control) instruction each task period. For details on the MC_SyncMoveVelocity
(Cyclic Synchronous Velocity Control) instruction, refer to the motion control instructions reference
manual.
Variables To Use
The following table gives the variables in SingleCmdProfile (Single-axis Command Profile) that are
used for the CSV mode velocity control function.

Com-
Velocity Set Depends on
Velocity LREAL 0 mand The velocity set value.
Value data type.
units/s*1
Acceleration Com-
Positive num- The acceleration rate
Acceleration Rate Set LREAL 0 mand
ber or 0 set value.
Value units/s2
Deceleration Com-
Positive num- The deceleration rate
Deceleration Rate Set LREAL 0 mand
ber or 0 set value.
Value units/s2
Jerk Set
Jerk LREAL --- --- --- The jerk set value.*2
Value
Buffer Mode _mcAb
Selection orting
_MODE
*1. Refer to Unit Conversion Settings in the motion control user's manual for information on command units.
*2. This is a reserved variable. The user cannot assign a value to it.
SingleAxisCtrl
Timing Charts
 Normal End
• Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE. Active (Con-
trolling) changes to TRUE in the next task period.
• TargetReached (Target Reached) changes to TRUE when the command velocity in this function
block reaches Velocity (Velocity Set Value).
• If another instruction aborts execution of this function block, CommandAborted changes to TRUE
and Busy (Executing), Active (Controlling), and TargetReached (Target Reached) change to
FALSE.
• The MC_Stop instruction is used to stop execution of this function block.
SingleAxisCtrl FB
Execute TRUE
FALSE
TRUE
TargetReached
FALSE
TRUE
Busy
FALSE
TRUE
Active
FALSE
1 task period
CommandAborted TRUE
FALSE
Velocity
Velocity command value
Time
MC_Stop Instruction
Execute TRUE
FALSE
Done TRUE
FALSE
Busy TRUE
FALSE
Active TRUE
FALSE
Control mode CSP CSV CSP
SingleAxisCtrl
Multi-execution of Motion Instructions

For details on multi-execution of motion control instructions in the CSV mode velocity control, refer to
the motion control user’s manual.
 Execution of This Function during Execution of Other Instructions

BufferMode (Buffer Mode Selection) can be set to Aborting. When this function is executed with Buf-
ferMode set to Aborting, the velocity of another instruction whose execution is in progress becomes
the initial velocity for this function.
Velocity
Velocity
This function block is executed with aborting.
Time
Execution of other instruction
 Execution of Other Instructions during Execution of This Function

BufferMode (Buffer Mode Selection) can be set to Aborting or Buffered. Even when Buffered is
selected, the other instruction is executed immediately, the same as when Aborting is set. The Con-
trol Mode is switched when processing for the multi-executed instructions is started.
SingleAxisCtrl
Torque Feedback Control Function

The torque feedback control function is executed when CtrolCode is set to USINT#5.
This function calculates Torque (Torque Set Value) and MeasuringTorque (Meaured Torque) with PID
and outputs the command torque to the Servo Drive each task period.
External load sensor
Command
Torque torque
PID Servo Drive M
MeasuringTorque calculation
Generated
force
In this function, torque feedback control is implemented by inputting the command torque calculated to
the Torque (Target torque) input variable of the MC_TorqueControl (Torque Control) instruction.
For details on the MC_TorqueControl (Torque Control) instruction, refer to the motion control instruc-
tions reference manual.
SingleAxisCtrl
Variables To Use
The following table gives the variables in SingleCmdProfile (Single-axis Command Profile) that are
used for the torque feedback control function.

Torque Torque Ramp Positive num-
LREAL 0 %/s The torque set value.
Ramp Set Value ber or 0
Com-
Velocity Set Positive num-
Velocity LREAL 0 mand The velocity set value.
Value ber or 0
units/s*1
Torque Set -1000.0 to
Torque LREAL 0 % The torque set value.
Value 1000.0
Torque Feed- sTORQUE_
TrqFbk Torque feedback con-
back Parame- FBK_PARA --- --- ---
Params trol parameters
ters MS
Proportional
Kp LREAL 1.0 0.0 to 3000.0 --- The proportional gain.
Gain
Ki Integral Gain LREAL 1.0 0.0 to 3000.0 --- The integral gain.*2
Derivative
Kd LREAL 1.0 0.0 to 3000.0 --- The derivative gain.*3
Gain
Torque Torque Lower −1,000.0 to The output torque lower
LREAL −300.0 0.1%
LowLmt Limit 0.0*4 limit.
TorqueUp Torque Upper 0.0 to The output torque upper
LREAL 300.0 0.1%
Lmt Limit 1,000.00*4 limit.
The width for determin-
InTorque In Torque
LREAL 0.1 0.0 to 100.00*4 0.1% ing if the target torque is
Width Width
reached.
Buffer Mode _mcAb
Selection orting
_MODE
*1. For details, refer to Unit Conversion Settings in the motion control user's manual.
The meanings of the variable are described below.
 Torque (Torque Set Value)

Set Torque to the target torque for the axis. Set a percentage in increments of 0.1% to Torque when
the percentage of the rated torque for the Servomotor is assumed as 100%.
 MeasuringTorque (Measured Torque)

This is the actual axis torque measured by a sensor. Set a percentage in increments of 0.1% to
MeasuringTorque (Measured Torque) when the percentage of the rated torque for the Servomotor is
assumed as 100%.
SingleAxisCtrl
 TorqueRamp (Torque Ramp Set Value)

Set TorqueRamp to the rate of change in the torque from the currently specified command torque
until the target torque is output. The meaning of TorqueRamp is illustrated in the following figure.
Torque
Torque
TorqueRamp
MeasuringTorque
Time
 Velocity (Velocity Set Value)

Set Velocity to the maximum velocity of the axis during torque control.
When the axis velocity reaches Velocity (Velocity Set Value), the torque is limited by the Servo Drive
and the axis velocity decreases. The velocity limit is implemented with a Servo Drive function.
For details on the velocity limit, refer to information on torque control in each Servo Drive manual.
 TrqFbkParams (Torque Feedback Parameters)

These are the torque feedback control parameters.
Kp (Proportional Gain), Ki (Integral Gain), Kd (Derivative Gain), TorqueLowLmt (Torque Lower
Limit), and TorqueUpLmt (Torque Upper Limit) are set.
InTorqueWidth (In Torque Width) is the width that is used to determine when the target torque is
reached. When the difference between Torque and MeasuringTorque (Measured Torque) becomes
equal to or less than the value of InTorqueWidth, it is assumed that target torque was reached and
TargetReached (Target Reached) changes to TRUE.
Other Specifications
This section describes other specifications.
 Stopping Axes during Torque Feedback Control

If the MC_Stop instruction is executed during execution of this function block for an OMRON
G5-series Servo Drive, the deceleration rate that is specified for the MC_Stop instruction is not used
and an immediate stop is performed. An immediate stop is also performed even for errors that nor-
mally result in deceleration stops.
 Command Current Position and Actual Current Position during Torque Feed-
back Control
The following current positions are given in the system-defined variables for motion control during
torque feedback control for this function block.
Type of position Value

Actual current position The value returned by the Servo Drive and then multiplied by the gear ratio
Command current position Actual current position for one task period earlier
SingleAxisCtrl
 Applicable Axes and Execution Condition

• For a servo axis, this function block is ready for execution as soon as Enable for the MC_Power
(Power Servo) instruction changes to TRUE (Servo ON state).
• A virtual servo axis will acknowledge this instruction at any time. However, processing to change
the Control Mode of the Servo Drive is not performed.
• An error occurs if the instruction is executed for an encoder or virtual encoder axis.
 Operation When Servo Turns OFF

Processing to change to CSP Mode is performed by the MC Function Module when the value of the
Status output variable from the MC_Power (Power Servo) instruction changes to FALSE.
However, for an OMRON G5-series Servo Drive, commands to change the Control Mode are not
acknowledged from the MC Function Module when the Servo is OFF.
 Axis Variable Status

Status.Continuous (Continuous Motion) in the axis variable status changes to TRUE.
Also, CST (Cyclic Synchronous Torque (CST) Control Mode) in the DrvStatus (Servo Drive Status)
axis variable changes to TRUE.
 Home Status
Home remains defined.
 Software Limits
The software limits are applied.
They are applied even if one of the following is selected in the axis parameter: Deceleration stopping
enabled for command position or Immediate stopping enabled for command position (stop using
remaining pulses).
 When Count Mode Is Set to Linear Mode

The operation for underflows and overflows is the same as for operations that do not have target
positions.
 Operation Selection at Reversing

If multi-execution is performed and the torque command value is reversed, the command value is
immediately reversed regardless of the setting of the Operation Selection at Reversing axis
parameter.
The operation for reversing due to multi-execution of instructions is as follows:
• If the command position is reversed by multi-execution of an instruction that uses CSP during
execution of this function block, the reversing operation is performed according to the Operation
Selection at Reversing axis parameter.
• If the torque command value is reversed by multi-execution of this function block during execution
of an instruction that uses CSP or CSV, the torque command reverses immediately.
• If the torque command value is reversed by multi-execution of this function block during execution
of this function block, the torque command reverses immediately.If the torque command value is
reversed by multi-execution of this function block during execution of this function block, the
torque command reverses immediately.
SingleAxisCtrl
 Changing the Control Mode

• If execution of this function block is aborted by another instruction such as MC_MoveAbsolute
(Absolute Positioning) or if an axis error occurs, the Control Mode changes to position control at
that point.
• The value of Active (Controlling) changes to TRUE when this function block is executed, but it
takes several task periods for the Control Mode in the Servo Drive to change. The time that is
required for the Control Mode to change depends on the Servo Drive.
SingleAxisCtrl
Timing Charts
 Normal end
• Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE. Active (Con-
trolling) changes to TRUE in the next task period.
• When the difference between Torque (Torque Set Value) and MeasuringTorque (Measured
Torque) becomes equal to or less than the value of InTorqueWidth (In Torque Width), Target-
Reached (Target Reached) changes to TRUE.
• If another instruction aborts this function, CommandAborted changes to TRUE and Busy (Execut-
ing), Active (Controlling), and TargetReached (Target Reached) change to FALSE.
• The MC_Stop instruction is used to stop execution of this function block.
Execute
TargetReached
Busy
Active MC_Stop instruction executed.
CommandAborted
Velocity Torque feedback control Position control
Velocity
Axis current velocity
Time
Torque feedback control Position control
Torque
Command Torque
Torque Torque control for the velocity limit
of the Servo Drive
MeasuringTorque
Time
SingleAxisCtrl
 When Multi-execution of This Function Is Performed with Aborting

Control changes to torque control when multi-execution of this function is performed.
The following timing chart shows a case when the axis stops and is held during execution of this
function.
Position Control Instruction (Previous Instruction)
Execute
Done
Busy
Active
CommandAborted
SingleAxisCtrlFB
Execute
TargetReached
Busy
Active
CommandAborted
Velocity Position control Torque feedback control
Velocity
Axis current velocity

Axis holding is executed.
Time
Position control Torque feedback control
Torque MeasuringTorque
Command torque
Torque
Time
SingleAxisCtrl
The MC Function Module sends a command to the Servo Drive to change the Control Mode with the
timing shown in the timing chart. The timing of implementing the Control Mode change in the Servo
Drive depends on Servo Drive specifications.

• IIf the value of MeasuringTorque (Measuring Torque), VelOverrideEnable (Velocity Override Enable),
InputVelFactor (Velocity Override Input Value), or ItgReset (Integral Processing Reset) is changed
during execution of this function block, the value is updated for the processing within the same task
period.
• You can use only CtrlCode = USINT#0 (single-axis program operation completion), CtrlCode =
USINT#1 (absolute positioning), and CtrlCode = USINT#2 (relative positioning) for an NX-series
NX-PG0 Pulse Output Unit.
• When you set Velocity (Velocity Set Value), Acceleration (Acceleration Rate Set Value), and Deceler-
ation (Deceleration Rate Set Value), make sure that an excessive load is not placed on the mechani-
cal machine of the system for the change in velocity.
• Set Torque (Torque Set Value) so that the maximum torque of the motor is not exceeded. The opera-
tion that is performed when the maximum torque of the motor is exceeded depends on the Servo
Drive.
• The axis velocity is higher for torque control. Make sure that you set Velocity (Velocity Set Value) for
safety.
• When you use an OMRON G5-series Servo Drive, set the Velocity Limit Selection (3317 hex) of the
Servo Drive to 1 (speed limit value via EtherCAT communications). Otherwise, the velocity limit is not
affected. Also, the axis does not stop even if the limit input signal turns ON.
• Process data 607F hex is used for the velocity limit. When you use an OMRON G5-series Servo
Drive, set the advanced settings in the Axis Parameter Settings of the Sysmac Studio to use the
Velocity Limit Value (607F hex). To use a velocity limit with a Servo Drive from another manufacturer,
refer to the manual for the Servo Drive.
• If MeasuringTorque (Measured Torque) is not connected for torque feedback control, the axis torque
command value is greater and the axis velocity is higher. Make sure that you set TorqueLowLmt
(Torque Lower Limit), TorqueUpLmt (Torque Upper Limit), and Velocity (Velocity Set Value) for safety.
• If you change the Control Mode of the Servo Drive during axis operation, an error may occur depends
on the Servo Drive.
• Execute the SingleAxisCtrl function block and the SP_SingleAxisPrgOpr (Single-axis Program Oper-
ation) function block in the same task when you connect these two function blocks. If these two func-
tion blocks are executed in the different task, the motion control may not be correctly executed.

