Omron NY532-1500 Reference Manual page 145

Sample Programming
If StartPg is TRUE, EtherCAT communications are checked to see if process data communications are normal.
StartPg _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]
If process data communications are active, the Servo is turned ON.
Lock1
If a minor fault level error occurs for axis 1, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active
If the Servo is ON and home is not defined, the Home instruction is executed.
Pwr_Status MC_Axis000.Details.Homed
After home is defined, absolute positioning 1 is started.
Hm_D
After absolute positioning 1 is started, absolute positioning 2 is started with multi-execution of instructions.
Mv_Abs1_Act
_eMC_BUFFER_MODE#_mcBuffered
NY-series Motion Control Instructions Reference Manual (W561)
MC_Axis000
MC_Axis000
MC_Axis000
LREAL#50.0
LREAL#10.0
LREAL#1000.0
LREAL#1000.0
_eMC_DIRECTION#_mcNoDirection
MC_Axis000
LREAL#100.0
LREAL#20.0
LREAL#1000.0
LREAL#1000.0
_eMC_DIRECTION#_mcNoDirection
3 Axis Command Instructions
_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]
PWR
MC_Power
Axis Axis
Enable Status
Busy
Error
ErrorID
FaultHandler
EN FaultHandler
HM
MC_Home
Axis Axis
Execute Done
Busy
CommandAborted
Error
ErrorID
MV_ABS1
MC_MoveAbsolute
Axis Axis
Execute Done
Position Busy
Velocity Active
Acceleration CommandAborted
Deceleration Error
Jerk ErrorID
Direction
BufferMode
MV_ABS2
MC_MoveAbsolute
Axis Axis
Execute Done
Position Busy
Velocity Active
Acceleration CommandAborted
Deceleration Error
Jerk ErrorID
Direction
BufferMode
Lock1
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
Hm_D
Hm_Bsy
Hm_Ca
Hm_Err
Hm_ErrID
Mv_Abs1_D
Mv_Abs1_Bsy
Mv_Abs1_Act
Mv_Abs1_Ca
Mv_Abs1_Err
Mv_Abs1_ErrID
Mv_Abs2_D
Mv_Abs2_Bsy
Mv_Abs2_Act
Mv_Abs2_Ca
Mv_Abs2_Err
Mv_Abs2_ErrID
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