• When you change the velocity override during execution of this function block, use VelOverri-
deEnable (Velocity Override Enable) and InputVelFactor (Velocity Override Input Value) in
this function block. If you use the MC_SetOverride (Set Override Factors) instruction to
change velocity override, the last set value that is specified is valid.
• When the Control Mode is changed, the current position may change suddenly.
• When you use the LoadToTorque (Load-to-Torque Conversion) function to calculate the Mea-
suringTorque (Measured Torque) input variable in the SingleAxisCtrl function block, execute
the LoadToTorque function and the SingleAxisCtrl function block in the same task.
SingleAxisCtrl
Troubleshooting
table.
Expansion error
code
16#0000 16#00000000 Normal end
16#3C0A 16#00000005 Torque feed- The value of Kp (Proportional Check the valid range of the
back control Gain) is outside the valid range. value of Kp (Proportional Gain)
proportional and set the value within the valid
gain value out range.
of valid range
16#00000006 Torque feed- The value of Ki (Integral Gain) is Check the valid range of the
back control outside the valid range. value of Ki (Integral Gain) and set
integral gain the value within the valid range.
value out of
valid range
16#00000007 Torque feed- The value of Kd (Derivative Check the valid range of the
back control Gain) is outside the valid range. value of Kd (Derivative Gain) and
derivative gain set the value within the valid
value out of range.
valid range
16#00000008 Torque feed- • The relationship of the values • Correct the relationship so that
back control of the TorqueLowLmt and Tor- TorqueUpLmt (Torque Upper
output limit queUpLmt input variables to Limit) is equal to or greater
value out of this function block does not than TorqueLowLmt (Torque
valid range meet the required condition. Lower Limit).
• Nonnumeric data is input for • Set TorqueUpLmt (Torque
TorqueUpLmt (Torque Upper Upper Limit) and TorqueLow-
Limit) or TorqueLowLmt Lmt (Torque Lower Limit) to
(Torque Lower Limit). correct real numbers.
16#0000000A Torque feed- The value of InTorqueWidth (In Check the valid range of the
back control Torque Width) is outside the value of InTorqueWidth (In
in-torque value valid range. Torque Width) and set the value
out of valid within the valid range.
range
16#3C4E 16#00000001 Axis error An axis error occurred. *1
detected
16#00000002 Buffer mode The value of BufferMode (Buffer Check the valid range of the
selection out of Mode Selection) is outside the value of BufferMode (Buffer
range valid range. Mode Selection) and set the
16#000001*2 Illegal control The value of SingleCmdPro- Correct the value of SingleCmd-
method file[].CtrlCode (Control Profile[].CtrlCode (Control
Method) is incorrect. Method).
SingleAxisCtrl
Expansion error
code
16#3C4F 16#00000001 Buffer mode The value of BufferMode (Buffer Check the valid range of the
16#00000002 Axis error An axis error occurred. *1
detected
16#00000003 Velocity set The value of Velocity (Velocity Check the valid range of the
value out of Set Value) is outside the valid value of Velocity (Velocity Set
range range. Value) and set the value within
the valid range.
16#00000004 Acceleration The value of Acceleration Check the valid range of the
rate set value (Acceleration Rate Set Value) is value of Acceleration (Accelera-
out of range outside the valid range. tion Rate Set Value) and set the
16#00000005 Deceleration The value of Deceleration Check the valid range of the
rate set value (Deceleration Rate Set Value) is value of Deceleration (Decelera-
out of range outside the valid range. tion Rate Set Value) and set the
16#3C5D 16#00000001 Buffer mode The value of BufferMode (Buffer Check the valid range of the
detected.
16#00000003 Torque set The value of Torque (Torque Set Check the valid range of the
value out of Value) is outside the valid range. value of Torque (Torque Set
range Value) and set the value within
the valid range.
the valid range.
16#00000005 Motion control An attempt was made to re-exe- Stop this function block and then
instruction cute a motion control instruction re-execute the motion control
re-execution that cannot be re-executed. instruction.
disabled
SingleAxisCtrl
Expansion error
code
16#3C5E 16#00000001 Buffer mode The value of BufferMode (Buffer Check the valid range of the
detected
16#00000003 Torque set The value of Torque (Torque Set Check the valid range of the
value out of Value) is outside the valid range. value of Torque (Torque Set
range Value) and set the value within
the valid range.
16#00000004 Measured The value of MeasuringTorque Check the valid range of the
torque out of (Measured Torque) is outside the value of MeasuringTorque (Mea-
range valid range. sured Torque) and set the value
within the valid range.
16#00000005 Torque ramp The value of TorqueRamp Check the valid range of the
set value out of (Torque Ramp Set Value) is out- value of TorqueRamp (Torque
range side the valid range. Ramp Set Value) and set the
the valid range.
*1. For details, refer to the motion control user’s manual.
*2. The boxes () are the array element number of SingleCmdProfile (Single-axis Command Profile).
Sample Programming
Refer to Sample Programming on page 87 in the description of the SP_SingleAxisPrgOpr (Single-axis
TorqueToLoad
TorqueToLoad
The TorqueToLoad function converts the measured torque into a load value.
Function name Name FB/ FUN Graphic expression ST expression

TorqueToLoad Torque-to-Load FUN Out:=TorqueToLoad (
Conversion \\OmronLib\ServoPress\ MeasuringTorque,
TorqueToLoad
MechaParams);
EN ENO
MeasuringTorque Out
MechaParams
Item Description
Publish/Do not publish source code Do not publish.
Variables
Input Variables

Execute
TRUE: The function is
Depends on
EN Execute BOOL FALSE --- executed.
data type.
FALSE: The function is
not executed.
Measuring Measured Depends on
LREAL 0 %*1 Measured torque
Torque Torque data type.
Omron-
Lib\Servo-
Mecha Mechanism
Press\sMEC --- --- --- Mechanism parameters
Params Parameters
HA_PARAM
S
TorqueToLoad
 Structure
The data type of the MechaParams input variable is structure
OmronLib\ServoPress\sMECHA_PARAMS. The specifications are as follows:

Mecha- Omron-
Mecha- nism The mechanism Lib\Servo-
--- --- ---
Params Parame- parameters. Press\sMECHA
ters _PARAMS
Omron-
Reduc-
Reduc- Lib\Servo-
tion Gear The reduction gear
tionGear- Press\sREDUC --- --- ---
Parame- parameters.
Param TION_GEAR_P
ters
ARAM
Gear
The numerator of Depends on data
Rn Ratio DINT --- 0
the gear ratio. type.
Numerator
Gear
Ratio The denominator of
Rd UDINT Positive number --- 0
Denomi- the gear ratio.
nator
Reduc-
The efficiency of the
n2 tion Gear REAL Positive number % 0
reduction gear.
Efficiency
Omron-
Ball Screw
BallScrew- The ball screw Lib\Servo-
Parame- --- --- ---
Param parameters. Press\sBALL_S
ters
CREW_PARAM
Ball Screw The efficiency of the
n1 REAL Positive number % 0
Efficiency ball screw.
Ball Screw The pitch of the ball
R REAL Positive number mm 0
Pitch screw.
Omron-
Motor Lib\Servo-
MotorRat- The motor rated
Rated Press\sMOTOR --- --- ---
edParam parameter.
Parameter _RATING_CAP
ACITY
Rated The rated torque of
Tr REAL Positive number N·m 0
Torque the motor.
Output Variables

Done
TRUE: Normal end
Depends on
ENO Done BOOL --- FALSE: Error end, execution in
data type.
not met.
Depends on The load value after conver-
Out Load Value LREAL N
data type. sion.
TorqueToLoad
Function
This function converts MeasuringTorque (Measured Torque) of the motor to Out (Load Value) in a
direct-operation conversion mechanism that uses a motor, reducer, and ball screw, as shown in the fol-
lowing figure.
MeasuringTorque[%] Out[N]
Servomotor Reducer
Ball screw mechanism

MeasuringTorque is given as a percentage of the rated torque. The unit for MeasuringTorque is %. The
unit for Out is newtons (N).
The conversion formula is as follows:
2π × n1 × 1000 Rd MeasuringTorque[%]
Out[N] = × × n2 × Tr ×
R Rn 100
For example, if the values of the input variables are as follows, the value of Out (Load Value) is
859.539518431971.
Input variables Value

MeasuringTorque 50
Tr 0.64
Rn 1
Rd 5
n2 0.9
n1 0.95
R 10

If the value of an input variable is out of range, an error occurs and the value of ENO changes to
FALSE.
Sample Programming
This sample programming converts the torque monitor value of the Servomotor (unit: percentage of
rated Servomotor torque) to the load for the servo press actuator mechanism (unit: newton).

TorqueToLoad
Conditions
Processing
The torque measurement value as a percentage of the rated Servomotor torque is converted to the
load in newtons according to the specified machine parameters.
Ladder Diagram
Initial
Value
TorqueVal LREAL Torque measurement value
Load LREAL Torque-to-load conversion value
MechaPrm OmronLib\Servo- Servo press actuator machine parame-
Press\sMECHA_PARAMS ters
 Algorithm
TorqueToLoad
ST
Initial
Value
TorqueVal LREAL Torque measurement value
Load LREAL Torque-to-load conversion value
MechaPrm OmronLib\ServoPress\sMECHA_PARAMS Servo press actuator machine param-
eters
 Algorithm
//Mechanical parameters
MechaPrm.ReductionGearParam.Rn:=1;
MechaPrm.ReductionGearParam.Rd:=5;
MechaPrm.ReductionGearParam.n2:=0.9;
MechaPrm.BallScrewParam.n1:=0.95;
MechaPrm.BallScrewParam.R:=10.0;
MechaPrm.MotorRatedParam.Tr:=0.64;
Load:=\\OmronLib\ServoPress\TorqueToLoad(
EN:=TRUE,
ENO=>TorqueToLoad_Out,
MeasuringTorque:=TorqueVal,
MechaParams:=MechaPrm
);
LoadToTorque
LoadToTorque
The TorqueToLoad function converts a load value into a torque.
Function name Name FB/ FUN Graphic expression ST expression

LoadToTorque Load-to-Torque FUN Out:=LoadToTorque (
Conversion \\OmronLib\ServoPress\ Load,
LoadToTorque
MechaParams);
EN ENO
Load Out
MechaParams
Item Description
Publish/Do not publish source code Do not publish.
Variables
Input Variables

Execute
TRUE: The function is
Depends on
EN Execute BOOL FALSE --- executed.
data type.
FALSE: The function is
not executed.
Depends on
Load Load Value LREAL 0 N The load value.
data type.
Omron-
Lib\Servo-
Mecha Mechanism The mechanism param-
Press\sMEC --- --- ---
Params Parameters eters.
HA_PARAM
S
 Structure
The data type of the MechaParams input variable is structure
OmronLib\ServoPress\sMECHA_PARAMS. Refer to Structure in TorqueToLoad on P.174 for details.
LoadToTorque
Output Variables

Done
TRUE: Normal end
Depends on
ENO Done BOOL --- FALSE: Error end, execution in
data type.
not met.
Depends on
Out Torque LREAL %*1 The torque after conversion.
data type.
LoadToTorque
Function
Load is converted to Out (Torque) for a press mechanism that uses a motor, reducer, and ball screw, as
shown in the following figure.
Load[N] Out[%]
Reducer Servomotor
Ball screw mechanism

The unit for Load is newtons (N). Out is given as a percentage of the rated torque. The unit for Out is %.
This function is used when you execute torque feedback control using the SingleAxisCtrl (Single Axis
Control) function block. This function converts the load measured by a sensor to a motor torque as
shown in the following figure and sets this torque in the MeasuringTorque (Measured Torque) input vari-
able for the SingleAxisCtrl (Single Axis Control) function block.
SingleCmdProfile.Torque External load sensor

SingleAxisCtrl
Command
LoadToTorque torque
Servo Drive M
MeasuringTorque
Measured load [N]
The conversion formula is as follows:
R Rn 100
Out[%] = Load[N] × × ×
2π × n1 × 1000 Rd n2 × Tr
For example, if the values of the input variables are as follows, the value of Out (Load Value) is
0.581706820079817.
Input variables Value

Load 10
Tr 0.64
Rn 1
Rd 5
n2 0.9
n1 0.95
R 10
LoadToTorque

If the value of an input variable is out of range, an error occurs and the value of ENO changes to
FALSE.

When you use the LoadToTorque (Load-to-Torque Conversion) function to calculate the Mea-
suringTorque (Measured Torque) input variable in the SingleAxisCtrl function block, execute the
LoadToTorque function and the SingleAxisCtrl function block in the same task.
Sample Programming
Refer to Sample Programming on page 87 in the description of the SP_SingleAxisPrgOpr (Single-axis
PrgOprRsltRec
PrgOprRsltRec
The PrgOprRsltRec function block records the results of single-axis program operation.
Function
FB/
FUN
name
PrgOpr Program FB PrgOprRsltRec_instance (
RsltRec Opera- PrgOprRsltRec_Instance Enable,
\\OmronLib\ServoPress\PrgOprRsltRec
tion StepExec,
Enable Enabled
Results StepCompleted,
Recorder StepExec Busy CurrentStepNo,
Position,
StepCompleted Error
Load,
CurrentStepNo ErrorID Enabled,
Busy,
Position ErrorIDEx
Error,
Load ErrorID,
ErrorIDEx,
PrgOprRsltRecorder PrgOprRsltRecorder PrgOprRsltRecorder);
Item Description
Publish/Do not publish source code Published.
PrgOprRsltRec
Variables
Input Variables

Enable
Depends on TRUE: Enable
execution.
Step Start Depends on The start trigger for the
StepExec BOOL FALSE ---
Trigger data type. step.
StepCom- Step Com- Depends on The completion trigger
BOOL FALSE ---
pleted pleted Trigger data type. for the step.
Current- Current Step Depends on The number of the step
USINT 0 ---
StepNo Number data type. being executed.
Current Posi- Depends on The current position of
Position LREAL 0 ---
tion data type. the controlled system.
The current load value
Depends on Load
Load Current Load LREAL 0 of the controlled sys-
data type. units*1
tem.
Output Variables

Enabled
data type.
FALSE: Not enabled.
Executing
Depends on
data type.
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
a normal end.
*1. For details, refer to Troubleshooting on page 1-189.
PrgOprRsltRec
In-Out Variables

Omron-
Lib\Servo-
Program
Press\sP
PrgOprRslt Operation The recorder for the program
RG_O- --- ---
Recorder Results operation results.
PR_RSLT
Recorder
_RE-
CORDER
 Structure
The data type of the PrgOprRsltRecorder in-out variable is the structure
OmronLib\ServoPress\sPRG_OPR_RSLT_RECORDER. The specifications are as follows:

Program OmronLib\Servo-
The recorder for the
PrgOprRslt Operation Press\sPRG_O-
program operation --- ---
Recorder Results PR_RSLT_RECORD
results.
Recorder ER
Year,
month,
day,
The date and time at
ExecDate Record Date Depends on data hour,
which recording DATE_AND_TIME
Time and Time type. min-
started.
utes,
sec-
onds
Program The maximum posi-
Operation tion in the entire oper- Depends on data
PrgMaxPos LREAL ---
Maximum ation of an single-axis type.
Position program.
Load at Pro-
The load at the maxi-
PrgLoad gram Opera- Depends on data Load
mum position in pro- LREAL
MaxPos tion Maximum type. units*1
gram operation.
Position
Program The maximum load in
PrgMax Operation the entire operation of Depends on data Load
LREAL
Load Maximum an single-axis pro- type. units*1
Load gram.
Position at
Program The position at the
PrgPosMax Depends on data
Operation maximum load for LREAL ---
Load type.
Maximum program operation.
Load
ARRAY[0..49] OF
StepRslt Step Execu- The results of step OmronLib\Servo-
--- ---
Rec tion Results execution. Press\sSTEP_RSLT
_REC
The number of the Depends on data
No Step Number USINT ---
step. type.
Step Start The position at the Depends on data
StartPos LREAL ---
Position start of the step. type.
Step End The position at the Depends on data
EndPos LREAL ---
Position end of the step. type.
PrgOprRsltRec

Start Step Start The load at the start Depends on data Load
LREAL
Load Load of the step. type. units*1
Step End The load at the end of Depends on data Load
EndLoad LREAL
Load the step. type. units*1
Step Maxi- The maximum posi- Depends on data
MaxPos LREAL ---
mum Position tion in the step. type.
Load at Step The load at the maxi-
LoadMax- Depends on data Load
Maximum mum position in the LREAL
Pos type. units*1
Position step.
Step Maxi- The maximum load in Depends on data Load
MaxLoad LREAL
mum Load the step. type. units*1
Position of The position of the
PosMax Depends on data
Step Maxi- maximum load in the LREAL ---
Load type.
mum Load step.
PrgOprRsltRec
Function
In the operation of a single-axis program that uses the SP_SingleAxisPrgOpr (Single-Axis Program
Operation) function block, the results of execution of each step and the results of execution of the entire
single-axis program are recorded in PrgOprRsltRecorder (Program Operation Results Recorder).
Connection with the SP_SingleAxisPrgOpr (Single-Axis Program

Operation) Function Block
This function block is used together with the SP_SingleAxisPrgOpr (Single-Axis Program Operation)
function block. This function block and the SP_SingleAxisPrgOpr (Single-Axis Program Operation)
function block are connected with the following three corresponding signal lines. Refer to NTLPxRE-
FER SP_SingleAxisPrgOpr on page 74 for details on the SP_SingleAxisPrgOpr (Single-Axis Program
Operation) function block.
Signal line in this Signal line in the connected SP_SingleAxisPrgOpr (Single-Axis

function block Program Operation) function block
Enable Busy
StepExec StepExec
StepCompleted StepCompleted
Procedure for Recording Single-Axis Program Operation Results

The results of single-axis program operation are recorded with the following procedure.
Step Input variable

Operation of this function block
No. value
• PrgOprRsltRecorder (Program Operation Results Recorder) is initialized.
• The current date and time are recorded in ExecDateTime (Record Date and
Time).
The value of Enable • Tracing of the current position and load of the axis is started.
1 changes from • PrgMaxPos (Program Operation Maximum Position), PrgLoadMaxPos (Load at
FALSE to TRUE. Program Operation Maximum Position), PrgMaxLoad (Program Operation Max-
imum Load), and PrgPosMaxLoad (Position at Program Operation Maximum
Load) are recorded. If there is a change in these values while tracing the values,
the recording is updated immediately.
The value of Ste-
pExec (Step Start No (Step Number), StartPos (Step Start Position), and StartLoad (Step Start Load)
2*1 Trigger) changes for this step are obtained and then tracing of the current position and load of the
from FALSE to axis is started.
TRUE.
The value of Step- EndPos (Step End Position), EndLoad (Step End Load), MaxPos (Step Maximum
Completed (Step Position), LoadMaxPos (Load at Step Maximum Position), MaxLoad (Step Maxi-
3*1 Completed Trigger) mum Load), and PosMaxLoad (Position at Step Maximum Load) for this step are
changes from obtained. They are combined with the results obtained in step 2, and then PrgO-
FALSE to TRUE. prRsltRecorder (Program Operation Results Recorder) is recorded. *2
The value of Enable
4 Execution is ended.
changes to FALSE.
*1. Steps 2 and 3 are executed each time the step changes.
*2. The updated variables are members of the StepRsltRec[CurrentStepNo] structure array.
PrgOprRsltRec

This variable is used to input the number of the step currently being executed.

These variables are used to input the current position and the current load for the controlled system.
Timing Charts
 Normal End
• Enabled changes to TRUE at the same time as Enable in this function block changes to TRUE.
• While Enabled is TRUE, the value of StepRsltRec (Step Execution Results) is updated at each
step in single-axis program operation.
• The start and completion of each step are recognized when StepExec (Step Start Trigger) and
StepCompleted (Step Completed Trigger) change to TRUE.
• The execution results when Enable changes to TRUE and when Enable changes to FALSE are
recorded.
• The execution results when StepExec (Step Start Trigger) and StepCompleted (Step Completed
Trigger) change to TRUE are recorded.
Single-axis program execution time
Enable TRUE
FALSE
TRUE
StepExec
FALSE
TRUE
StepCompleted
FALSE
Enabled TRUE
FALSE
TRUE
Busy
FALSE
PrgOprRsltRec
 Error End
• The execution results when an error occurs are not recorded. StepRsltRec (Step Execution
Results) is recorded for the last step that is completed before the error. In the following figure,
StepRsltRec (Step Execution Results) is recorded for step 1, but for step 2 and after, StepRsltRec
(Step Execution Results), PrgMaxPos (Program Operation Maximum Position), PrgLoadMaxPos
(Load at Program Operation Maximum Position), PrgMaxLoad (Program Operation Maximum
Load), and PrgPosMaxLoad (Position at Program Operation Maximum Load) are not recorded.
Single-axis program execution time
Enable TRUE
FALSE
TRUE
StepExec
FALSE
TRUE
StepCompleted
FALSE
Enabled TRUE
FALSE
TRUE
Busy
FALSE
TRUE
Error
FALSE
ErrorIDEx 16#0000 ErrorIDEx
 Relationship with the SP_SingleAxisPrgOpr (Single-Axis Program Operation)

Function Block
• When the value of CurrentStepNo for the SP_SingleAxisPrgOpr (Single-Axis Program Operation)
function block changes, the values of StepExec (Step Start Trigger) and StepCompleted (Step
Completed Trigger) of this function block are changed.
SP_SingleAxisPrgOpr
TRUE
Execute
FALSE
CurrentStepNo 1 2 3
Busy TRUE
FALSE
TRUE
Done
FALSE
PrgOprRsltRec
Enable TRUE
FALSE
TRUE
StepExec
FALSE
TRUE
StepCompleted
FALSE
PrgOprRsltRec
To save the contents of PrgOprRsltRecorder (Program Operation Results Recorder) to an SD Memory
Card in CSV format, use the PrgOprRsltCSVWrite function block on P.192.

• Do not execute this function block at the same time as the PrgOprRsltCSVWrite (Write Program
Operation Results to SD Memory Card) function block. If you do, the results of executing a sin-
gle-axis program may not be recorded correctly.
• Do not change the contents of PrgOprRsltRecorder (Program Operation Results Recorder) with a
user program while execution of a single-axis program is in progress. If you do, the results of execut-
ing a single-axis program may not be recorded correctly.
• When the power supply is turned OFF to the Controller, the traced data is discarded.
Troubleshooting
The error codes, expansion error codes, status, descriptions, and corrections given in the following
table.
Expansion error
code
16#0000 16#00000000 Normal end
16#3C5F 16#00000001 Step Execution An attempt was made to record Check that the StepRsltRec (Step
Results Value step execution results that Execution Results) array is at
Error exceeded the size of the least as large as the number of
StepRsltRec (Step Execution steps in the single-axis program
Results) array. operation.
Sample Programming
This sample programming creates program operation result record data for SP_SingleAxisPrgOpr (Sin-
gle-axis Program Operation) function block sample programming execution results.
It is added and executed after the SP_SingleAxisPrgOpr (Single-axis Program Operation) function
block sample programming.

Conditions
PrgOprRsltRec
Processing
If PrgRsltRec_En (Enable Program Operation Result Recording) is TRUE and data was not saved to
the SD Memory Card with the PrgRsltCSVWrite (Program Operation Results SD Memory Card Write)
function block, this processing records the program operation results while the SP_SingleAxisPrgOpr
(Single-axis Program Operation) function block is being executed.
Ladder Diagram
Initial
Value
PRG_RSLT_REC OmronLib\ServoPress\PrgO- Instance of the PrgOprRsltRec
prRsltRec (Program Operation Results
PrgRsltRec_En BOOL Enables program operation result
recording.
PrgRsltCSVWrite_Bsy BOOL Saving data to memory card (Used
in the PrgOpsRsltCSVWrite (Pro-
gram Operation Results SD Mem-
ory Card Write) function block
sample programming.)
StepExec BOOL Ends step.
StepCompleted BOOL Starts step.
Prg_Rslt_Recorder OmronLib\Servo- Program operation result record
Press\sPRG_O- data
PR_RSLT_RECORDER
Initial
Value
 Algorithm
PrgOprRsltRec
ST
Initial
Value
PRG_RSLT_REC OmronLib\ServoPress\PrgO- Instance of the PrgOprRsltRec
prRsltRec (Program Operation Results
PrgRsltRec_En BOOL Enables program operation result
recording.
PrgRsltCSVWrite_Bsy BOOL Saving data to memory card (Used
in the PrgOpsRsltCSVWrite (Pro-
gram Operation Results SD Mem-
ory Card Write) function block
sample programming.)
StepExec BOOL Ends step.
StepCompleted BOOL Starts step.
Prg_Rslt_Recorder OmronLib\Servo- Program operation result record
Press\sPRG_O- data
PR_RSLT_RECORDER
Initial
Value
 Algorithm
//PrgOprRsltRec
//Start on PrgOprRsltCSVWrite not in progress.
PRG_RSLT_REC(
Enable := SingleAxisPrgOpr_Bsy AND PrgRsltRec_En AND NOT(PrgRsltCSVWrite_Bsy),
StepExec := StepExec,
Load := MC_Axis000.Act.Trq,
Enabled => PrgRsltRec_Ed,
Busy => PrgRsltRec_Bsy,
Error => PrgRsltRec_Err,
ErrorID => PrgRsltRec_ErrID,
ErrorIDEx => PrgRsltRec_ErrIDEx,
PrgOprRsltRecorder := Prg_Rslt_Recorder
);
PrgOprRsltCSVWrite
PrgOprRsltCSVWrite
The PrgOprRsltCSVWrite function block writes the results of single-axis program operation to an SD Memory
Card in CSV format.
Function
FB/
FUN
name
PrgOpr Write FB PrgOprRsltCSVWrite_instance (
RsltCSV Program PrgOprRsltCSVWrite_Instance Execute,
\\OmronLib\ServoPress\PrgOprRsltCSVWrite
Write Opera- PrgOprRsltRecorder,
Execute Done
tion FileName,
Results PrgOprRsltRecorder PrgOprRsltRecorder Done,
to SD Busy,
FileName Busy
Memory Error,
Card Error ErrorID,
ErrorIDEx);
ErrorID
ErrorIDEx
Item Description
Variables
Input Variables

function block
Depends on
data type.
to TRUE.
66 bytes max.
(65 single-byte
alphanumeric File name of CSV file to
FileName File Name STRING '' ---
characters plus write.
the final NULL
character)
PrgOprRsltCSVWrite
Output Variables

TRUE: Normal end
Depends on
data type.
not met
Executing
Depends on
data type.
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
a normal end.
In-Out Variables

Omron-
Lib\Servo-
Program
Press\sP
PrgOprRslt Operation The recorder for the program
RG_O- --- ---
Recorder Results operation results.
PR_RSLT
Recorder
_RE-
CORDER
 Structure
The data type of the PrgOprRsltRecorder in-out variable is the structure OmronLib\Servo-
Press\sPRG_OPR_RSLT_RECORDER. Refer to Structure in PrgOprRsltRec on P.182 for details.
PrgOprRsltCSVWrite
Function
This function block writes the PrgOprRsltRecorder (Program Operation Results Recorder) results of
single-axis program operation to an SD Memory Card in CSV format. The name of the file to write is
specified with FileName.
With FileName, you can specify the name including the folder. If the specified folder does not exist, an
error occurs. If the folder is not specified, create FileName in the root of the SD Memory Card.
CSV File Format

The format of the CSV file to write is as follows:
'ExecDateTi ExecDateTim
me' e
'PrgMaxPos' PrgMaxPos
'PrgLoadMax PrgLoadMax
Pos' Pos
'PrgMaxLoad PrgMaxLoad
'
'PrgPosMaxL PrgPosMaxL
oad' oad
'StepRsltRec. 'StepRsltRec. 'StepRsltRec. 'StepRsltRec. 'StepRsltRec. 'StepRsltRec.
'StepRsltRec. 'StepRsltRec. 'StepRsltRec.
No' StartPos' EndPos' StartLoad' EndLoad' MaxPos' LoadMaxPos' MaxLoad' PosMaxLoad'
StepRsltRec StepRsltRec StepRsltRec StepRsltRec StepRsltRec StepRsltRec StepRsltRec StepRsltRec StepRsltRec
[0].No [0].StartPos [0].EndPos [0].StartLoad [0].EndLoad [0].MaxPos [0].LoadMax [0].MaxLoad [0].PosMaxL
Pos oad
[1].No [1].StartPos [1].EndPos [1].StartLoad [1].EndLoad [1].MaxPos [1].LoadMax [1].MaxLoad [1].PosMaxL
Pos oad
: : : : : : : : :
[49].No [49].StartPos [49].EndPos [49].StartLoa [49].EndLoad [49].MaxPos [49].LoadMa [49].MaxLoa [49].PosMax
d xPos d Load
ExecDateTime (Record Date and Time) is converted to a text string and written with the DtToString
instruction. Refer to the instructions reference manual for details on the DtToString instruction.
Data other than ExecDateTime is converted to text strings and written with the LrealToFormatString
instruction. The total number of digits is set to eight and the fractional part is set to six digits. Refer to
the instructions reference manual for details on the LrealToFormatString instruction.
PrgOprRsltCSVWrite
Timing Charts
 Normal End
• Done changes to TRUE when the data output operation is completed.
TRUE
Execute
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
Error
FALSE
ErrorID 16#0000 16#0000 16#0000 16#0000
 Error End
• If an error occurs when execution of the function block is in progress, Error changes to TRUE and
Busy (Executing) changes to FALSE.
• You can find out the cause of the error by referring to the value output by ErrorID (Error Code).
• If Execute changes to FALSE before execution of the function block is ended, Done and Error are
TRUE only for one task period after execution of the function block is ended.
• If Execute remains TRUE even after execution of the function block is ended, the output values of
Done and Error are held.
TRUE
Execute
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
Error
FALSE
To store the results of single-axis program operation into PrgOprRsltRecorder (Program Operation
Results Recorder), use the PrgOprRsltRec function block on P.182.
PrgOprRsltCSVWrite

• Execution of this function block will be continued until processing is ended even if the value of Exe-
cute changes to FALSE or the execution time exceeds the task period. The value of Done changes to
TRUE when processing is ended. Use this to confirm normal ending of processing.
• Do not simultaneously access the same file. Perform exclusive control of SD Memory Card instruc-
tions in the user program.
• An error occurs in the following cases. Error will change to TRUE.
a) The SD Memory Card is not in a usable condition.
b) The SD Memory Card is write protected.
c) There is insufficient space available on the SD Memory Card.
d) The value of FileName is not a valid file name.
e) The maximum number of files is exceeded.
f) The file specified by FileName is being accessed.
g) The file specified by FileName is write protected.
h) The value of FileName exceeds the maximum number of characters allowed in a file name.
i) An error that prevents access occurs during SD Memory Card access.
• During execution of an instance, do not execute the same instance.
• Always stop the DataRecorderPut (Add Data Record) function and the DataRecorderGet (Get Data
Record) function before you execute this function block. If you execute this function block without
stopping them, it would take longer to write to the SD Memory Card resulting in missing data or addi-
tional errors.
• When the power supply is turned OFF to the Controller, the contents of PrgOprRsltRecorder (Pro-
gram Operation Results Recorder) are discarded.
• Do not turn OFF the power supply to the Controller while data is written to the SD Memory Card.
PrgOprRsltCSVWrite
Related System-defined Variables
Variable name Meaning Data type Description

_Card1Ready SD Memory Card BOOL TRUE when the SD Memory Card is recognized. It is
Ready Flag FALSE when an SD Memory Card is not recognized.
TRUE: Card can be used.
FALSE: Card cannot be used.
_Card1Protect SD Memory Card BOOL This flag indicates if the SD Memory Card is write pro-
Write Protected Flag tected when it is inserted and ready to use.
TRUE: Write protected.
FALSE: Not write protected.
_Card1Err SD Memory Card Error BOOL This flag indicates if an unspecified SD Memory Card
Flag (e.g., an SDHC card) is mounted or if the format is
incorrect (i.e., not FAT16 or corrupted).
TRUE: There is an error.
FALSE: There is no error.
_Card1Access SD Memory Card BOOL This flag indicates if the SD Memory Card is currently
Access Flag being accessed.
TRUE: Card is being accessed.
FALSE: Card is not being accessed.
_Card1PowerFail SD Memory Card BOOL This flag indicates if an error occurred in completing
Power Interruption processing when power was interrupted during SD
Flag Memory Card access. This flag is not cleared automati-
cally.
TRUE: Error
FALSE: No error.
_BackupBusy Backup Function Busy BOOL This flag indicates if a backup, restoration, or verifica-
Flag tion is in progress.
TRUE: Backup, restore, or compare operation is in
progress.
FALSE: Backup, restore, or compare operation is not in
progress.
PrgOprRsltCSVWrite
Troubleshooting
table.
Expansion error
code
16#0000 16#0000 0000 Normal end --- ---
16#0400 16#0000 0000 Input Value Out The file name specified with File- Set FileName correctly.
of Range Name contains one or more
characters that cannot be used.
16#0000 0000 The directory name specified Check the length of the text
with FileName is too long. strings specified with FileName
so that it is within the valid range.
16#1400 16#0000 0000 SD Memory An SD Memory Card is either Insert an SD Memory Card cor-
Card Access not inserted or is not inserted rectly.
Failure properly.
16#0000 0000 The SD Memory Card is broken. Replace the SD Memory Card
with one that operates normally.
16#0000 0000 The SD Memory Card slot is bro- If this error persists even after
ken. making the above two correc-
tions, replace the CPU Unit or the
Industrial PC.
16#1401 16#0000 0000 SD Memory An attempt was made to write to Remove write protection from the
Card Write-pro- a write-protected SD Memory SD Memory Card. Slide the small
tected Card. switch on the side of the SD
Memory Card from the LOCK
position to the writable position.
16#1402 16#0000 0000 SD Memory The SD Memory Card ran out of Replace the SD Memory Card for
Card Insuffi- free space. one with sufficient available
cient Capacity capacity.
16#1403 16#0000 0000 File Does Not The specified directory does not Specify an existing directory.
Exist exist.
16#1404 16#0000 0000 Too Many Files/ The maximum number of files or Check that the number of files or
Directories directories was exceeded when directories in the SD Memory
creating a file or directory for an Card does not exceed the maxi-
instruction. mum number.
16#1405 16#0000 0000 File Already in An instruction attempted to read Correct the user program so that
Use or write a file already being this function block is executed
accessed by another instruction. only when the Busy output vari-
able for all other instructions for
the same file is FALSE.
16#140A 16#0000 0000 Write Access The file or directory specified for Remove write protection from the
Denied the function block to write is file or directory specified for the
write-protected. function block. Or, change the file
name of the file to write.
16#140B 16#0000 0000 Too Many Files The maximum number of open Correct the user program to
Open files was exceeded when open- decrease the number of open
ing a file for the function block. files.
16#140D 16#0000 0000 File or Direc- The file name or directory name Check that the specified file
tory Name Is that was specified for an instruc- name or directory name does not
Too Long tion is too long. exceed the maximum length.
16#140E 16#0000 0000 SD Memory The SD Memory Card is broken. Replace the SD Memory Card.
16#0000 0000 Card Access The SD Memory Card slot is bro- If this error occurs even after
Failed ken. making the above correction,
replace the CPU Unit or the
Industrial PC.
PrgOprRsltCSVWrite
Sample Programming
This sample programming saves the program operation result record data that was created with the
PrgOprRsltRec (Program Operation Result) function block sample programming to the SD Memory
Card inserted in the CPU Unit in CSV format.
block and PrgOpsRsltRec (Program Operation Result) function block sample programming.

Conditions
Processing
This sample programming saves the program operation result data to the SD Memory Card with the
specified file name when PrgRsltCSVWrite_StartPg (SD Card Save Trigger for Program Operation
Result Data) changes to TRUE.
Ladder Diagram
Initial
Value
PRG_RSLT_CSV_WRITE OmronLib\ServoPress\PrgO- Instance of the PrgO-
prRsltCSVWrite prRsltCSVWrite (Write Pro-
gram Operation Results to SD
Memory Card) function block
Prg_Rslt_Recorder OmronLib\ServoPress\sPRG_O- Program operation result
PR_RSLT_RECORDER record data
PrgRsltCSVWrite_StartPg BOOL SD card save trigger for pro-
gram operation result data
PrgRsltCSVWrite_FN STRING[66] File name
PrgRsltCSVWrite_Bsy BOOL Saving data to memory card
PrgOprRsltCSVWrite
 Algorithm
ST
Initial
Value
PRG_RSLT_CSV_WRITE OmronLib\ServoPress\PrgO- Instance of the PrgO-
prRsltCSVWrite prRsltCSVWrite (Write Pro-
gram Operation Results to SD
Memory Card) function block
Prg_Rslt_Recorder OmronLib\ServoPress\sPRG_O- Program operation result
PR_RSLT_RECORDER record data
PrgRsltCSVWrite_StartPg BOOL SD card save trigger for pro-
gram operation result data
PrgRsltCSVWrite_FN STRING[66] File name
PrgRsltCSVWrite_Bsy BOOL Saving data to memory card
 Algorithm
//Specify the filename and start PrgRsltCSVWrite.
IF UpTrig_PrgRsltCSVWrite_StartPg=TRUE THEN
//Filename
PrgRsltCSVWrite_FN:='ProgramOperationResult.csv';
END_IF;
//PrgOprRsltCSVWrite
PRG_RSLT_CSV_WRITE(
Execute := UpTrig_PrgRsltCSVWrite_StartPg,
FileName := PrgRsltCSVWrite_FN,
PrgOprRsltRecorder := Prg_Rslt_Recorder,
Done => PrgRsltCSVWrite_D,
Busy => PrgRsltCSVWrite_Bsy,
Error => PrgRsltCSVWrite_Err,
ErrorID => PrgRsltCSVWrite_ErrID,
ErrorIDEx => PrgRsltCSVWrite_ErrIDEx
);
PrgOprTracePut
PrgOprTracePut
The PrgOprTracePut function adds trace data to the program operation trace recorder 10 at a time.
Function FB/
Name Graphic expression ST expression
name FUN
PrgOpr Add Pro- FUN Out:=PrgOprTracePut(
TracePut gram \\OmronLib\ServoPress\PrgOprTracePut PrgOprRecord,
EN Out
Operation PrgOprTraceRecorder);
Trace PrgOprRecord
Records
PrgOprTraceRecorder PrgOprTraceRecorder
Item Description
Variables
Input Variables

function
Depends on
EN Execute BOOL FALSE --- Executes the function
data type.
when it changes to
TRUE.
Omron-
Program The trace records that
Lib\Servo-
PrgOpr Operation are added to the pro-
Press\sPRG --- --- ---
Record Trace gram operation data
_OPR_RE-
Records recorder.
CORD
PrgOprTracePut
 Structure
The data type of the PrgOprRecord input variable is the structure OmronLib\ServoPress\sPRG_O-
PR_RECORD. The specifications are as follows:

Program The trace records that
OmronLib\Servo-
PrgOpr Operation are added to the pro-
Press\sPRG_O- --- ---
Record Trace gram operation data
PR_RECORD
Records recorder.
Year,
month,
The system time at day,
ExecDate Record Date which trace data 0 Depends on data hour,
DATE_AND_TIME
Time and Time through 9 were type. min-
recorded. utes,
sec-
onds
TraceData Trace Data Depends on data
Trace data 0 LREAL ---
[0] 0 type.
[1] 1 type.
[2] 2 type.
[3] 3 type.
[4] 4 type.
[5] 5 type.
[6] 6 type.
[7] 7 type.
[8] 8 type.
[9] 9 type.
Output Variables

Function execution results
Depends on
Out Return Value BOOL --- TRUE: Normal end
data type.
FALSE: Error end
In-Out Variables

Omron-
Lib\Servo-
Program
Press\sP
PrgOprTrace Operation The recorder of the trace of pro-
RG_O- --- ---
Recorder Trace gram operation.
PR_TRAC
Recorder
E_RECO
RDER
PrgOprTracePut
 Structure
The data type of the PrgOprTraceRecorder in-out variable is the structure OmronLib\Servo-
Press\sPRG_OPR_TRACE_RECORDER. The specifications are as follows:

Omron-
Program
The recorder of the Lib\Servo-
PrgOprTrace Operation
trace of program Press\sPRG_O --- --- ---
Recorder Trace
operation. PR_TRACE_RE
Recorder
CORDER
Program
Operation The array containing ARRAY[0..1999
PrgOprTrc
Trace the program opera- 9] OF sPRG_O- --- --- ---
Records
Record tion trace records. PR_RECORD
Array
First Trace The index to the first
Top UINT 0 to 19,999 --- 0
Record trace record.
Last Trace The index to the last
Bottom UINT 0 to 19,999 --- 0
Record trace record.
The number of trace
Trace
records stored in the
Count Record UINT 0 to 20,000 --- 0
program operation
Count
trace recorder.
PrgOprTracePut
Function
This function adds trace data to PrgOprTraceRecorder (Program Operation Trace Recorder) 10 at a
time. The 10 trace data records are stored beforehand in PrgOprRecord (Program Operation Trace
Records).
Structure of PrgOprTraceRecorder (Program Operation Trace

Recorder)
The 10 trace data records are placed together in PrgOprRecord (Program Operation Trace Records).
PrgOprTraceRecorder (Program Operation Trace Recorder) is a data recorder that can store 20,000
PrgOprRecord. Therefore, PrgOprTraceRecorder can store a total of 200,000 trace data records.
This function block stores trace data in PrgOprTraceRecorder in units of PrgOprRecord.
Top (First Trace Record) is the index to the first trace record stored in PrgOprTraceRecorder. Bottom
(Last Trace Record) is the index to the last trace record stored in PrgOprTraceRecorder. Count (Trace
Record Count) shows the number of trace records that are stored in PrgOprTraceRecorder.
For example, when 200 trace records are stored in PrgOprTraceRecorder, the values of the variables
are as shown in the following figure. The trace record that is stored in PrgOprTrcRecords[0] is
expressed as TR0 and the trace record that is stored in PrgOprTrcRecords[1] is expressed as TR1.
Count=UINT#200
Top=UINT#0 [0]=TR0
[1]=TR1
[198]=TR198
Bottom=UINT#199 [199]=TR199
[19998]=
[19999]=
If there are already 20,000 trace records stored in PrgOprTraceRecorder and another trace record is
added, the oldest trace record is overwritten. The values of the variables when the 20,001st trace
record is added are as shown in the following figure.
Count=UINT#20000 Count=UINT#20000
Top=UINT#0 [0]=TR0 Bottom=UINT#0 [0]=TR20000

[1]=TR1 Top=UINT#1 [1]=TR1
[2]=TR2 [2]=TR2
Added.
[19997]=TR19997 [19997]=TR19997
[19998]=TR19998 [19998]=TR19998
Bottom=UINT#19999 [19999]=TR19999 [19999]=TR19999
When Count = UINT#0, the values of Top and Bottom are both 0.
PrgOprTracePut
To save the contents of PrgOprTraceRecorder (Program Operation Trace Recorder) to an SD Memory
Card in CSV format, use the PrgOprTraceCSVWrite function block on P.208.

• Do not execute this function block at the same time as the PrgOprTraceCSVWrite (Write from Pro-
gram Operation Trace Recorder to SD Memory Card) function block. If you do, the trace data may not
be recorded correctly.
• When the power supply is turned OFF to the Controller, the contents of PrgOprTraceRecorder (Pro-
gram Operation Trace Recorder) are discarded.
Sample Programming
This sample programming creates program operation trace data for the SP_SingleAxisPrgOpr (Sin-
gle-axis Program Operation) function block sample programming execution result. The trace data is
specified as the MC_Axis000.Act.Pos (Actual Current Position), MC_Axis000.Act.Vel (Actual Current
Velocity), and MC_Axis000.Act.Trq (Actual Current Torque) axis variables.

Conditions
Processing
If PrgTracePut_En (Enable Program Operation Trace Recording) is TRUE and data was not saved to
the SD Memory Card with the PrgTraceCSVWrite (Program Operation Trace Recorder SD Memory
Card Write) function block, this processing records a trace of the specified data while the SP_SingleAx-
isPrgOpr (Single-axis Program Operation) function block is being executed.
PrgOprTracePut
Ladder Diagram
Initial
Value
busy
PrgTracePut_En BOOL Enables program operation
trace recording.
PrgTraceCSVWrite_Bsy BOOL Saving data to memory card
(Used in the PrgOp-
sTraceCSVWrite (Program
Operation Trace Recorder SD
Memory Card Write) function
block sample programming.)
Prg_Record OmronLib\ServoPress\sPRG_O- Program operation trace data
PR_RECORD (1 record)
Prg_Trace_Recorder OmronLib\ServoPress\sPRG_O- Program operation trace data
PR_TRACE_RECORDER
Initial
Value
 Algorithm
PrgOprTracePut
ST
Initial
Value
busy
PrgTracePut_En BOOL Enables program operation
trace recording.
(Used in the PrgOp-
sTraceCSVWrite (Program
Operation Trace Recorder SD
Memory Card Write) function
block sample programming.)
Prg_Record OmronLib\ServoPress\sPRG_O- Program operation trace data
PR_RECORD (1 record)
Prg_Trace_Recorder OmronLib\ServoPress\sPRG_O- Program operation trace data
PR_TRACE_RECORDER
Initial
Value
 Algorithm
//Specify trace record.
IF SingleAxisPrgOpr_Bsy=TRUE THEN
Prg_Record.ExecDateTime:=GetTime();
Prg_Record.TraceData[0]:=MC_Axis000.Act.Pos;
Prg_Record.TraceData[1]:=MC_Axis000.Act.Vel;
Prg_Record.TraceData[2]:=MC_Axis000.Act.Trq;
END_IF;
//PrgOprTracePut
//Start on PrgOprTraceCSVWrite not in progress.
PrgTracePut_Out:=\\OmronLib\ServoPress\PrgOprTracePut(
EN := SingleAxisPrgOpr_Bsy AND PrgTracePut_En AND NOT(PrgTraceCSVWrite_Bsy),
PrgOprRecord := Prg_Record,
PrgOprTraceRecorder := Prg_Trace_Recorder
);
PrgOprTraceCSVWrite
PrgOprTraceCSVWrite
The PrgOprTraceCSVWrite function block writes the contents of the program operation trace recorder to an SD
Memory Card in CSV format.
Function
FB/
FUN
name
PrgOpr Write FB PrgOprTraceCSVWrite_instance (
TraceCSV from Pro- PrgOprTraceCSVWrite_Instance Execute,
\\OmronLib\ServoPress\PrgOprTraceCSVWrite
Write gram PrgOprTraceRecorder,
Execute Done
Opera- FileName,
tion Trace PrgOprTraceRecorder PrgOprTraceRecorder WriteLineNum,
Recorder Done,
FileName Busy
to SD Busy,
Memory WriteLineNum Error Error,
Card ErrorID,
ErrorID
ErrorIDEx);
ErrorIDEx
Item Description
Variables
Input Variables

function block
Depends on
data type.
to TRUE.
66 bytes max.
(65 single-byte
alphanumeric File name of CSV file to
FileName File Name STRING '' ---
characters plus write.
the final NULL
character)
The number of lines that
WriteLine Number of
USINT 1 1 to 255 --- are written to the CSV
Num Lines to Write
file in one processing.
PrgOprTraceCSVWrite
Output Variables

TRUE: Normal end
Depends on
data type.
not met.
Executing
Depends on
data type.
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
a normal end.
In-Out Variables

Omron-
Lib\Servo-
Program
Press\sP
PrgOprTrace Operation The recorder of the trace of pro-
RG_O- --- ---
Recorder Trace gram operation.
PR_TRAC
Recorder
E_RECO
RDER
 Structure
The data type of the PrgOprTraceRecorder in-out variable is the structure OmronLib\Servo-
Press\sPRG_OPR_TRACE_RECORDER. Refer to Structure in PrgOprTracePut on P.201 for
details.
PrgOprTraceCSVWrite
Function
This function block writes all the contents of PrgOprTraceRecorder (Program Operation Trace
Recorder) to an SD Memory Card in CSV format. The name of the file to write is specified with File-
Name.
With FileName, you can specify the name including the folder. If the specified folder does not exist, an
error occurs. If the folder is not specified, create FileName in the root of the SD Memory Card.
Refer to Structure in PrgOprTracePut on page 1-201 for further details on the PrgOprTraceRecorder
structure.
CSV File Format

The format of the CSV file to write is as follows:
'ExecDateTime' 'TraceData[0]' 'TraceData[9]'
ProgOprTrcRecords[0]. ProgOprTrcRecords[0]. ProgOprTrcRecords[0].

ExecDateTime TraceData[0] TraceData[9]
: : :
ProgOprTrcRecords[19999]. ProgOprTrcRecords[19999]. ProgOprTrcRecords[19999].
ExecDateTime TraceData[0] TraceData[9]
ExecDateTime (Record Date and Time) is converted to a text string and written with the DtToString
instruction. Refer to the instructions reference manual for details on the DtToString instruction.
TraceData is converted to text strings and written with the LrealToFormatString instruction. The total
number of digits is set to eight and the fractional part is set to six digits. Refer to the instructions refer-
ence manual for details on the LrealToFormatString instruction.
Setting WriteLineNum (Number of Lines to Write)

The value of WriteLineNum (Number of Lines to Write) is used to specify the number of lines to write to
the SD Memory Card.
This function block uses the FileWrite (Write File) instruction to write the CSV file.
WriteLineNum (Number of Lines to Write) is used to specify the number of CSV file lines to write in the
FileWrite (Write File) instruction that will be created in one task period.
The smaller the value of WriteLineNum, the shorter the execution time for this function block in one task
period. However, because this results in the function block being executed over more task periods, the
time from the start of execution until the end of execution increases.
The larger the value of WriteLineNum, the longer the execution time for this function block in one task
period. However, because this results in the function block being executed over fewer task periods, the
time from the start of execution until the end of execution decreases.
Set the value of WriteLineNum to match the task period for the task in which this function block is exe-
cuted.
PrgOprTraceCSVWrite
Timing Charts
 Normal End
• Done changes to TRUE when the data output operation is completed.
TRUE
Execute
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
Error
FALSE
ErrorID 16#0000 16#0000 16#0000 16#0000
 Error End
• If an error occurs when execution of the function block is in progress, Error changes to TRUE and
Busy (Executing) changes to FALSE.
• You can find out the cause of the error by referring to the value output by ErrorID (Error Code).
• If Execute changes to FALSE before execution of the function block is ended, Done and Error are
TRUE only for one task period after execution of the function block is ended.
• If Execute remains TRUE even after execution of the function block is ended, the output values of
Done and Error are held.
TRUE
Execute
FALSE
TRUE
Done
FALSE
TRUE
Busy
FALSE
TRUE
Error
FALSE
To add trace data to PrgOprTraceRecorder (Program Operation Trace Recorder), use the PrgOprTra-
cePut function block on P.201.
PrgOprTraceCSVWrite

• Execution of this function block will be continued until processing is ended even if the value of Exe-
cute changes to FALSE or the execution time exceeds the task period. The value of Done changes to
TRUE when processing is ended. Use this to confirm normal ending of processing.
• Do not simultaneously access the same file. Perform exclusive control of SD Memory Card instruc-
tions in the user program.
• An error occurs in the following cases. Error will change to TRUE.
a) The SD Memory Card is not in a usable condition.
b) The SD Memory Card is write protected.
c) There is insufficient space available on the SD Memory Card.
d) The value of FileName is not a valid file name.
e) The maximum number of files is exceeded.
f) The file specified by FileName is being accessed.
g) The file specified by FileName is write protected.
h) The value of FileName exceeds the maximum number of characters allowed in a file name.
i) An error that prevents access occurs during SD Memory Card access.
• During execution of an instance, do not execute the same instance.
• Always stop the DataRecorderPut (Add Data Record) function and the DataRecorderGet (Get Data
Record) function before you execute this function block. If you execute this function block without
stopping them, it would take longer to write to the SD Memory Card resulting in missing data or addi-
tional errors.
• When the power supply is turned OFF to the Controller, the contents of PrgOprTraceRecorder (Pro-
gram Operation Trace Recorder) are discarded.
• Do not turn OFF the power supply to the Controller while data is written to the SD Memory Card.
PrgOprTraceCSVWrite
Related System-defined Variables
Variable name Meaning Data type Description

_Card1Ready SD Memory Card BOOL TRUE when the SD Memory Card is recognized. It is
Ready Flag FALSE when an SD Memory Card is not recognized.
TRUE: Card can be used.
FALSE: Card cannot be used.
_Card1Protect SD Memory Card BOOL This flag indicates if the SD Memory Card is write pro-
Write Protected Flag tected when it is inserted and ready to use.
TRUE: Write protected.
FALSE: Not write protected.
_Card1Err SD Memory Card Error BOOL This flag indicates if an unspecified SD Memory Card
Flag (e.g., an SDHC card) is mounted or if the format is
incorrect (i.e., not FAT16 or corrupted).
TRUE: There is an error.
FALSE: There is no error.
_Card1Access SD Memory Card BOOL This flag indicates if the SD Memory Card is currently
Access Flag being accessed.
TRUE: Card is being accessed.
FALSE: Card is not being accessed.
_Card1PowerFail SD Memory Card BOOL This flag indicates if an error occurred in completing
Power Interruption processing when power was interrupted during SD
Flag Memory Card access. This flag is not cleared automati-
cally.
TRUE: Error
FALSE: No error.
_BackupBusy Backup Function Busy BOOL This flag indicates if a backup, restoration, or verifica-
Flag tion is in progress.
TRUE: Backup, restore, or compare operation is in
progress.
FALSE: Backup, restore, or compare operation is not in
progress.
PrgOprTraceCSVWrite
Troubleshooting
table.
Expansion error
code
16#0000 16#0000 0000 Normal end --- ---
16#0400 16#0000 0000 Input Value Out The file name specified with File- Set FileName correctly.
of Range Name contains one or more
characters that cannot be used.
16#0000 0000 The directory name specified Check the length of the text
with FileName is too long. strings specified with FileName
so that it is within the valid range.
16#1400 16#0000 0000 SD Memory An SD Memory Card is either Insert an SD Memory Card cor-
Card Access not inserted or is not inserted rectly.
Failure properly.
16#0000 0000 The SD Memory Card is broken. Replace the SD Memory Card
with one that operates normally.
16#0000 0000 The SD Memory Card slot is bro- If this error persists even after
ken. making the above two correc-
tions, replace the CPU Unit or the
Industrial PC.
16#1401 16#0000 0000 SD Memory An attempt was made to write to Remove write protection from the
Card Write-pro- a write-protected SD Memory SD Memory Card. Slide the small
tected Card. switch on the side of the SD
Memory Card from the LOCK
position to the writable position.
16#1402 16#0000 0000 SD Memory The SD Memory Card ran out of Replace the SD Memory Card for
Card Insuffi- free space. one with sufficient available
cient Capacity capacity.
16#1403 16#0000 0000 File Does Not The specified directory does not Specify an existing directory.
Exist exist.
16#1404 16#0000 0000 Too Many The maximum number of files or Check that the number of files or
Files/Directo- directories was exceeded when directories in the SD Memory
ries creating a file or directory for an Card does not exceed the maxi-
instruction. mum number.
16#1405 16#0000 0000 File Already in An instruction attempted to read Correct the user program so that
Use or write a file already being this function block is executed
accessed by another instruction. only when the Busy output vari-
able for all other instructions for
the same file is FALSE.
16#140A 16#0000 0000 Write Access The file or directory specified for Remove write protection from the
Denied the function block to write is file or directory specified for the
write-protected. function block. Or, change the file
name of the file to write.
16#140B 16#0000 0000 Too Many Files The maximum number of open Correct the user program to
Open files was exceeded when open- decrease the number of open
ing a file for the function block. files.
16#140D 16#0000 0000 File or Direc- The file name or directory name Check that the specified file
tory Name Is that was specified for an instruc- name or directory name does not
Too Long tion is too long. exceed the maximum length.
16#140E 16#0000 0000 SD Memory The SD Memory Card is broken. Replace the SD Memory Card.
16#0000 0000 Card Access The SD Memory Card slot is bro- If this error occurs even after
Failed ken. making the above correction,
replace the CPU Unit or the
Industrial PC.
PrgOprTraceCSVWrite
Expansion error
code
16#3CA5 16#00000001 First Data Posi- The value of Top (First Trace Set the value of Top (First Trace
tion Specifica- Record) is outside the valid Record) within the valid range for
tion Error range for the array. the array.
16#00000002 Last Data Posi- The value of Bottom (Last Trace Set the value of Bottom (Last
tion Specifica- Record) is outside the valid Trace Record) within the valid
tion Error range for the array. range for the array.
16#00000003 No Data Stored There are no program operation Make sure that program opera-
in Data trace records (Count = UINT#0) tion trace records are stored in
Recorder in PrgOprTraceRecorder (Pro- PrgOprTraceRecorder (Program
gram Operation Trace Operation Trace Recorder).
Recorder).
16#00000004 Data Recorder There is a conflict among the Check the values of Top (First
Storage Infor- values of Top (First Trace Trace Record), Bottom (Last
mation Error Record), Bottom (Last Trace Trace Record), and Count (Trace
Record), and Count (Trace Record Count).
Record Count).
16#00000005 Number of The value of WriteLineNum Check the valid range of the
Lines to Write (Number of Lines to Write) is value for WriteLineNum (Number
Out of Range outside the valid range. of Lines to Write) and set the
Sample Programming
This sample programming saves the program operation trace data that was created with the PrgOpr-
TracePut (Add Program Operation Trace Records) function sample programming to the SD Memory
Card inserted in the CPU Unit in CSV format.
block and PrgOprTracePut (Add Program Operation Trace Records) function sample programming.

Conditions
Processing
The program operation trace data is saved to the SD Memory Card with the specified file name when
PrgTraceCSVWrite_StartPg (SD Card Save Trigger for Program Operation Trace Data) changes to
TRUE.
PrgOprTraceCSVWrite
Ladder Diagram
Initial
Value
PRG_TRACE_CSV_WRITE OmronLib\ServoPress\PrgOpr- Instance of the PrgOpr-
TraceCSVWrite TraceCSVWrite (Write from
Program Operation Trace
Recorder to SD Memory
Card) function block
Prg_Trace_Recorder OmronLib\Servo- Program operation trace data
Press\sPRG_O-
PR_TRACE_RECORDER
PrgTraceCSVWrite_StartPg BOOL SD card save trigger for pro-
gram operation trace data
PrgTraceCSVWrite_FN STRING[66] File name
 Algorithm
PrgOprTraceCSVWrite
ST
Initial
Value
PRG_TRACE_CSV_WRITE OmronLib\ServoPress\PrgOpr- Instance of the PrgOpr-
TraceCSVWrite TraceCSVWrite (Write from
Program Operation Trace
Recorder to SD Memory
Card) function block
Prg_Trace_Recorder OmronLib\Servo- Program operation trace data
Press\sPRG_O-
PR_TRACE_RECORDER
PrgTraceCSVWrite_StartPg BOOL SD card save trigger for pro-
gram operation trace data
PrgTraceCSVWrite_FN STRING[66] File name
 Algorithm
//Specify the filename and start PrgTraceCSVWrite.
IF UpTrig_PrgTraceCSVWrite_StartPg=TRUE THEN
//Filename
PrgTraceCSVWrite_FN:='ProgramOperationTrace.csv';
END_IF;
//PrgOprTraceCSVWrite
PRG_TRACE_CSV_WRITE(
Execute := UpTrig_PrgTraceCSVWrite_StartPg,
FileName := PrgTraceCSVWrite_FN,
WriteLineNum := PrgTraceCSVWrite_WLineNum,
PrgOprTraceRecorder := Prg_Trace_Recorder,
Done => PrgTraceCSVWrite_D,
Busy => PrgTraceCSVWrite_Bsy,
Error => PrgTraceCSVWrite_Err,
ErrorID => PrgTraceCSVWrite_ErrID,
ErrorIDEx => PrgTraceCSVWrite_ErrIDEx
);
XYDataRec
XYDataRec
The XYDataRec function block traces two different input values and prepares trace data for displaying a broken
line graph on an NS/NA-series HMI.
Function
FB/
FUN
name
XYData Broken FB XYDataRec_instance (
Rec Line XYDataRec_Instance XYTraceData,
\\OmronLib\ServoPress\XYDataRec
Graph Enable,
XYTraceData XYTraceData
Trace X_Type,
Data Enable Enabled X,
Prepara- Y,
X_Type Busy
tion X_Orig,
X Error X_Width,
X_Direction,
Y ErrorID
Enabled,
X_Orig ErrorIDEx Busy,
Error,
X_Width ErrorID,
X_Direction
ErrorIDEx);
Item Description
XYDataRec
Variables
Input Variables

Enable
Depends on TRUE: Enable
execution.
The meaning of the X
Depends on axis on the graph.
X_Type X Axis Type BOOL FALSE ---
data type. TRUE: X input value
FALSE: Elapsed time
X Input Depends on
X LREAL 0.0 --- X input value
Value*1 data type.
Depends on
Y Y Input Value LREAL 0.0 --- Y input value
data type.
X Origin Depends on The value of the X axis
X_Orig LREAL 0.0 ---
Value*1 data type. origin on the graph.
The scale width for the
X Value
X_Width LREAL 0.1 0.001 to 1,000.0 --- X axis values on the
Width*1
graph.
Used to specify whether
X values increase or
Increase/Decr Depends on decrease along the X
X_Direciton BOOL TRUE --- axis.
ease Direc- data type.
tion*1 TRUE: Increase
FALSE: Decrease
*1. These variables are only valid when X_Type is TRUE.
XYDataRec
Output Variables

Enabled
data type.
FALSE: Not enabled.
Executing
Depends on
data type.
Error end
TRUE: Error end
Depends on
data type.
met
*1
error occurs.
normal end.
a normal end.
In-Out Variables

ARRAY[0.
XY Trace .19999] Depends on The trace data for broken line
XYTraceData ---
Data OF data type. graph display.
LREAL
XYDataRec
Function
This function block prepares trace data for displaying a broken line graph on an NS/NA-series HMI from
X (X Input Value) and Y (Y Input Value).
X_Type (X Axis Type)

The meaning of XYTraceData (XY Trace Data) depends on the value of X_Type (X Axis Type).
When X_Type is TRUE, the values of X are plotted on the X axis and the values of Y are plotted on the
Y axis as shown in the graph on the left side of the following figure.
When X_Type is FALSE, the elapsed time since this function block was started is plotted on the X axis
and the values of Y are plotted on the Y axis as shown in the graph on the right side of the following fig-
ure. In this case, the values of X (X Input Value), X_Orig (X Origin Value), X_Width (X Value Width), and
X_Direction (X Increase/Decrease Direction) are ignored.
X_Type=TRUE X_Type=FALSE
Y value Y value
X value Elapsed time
Expression of XYTraceData When X_Type Is TRUE

When X_Type is TRUE, the array element numbers in XYTraceData express X values at the scale posi-
tions on the X axis and the values of the array elements express Y values at the scale positions on the
X axis. The following figure shows the concept of this graph.
Y value
XYTraceData[5]
XYTraceData[4]
XYTraceData[3]
XYTraceData[2]
XYTraceData[1]
XYTraceData[0]
X value
XYDataRec
 Correspondence between XYTraceData Element Numbers and X Values

The element numbers for XYTraceData array show the X value on the X axis scale position. The fol-
lowing equations are used to find the X value that corresponds to element number n from the values
of X_Orig (X Origin Value), X_Width (X Value Width), and X_Direction (X Increase/Decrease Direc-
tion).
When X_Direction Is TRUE

X value corresponding to element number n = X_Orig + n x X_Width
When X_Direction Is FALSE

X value corresponding to element number n = X_Orig − n x X_Width
For example, when X_Orig = LREAL#0.0, X_Width = LREAL#1.0, and X_Direction = TRUE, the X
values corresponding to the element numbers are as shown in the following table.
Element No. X value

0 0.0
1 1.0
2 2.0
: :
19999 19999.0
Therefore, the X values at the X axis scale positions on the graph are as shown in the following
graph.
Y value
XYTraceData[19999]
XYTraceData[2]
XYTraceData[1]
XYTraceData[0]
0.0 1.0 2.0 19999.0 X value
XYDataRec
 Values of XYTraceData Array Elements

The values of the XYTraceData array elements show the Y values at the X axis scale positions.
When X (X Input Value) and the scale position on the X axis match, the value of Y (Y Input Value)
input in the same task period as X (X Input Value) becomes the value of the XYTraceData element
as is.
On the other hand, when X (X Input Value) and the scale position on the X axis do not match, the Y
value at the scale position on the X axis is found by linearly interpolating from the values of Y (Y
Input Value) adjacent to the scale position on the X axis.
For example, assume that X_Orig = LREAL#0.0, X_Width = LREAL#1.0, and X_Direction = TRUE,
and that the following four sets of X (X Input Value) and Y (Y Input Value) have been input.
Task period Value of X Value of Y

1 0.5 0.5
2 1.5 1.5
3 3.5 1.5
4 5.5 2.5
These values and the Y values at the scale position on the X axis that are found by linearly interpo-
lating these values result in the following graph.
Y value
3.0
2.5
Input value
2.0
1.5 Value found by linear interpolation
1.0
0.5
0.0 1.0 2.0 3.0 4.0 5.0 6.0 X value
As a result, the values of the XYTraceData array elements are as shown in the following table.
Element No. Value of XYTraceData Array Element

1 1.0
2 1.5
3 1.5
4 1.75
5 2.25
However, when a value conflicting with the X_Direction (X Increase/Decrease Direction) setting is
input as X (X Input Value), the Y (Y Input Value) input value in the same task period is ignored.
For example, assume that X_Orig = LREAL#0.0, X_Width = LREAL#1.0, and X_Direction = TRUE,
and that the following five sets of X (X Input Value) and Y (Y Input Value) have been input.
Task period Value of X Value of Y

1 0.5 0.5
2 1.5 1.5
3 3.5 1.5
4 2.5 2.0
5 5.5 2.5
XYDataRec
The value of X (X Input Value) input in task period 4 is 2.5. This is less than the previous value of X
(X Input Value), which was 3.5. This conflicts with the setting X_Direction = TRUE. Therefore, the
value 2.0 that was input for Y (Y Input Value) in the same task period is ignored as shown in the fol-
lowing table.
Y value Ignored
3.0
2.5
Input value
2.0
1.5 Value found by linear interpolation
1.0
0.5
0.0 1.0 2.0 3.0 4.0 5.0 6.0 X value
Expression of XYTraceData When X_Type Is FALSE

When X_Type is FALSE, the element numbers for the XYTraceData array show the elapsed time since
this function block was started and the X axis scale positions correspond to the task period since this
function block was started. The values of the XYTraceData array elements express Y (Y Input Value)
that was input in each task period. The following figure shows the concept of this graph.
Y value
XYTraceData[5]
XYTraceData[4]
XYTraceData[3]
XYTraceData[2]
XYTraceData[1]
XYTraceData[0]
Elapsed time
Task period 1
Task period 2
Task period 3
Task period 4
Task period 5
Task period 6
Timing Charts
 Normal End
• Busy (Executing) changes to TRUE at the same time as Enable in this function block changes to
TRUE.
• While the value of Enable is TRUE, X (X Input Value) and Y (Y Input Value) inputs are accepted.
TRUE
Enable
FALSE
TRUE
Enabled
FALSE
TRUE
Busy
FALSE
TRUE
Error
FALSE
ErrorID 16#0000
XYDataRec
 Error End
TRUE
Enable
FALSE
TRUE
Enabled
FALSE
TRUE
Busy
FALSE
TRUE
Error
FALSE
ErrorID 16#0000 ErrorID 16#0000
ErrorIDEx 16#00000000 ErrorIDEx 16#00000000
The XYDataToGraph function on P.228 is used to convert XYTraceData to data for displaying a broken
line graph on an NS/NA-series HMI.

• The values of X_Type (X Axis Type), X_Orig (X Origin Value), X_Width (X Value Width), and X_Direc-
tion (X Increase/Decrease Direction) at the point when Enable changes to TRUE are valid. The value
is not refreshed even if it is changed during processing of this function block.
• If the value of X (X Input Value) or Y (Y Input Value) is changed while this function block is in process,
the values are refreshed for the processing within the same task period.
• Execute this function block in a primary periodic task or in a periodic task.
• If the value of X (X Input Value) or Y (Y Input Value) is positive infinity, negative infinity, or nonnumeric
data, the value of XYTraceData (XY Trace Data) will be undefined. Use the CheckReal instruction to
determine whether the value of X (X Input Value) or Y (Y Input Value) is positive infinity, negative
infinity, or nonnumeric data. Refer to the instructions reference manual for details on the CheckReal
instruction.
Troubleshooting
table.
Expansion error
code
16#0000 16#00000000 Normal end
16#3CA6 16#00000001 Incorrect Task An attempt was made to execute Execute this function block in a
Setting this function block in a task primary periodic task or a peri-
16#00000002 X Origin Value The value of X_Orig (X Origin Check the valid range for the
Out of Range Value) is outside the valid range. value of X_Orig (X Origin Value)
range.
16#00000003 X Value Width The value of X_Width (X Value Check the valid range for the
Out of Range Width) is outside the valid range. value of X_Width (X Value Width)
range.
XYDataRec
Sample Programming
This sample programming creates trace data for the SP_SingleAxisPrgOpr (Single-axis Program Oper-
ation) function block sample programming execution results that are used to display a broken-line
graph on an NS/NA-series PT. The trace data is specified as the MC_Axis000.Act.Pos (Actual Current
Position) axis variable for the horizontal axis and the MC_Axis000.Act.Trq (Actual Current Torque) axis
variable for the vertical axis.

Conditions
Processing
If XY_Rec_En (Enable Graph Trace Data Recording) is TRUE, this processing records a trace of the
specified data while the SP_SingleAxisPrgOpr (Single-axis Program Operation) function block is being
executed.
Ladder Diagram
Initial
Value
XY_REC OmronLib\Servo- Instance of the XYDataRec
Press\XYDataRec (Broken Line Graph Trace Data
Preparation) function block
busy
XY_Rec_En BOOL Enables graph trace data
recording.
XY_Trace_Data ARRAY[0..19999] OF LREAL Trace data for graphs
Initial
Value
XYDataRec
 Algorithm
ST
Initial
Value
XY_REC OmronLib\Servo- Instance of the XYDataRec
Press\XYDataRec (Broken Line Graph Trace Data
Preparation) function block
busy
XY_Rec_En BOOL Enables graph trace data
recording.
Initial
Value
 Algorithm
//XYDataRec
XY_REC(
XYTraceData :=XY_Trace_Data,
Enable := SingleAxisPrgOpr_Bsy AND XY_Rec_En,
X_Type := BOOL#TRUE,
X := MC_Axis000.Act.Pos,
Y := MC_Axis000.Act.Trq,
X_Orig := LREAL#0.0,
X_Width := LREAL#0.1,
X_Direction := BOOL#TRUE,
Enabled => XY_Rec_Ed,
Busy => XY_Rec_Bsy,
Error => XY_Rec_Err,
ErrorID => XY_Rec_ErrID,
ErrorIDEx => XY_Rec_ErrIDEx
);
XYDataToGraph
XYDataToGraph
The XYDataToGraph function converts the trace data to NA/NS-series HMI broken line graph display data.
FB/
Function name Name Graphic expression ST expression
FUN
XYDataTo Broken Line FUN Out:=XYDataToGraph (
Graph Graph Dis- \\OmronLib\ServoPress\XYDataToGraph XYTraceData,
EN Out
play Data X_Init,
Conversion XYTraceData XYTraceData X_Zoom,
X_ZoomNum
X_Init Y_Zoom,
X_Zoom Y_Zoomnum,
XYGraphData);
X_ZoomNum
Y_Zoom
Y_ZoomNum
XYGraphData XYGraphData
Item Description
XYDataToGraph
Variables
Input Variables

function
Depends on
EN Execute BOOL FALSE --- Executes the function
data type.
when it changes to
TRUE.
The starting element
X Axis Initial
X_Init UINT 0 0 to 19,999 --- number in XYTrace-
Position
Data to be graphed.
Zooms in or zooms out
Depends on in the X axis direction.
X_Zoom X Axis Zoom BOOL FALSE ---
data type. TRUE: Zoom in
FALSE: Zoom out
The zoom-in ratio or
X_Zoom X Axis Zoom
USINT 1 1 to 100 --- zoom-out ratio for the X
Num Coefficient
axis direction.
Zooms in or zooms out
Depends on in the Y axis direction.
Y_Zoom Y Axis Zoom BOOL FALSE ---
data type. TRUE: Zoom in
FALSE: Zoom out
The zoom-in ratio or
Y_Zoom Y Axis Zoom
USINT 1 1 to 100 --- zoom-out ratio for the Y
Num Coefficient
axis direction.
Output Variables

Function execution results
Depends on
Out Return Value BOOL --- TRUE: Normal end
data type.
FALSE: Error end
In-Out Variables

ARRAY[0.
XY Trace .19999] Depends on The trace data for broken line
XYTraceData ---
Data OF data type. graph display.
LREAL
ARRAY[0.
XY Graph Depends on
XYGraphData .599] OF --- Broken line graph display data.
Display Data data type.
LREAL
XYDataToGraph
Function
This function converts XYTraceData to XYGraphData (XY Graph Display Data) NA/NS-series HMI bro-
ken line graph display data.
When converting, you can specify the X axis direction conversion start position for the contents of
XYTraceData. You can also zoom in on or zoom out from the X axis direction and Y axis direction.
XYTraceData Structure
XYTraceData is prepared using the XYDataRec (Broken Line Graph Trace Data Preparation) function
block. Refer to XYDataRec on page 1-218 for details on the XYTraceData structure.
XYGraphData Structure
The XYGraphData structure is the same as the XYTraceData structure. Specifically, the array element
numbers express the X value for each data record and the array element values express the Y value for
each data record.
Data Conversion
When you convert the data, you specify the X axis direction conversion start position and the X axis and
Y axis direction zoom as described below.
 X Axis Direction Conversion Start Position Specification

The X axis direction conversion start position is specified with X_Init (X Axis Initial Position). Specify
the XYTraceData array element number at which to start conversion in X_Init.
For example, when X_Init=UINT#100, XYTraceData[100] and higher are converted. The following
graphs show the concept.
Y value
XYTraceData[102]
XYTraceData[2] XYTraceData[101]
XYTraceData[0]
X value
Conversion
Y value
XYGraphData[2]=XYTraceData[102]
X value
XYDataToGraph
 X Axis Direction Zoom In

By changing the value of X_Zoom (X Axis Zoom) to TRUE, you can convert XYTraceData so that it
is zoomed in along the X axis direction. Specify the zoom-in ratio with X_ZoomNum (X Axis Zoom
Coefficient).
Y values are interpolated between two adjacent points in XYTraceData and X_ZoomNum minus 1
data records are added. The X values corresponding to the array element numbers in XYTraceData
and XYGraphData are the same, so the XYTraceData graph is changed to an XYGraphData graph
multiplied by X_ZoomNum in the X axis direction.
The number of XYGraphData data records is changed to the following value: (Number of XYTrace-
Data data records - 1) x X_ZoomNum + 1.
The following figure shows the relationship between XYTraceData and XYGraphData when there
are three XYTraceData data records and X_ZoomNum = UINT#4. The graph is multiplied by four in
the X axis direction and the number of data records increases to nine.
Y value
XYTraceData[1]
XYTraceData[2]
XYTraceData[0]
X value
Conversion
Y value
XYGraphData[3] XYGraphData[5]
XYGraphData[6]
XYGraphData[2] XYGraphData[7]
XYGraphData[1]
XYGraphData[0]
X value
XYDataToGraph
 X Axis Direction Zoom Out

By changing the value of X_Zoom (X Axis Zoom) to FALSE, you can convert XYTraceData so that it
is zoomed out along the X axis direction. Specify the zoom-out ratio with X_ZoomNum (X Axis Zoom
Coefficient). The zoom-out ratio is 1/X_ZoomNum.
The Y values of X_ZoomNum of adjacent XYTraceData data records are averaged and merged into
one data record. The X values corresponding to the array element numbers in XYTraceData and
XYGraphData are the same, so the XYTraceData graph is changed to an XYGraphData graph
divided by X_ZoomNum in the X axis direction.
The number of XYGraphData data records is the number of XYTraceData data records divided by
X_ZoomNum.
are eight XYTraceData data records and X_ZoomNum = UINT#4. The graph is divided by four in the
X axis direction and the number of data records decreases to two.
Y value
XYTraceData[4]
XYTraceData[6]
XYTraceData[1]
XYTraceData[0]
X value
Conversion
Y value
XYGraphData[1] = Average of XYTraceData[4] through XYTraceData[7]
X value
XYGraphData[0] = Average of XYTraceData[0] through XYTraceData[3]
XYDataToGraph
 Y Axis Direction Zoom In

By changing the value of Y_Zoom (Y Axis Zoom) to TRUE, you can convert XYTraceData so that it
is zoomed in along the Y axis direction. Specify the zoom-in ratio with Y_ZoomNum (Y Axis Zoom
Coefficient).
The Y value of XYTraceData multiplied by Y_ZoomNum becomes the XYGraphData Y value.
The number of XYGraphData data records and XYTraceData data records is the same.
are three XYTraceData data records and Y_ZoomNum = UINT#3. The graph is multiplied by three in
the Y axis direction and the number of data records remains three.
Y value
XYGraphData[1] = XYTraceData[1] × 3
Y value
XYTraceData[1]
XYGraphData[2] = XYTraceData[2] × 3
Conversion
XYTraceData[2]
X value X value
XYTraceData[0] XYGraphData[0] = XYTraceData[0] × 3
 Y Axis Direction Zoom Out

By changing the value of Y_Zoom (Y Axis Zoom) to FALSE, you can convert XYTraceData so that it
is zoomed out along the Y axis direction. Specify the zoom-out ratio with Y_ZoomNum (Y Axis Zoom
Coefficient). The zoom-out ratio is 1/X_ZoomNum.
The XYTraceData Y value divided by Y_ZoomNum becomes the XYGraphData Y value.
The number of XYGraphData data records and XYTraceData data records is the same.
are three XYTraceData data records and Y_ZoomNum = UINT#3. The graph is divided by three in
the Y axis direction and the number of data records remains three.
Y value Y value
XYTraceData[1]
Conversion
XYGraphData[1] = XYTraceData[1] / 3
XYTraceData[2]
XYGraphData[2] = XYTraceData[2] / 3
X value X value
XYTraceData[0] XYGraphData[0] = XYTraceData[0] / 3
To prepare XYTraceData data, use the XYDataRec function block on P.218.
XYDataToGraph

If the value of an input variable is out of range, an error occurs and the value of Out changes to FALSE.
The values of XYGraphData are not updated.
Sample Programming
This sample programming extracts 5,000 records of data from the 1,000th record of the 20,000 records
of broken-line graph display trace data created with the XYDataRec (Broken-line Graph Trace Data
Preparation) function block, and it creates 600 records of display data suitable for displaying on an
NS/NA-series PT.
block and XYDataRec (Broken-line Graph Trace Data Preparation) function block sample program-
ming.

Conditions
Processing
The graph drawing data is created with the specified start point (array index) and scale ratio when
XY_Graph_StartPG (Creation Trigger for Graph Drawing Data) changes to TRUE.
XYDataToGraph
Ladder Diagram
Initial
Value
XY_Graph_StartPg BOOL Creation trigger for graph drawing
data
XY_Graph_Data ARRAY[0..599] OF LREAL Graph drawing data
 Algorithm
XYDataToGraph
ST
Initial
Value
XY_Graph_StartPg BOOL Creation trigger for graph drawing
data
XY_Graph_Data ARRAY[0..599] OF LREAL Graph drawing data
 Algorithm
//Generate graph plots data.
IF UpTrig_XY_Graph_StartPg=TRUE THEN
//Transform 5000 records with a start index 1000 from all 20000 records of
XY_Trace_Data to 600 records of graph plots.
XY_Graph_X_Init:=UINT#1000;
XY_Graph_X_Zoom:=BOOL#FALSE;
X_Multiple:=REAL#5000.0/REAL#600.0;
IF X_Multiple<=REAL#255.0 THEN
XY_Graph_X_ZoomNum:=DINT_TO_USINT(RoundUp(X_Multiple));
ELSE
XY_Graph_X_ZoomNum:=USINT#255;
END_IF;
XY_Graph_Y_Zoom:=BOOL#FALSE;
XY_Graph_Y_ZoomNum:=USINT#1;
END_IF;
//XYGraphToData
XY_Graph_Out:=\\OmronLib\ServoPress\XYDataToGraph(
EN := UpTrig_XY_Graph_StartPg,
XYTraceData := XY_Trace_Data,
X_Init := XY_Graph_X_Init,
X_Zoom := XY_Graph_X_Zoom,
X_ZoomNum := XY_Graph_X_ZoomNum,
Y_Zoom := XY_Graph_Y_Zoom,
Y_ZoomNum := XY_Graph_Y_ZoomNum,
XYGraphData := XY_Graph_Data
);
Appendix
Referring to Library Information

When you make an inquiry to OMRON about the library, you can refer to the library information to iden-
tify the library to ask about.
The library information is useful in identifying the target library among the libraries provided by OMRON
or created by the user.
The library information consists of the attributes of the library and the attributes of function blocks and
functions contained in the library.
• Attributes of libraries
Information for identifying the library itself
• Attributes of function blocks and functions
Information for identifying the function block and function contained in the library
Use the Sysmac Studio to access the library information.
Attributes of Libraries, Function Blocks and Functions

The following attributes of libraries, function blocks and functions are provided as the library informa-
tion.
 Attributes of Libraries
No.*1 Attribute Description

(1) Library file name The name of the library file
(2) Library version The version of the library
(3) Author The name of creator of the library
(4) Comment The description of the library*2
*1. These numbers correspond to the numbers shown on the screen images in the next section, Referring
to Attributes of Libraries, Function Blocks and Functions on page 239.
*2. It is provided in English and Japanese.
 Attributes of Function Blocks and Functions
No.*1 Attribute Description

(5) FB/FUN name The name of the function block or function
(6) Name space The name of name space for the function block or function
(7) FB/FUN version The version of the function block or function
(8) Author The name of creator of the function block or function
(9) FB/FUN number The function block number or function number
(10) Comment The description of the function block or function*2
*1. These numbers correspond to the numbers shown on the screen images in the next section, Referring
to Attributes of Libraries, Function Blocks and Functions on page 239.
*2. It is provided in English and Japanese.
Referring to Attributes of Libraries, Function Blocks and Functions

You can refer to the attributes of libraries, function blocks and functions of the library information at the
following locations on the Sysmac Studio.
• Library Reference Dialog Box
• Toolbox Pane
• Ladder Editor
(a) Library Reference Dialog Box

When you refer to the libraries, the library information is displayed at the locations shown below.
(1)Library file name (2)Library version (3)Library author (4)Library comment
(5)FB/FUN name (6)Name

space
(8)FB/FUN author (10)FB/FUN comment

(7)FB/FUN version
(b) Toolbox Pane

Select a function block and function to display its library information at the bottom of the Toolbox
Pane.
The text “by OMRON” which is shown on the right of the library name (1) indicates that this library
was provided by OMRON.
(5)FB/FUN name (6)Name space

(1)Library file name
(9)FB/FUN number
(10)FB/FUN comment
(7)FB/FUN version
(8)FB/FUN author
(c) Ladder Editor

Place the mouse on a function block and function to display the library information in a tooltip.
(6)Name space (5)FB/FUN name

(9)FB/FUN number
(10)FB/FUN comment
Referring to Function Block and Function Source Codes
Referring to Function Block and

Function Source Codes
You can refer to the source codes of function blocks and functions provided by OMRON to customize
them to suit the user’s environment.
User function blocks and user functions can be created based on the copies of these source codes.
The following are the examples of items that you may need to customize.
• Customizing the size of arrays to suit the memory capacity of the user’s Controller
• Customizing the data types to suit the user-defined data types
Note that you can access only function blocks and functions whose Source code published/not pub-
lished is set to Published in the library information shown in their individual specifications.
Use the following procedure to refer to the source codes of function blocks and functions.
1 Select a function block or function in the program.
2 Double-click or right-click and select To Lower Layer from the menu.

The source code is displayed.

For function blocks and functions whose source codes are not published, the following dialog
box is displayed in the above step 2. Click the Cancel button.
Referring to Function Block and Function Source Codes
OMRON AUTOMATION AMERICAS HEADQUARTERS • Chicago, IL USA • 847.843.7900 • 800.556.6766 • www.omron247.com
OMRON CANADA, INC. • HEAD OFFICE OMRON ARGENTINA • SALES OFFICE

Toronto, ON, Canada • 416.286.6465 • 866.986.6766 • www.omron247.com Cono Sur • 54.11.4783.5300
OMRON ELECTRONICS DE MEXICO • HEAD OFFICE OMRON CHILE • SALES OFFICE

México DF • 52.55.59.01.43.00 • 01-800-226-6766 • mela@omron.com Santiago • 56.9.9917.3920
OMRON ELECTRONICS DE MEXICO • SALES OFFICE OTHER OMRON LATIN AMERICA SALES
Apodaca, N.L. • 52.81.11.56.99.20 • 01-800-226-6766 • mela@omron.com 54.11.4783.5300
OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE

São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br
OMRON EUROPE B.V. • Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. • +31 (0) 23 568 13 00 • www.industrial.omron.eu
Authorized Distributor: Controllers & I/O

• Machine Automation Controllers (MAC) • Motion Controllers
• Programmable Logic Controllers (PLC) • Temperature Controllers • Remote I/O
Robotics
• Industrial Robots • Mobile Robots
Operator Interfaces
• Human Machine Interface (HMI)
Motion & Drives
• Machine Automation Controllers (MAC) • Motion Controllers • Servo Systems
• Frequency Inverters
Vision, Measurement & Identification
• Vision Sensors & Systems • Measurement Sensors • Auto Identification Systems
Sensing
• Photoelectric Sensors • Fiber-Optic Sensors • Proximity Sensors
• Rotary Encoders • Ultrasonic Sensors
Safety
• Safety Light Curtains • Safety Laser Scanners • Programmable Safety Systems
• Safety Mats and Edges • Safety Door Switches • Emergency Stop Devices
• Safety Switches & Operator Controls • Safety Monitoring/Force-guided Relays
Control Components
• Power Supplies • Timers • Counters • Programmable Relays
• Digital Panel Meters • Monitoring Products
Switches & Relays
• Limit Switches • Pushbutton Switches • Electromechanical Relays
• Solid State Relays
Software
• Programming & Configuration • Runtime
W573-E1-02 11/16 Note: Specifications are subject to change. © 2016 Omron. All Rights Reserved. Printed in U.S.A.
Printed on recycled paper.

Servo Press Library UsersMan en 201611 W573-E1-02

Uploaded by

Copyright:

Available Formats

Servo Press Library UsersMan en 201611 W573-E1-02

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Servo Press Library UsersMan en 201611 W573-E1-02

Uploaded by

Copyright:

Available Formats

Sysmac Library

• The SD and SDHC logos are trademarks of SD-3C, LLC.

Features of the Library

Item Product name Model numbers Version

Sysmac Library User’s Manual for Servo Press Library (W573) 1

Precautions for Safe Use

Precautions for Correct Use

Additional information to read as required.

Note References are provided to more detailed or related information.

2 Sysmac Library User’s Manual for Servo Press Library (W573)

Sysmac Library User’s Manual for Servo Press Library (W573) 3

Manual Structure ...................................................................................................... 2

Terms and Conditions Agreement .......................................................................... 6

Safety Precautions ................................................................................................... 8

Precautions for Safe Use ....................................................................................... 11

Precautions for Correct Use.................................................................................. 12

Related Manuals ..................................................................................................... 13

Revision History ..................................................................................................... 15

Procedure to Use Sysmac Libraries ..................................................................... 17

Servo Press Library ............................................................................................... 25

Common Specifications of Function Blocks ....................................................... 33

Individual Specifications of Function Blocks ...................................................... 41

Appendix ............................................................................................................... 237

4 Sysmac Library User’s Manual for Servo Press Library (W573)

Sysmac Library User’s Manual for Servo Press Library (W573) 5

Terms and Conditions Agreement

Warranty, Limitations of Liability

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

6 Sysmac Library User’s Manual for Servo Press Library (W573)

Errors and Omissions

Sysmac Library User’s Manual for Servo Press Library (W573) 7

Definition of Precautionary Information

Indicates a potentially hazardous situation which, if not

Indicates a potentially hazardous situation which, if not

The triangle symbol indicates precautions (including warnings).

The triangle symbol indicates precautions (including warnings).

8 Sysmac Library User’s Manual for Servo Press Library (W573)

Sysmac Library User’s Manual for Servo Press Library (W573) 9

10 Sysmac Library User’s Manual for Servo Press Library (W573)

Precautions for Safe Use

Sysmac Library User’s Manual for Servo Press Library (W573) 11

Precautions for Correct Use

Using the Library

12 Sysmac Library User’s Manual for Servo Press Library (W573)

Manual name Cat. No. Model numbers Application Description

Sysmac Library User’s Manual for Servo Press Library (W573) 13

Manual name Cat. No. Model numbers Application Description

14 Sysmac Library User’s Manual for Servo Press Library (W573)

Cat. No. W573-E1-02

Revision code Date Revised content

Sysmac Library User’s Manual for Servo Press Library (W573) 15

16 Sysmac Library User’s Manual for Servo Press Library (W573)

Sysmac Library User’s Manual for Servo Press Library (W573) 17

Procedure to Use Sysmac Librar-

Using Newly Installed Libraries

Precautions for Correct Use

18 Sysmac Library User’s Manual for Servo Press Library (W573)

2 Select Project – Library – Show References.