Omron NY532-1500 Reference Manual page 180

3 Axis Command Instructions
END_IF;
// If the Servo is ON for axis 1 and the Sensor1 bit is TRUE, the MC_MoveVelocity instruction is executed.
IF (Pwr_Status=TRUE) AND (Sensor1=TRUE) THEN
Vel_Ex := TRUE;
END_IF;
// During execution of the MC_MoveVelocity instruction, the override factor is changed according to the status of
the Sensor2 and Sensor3 bits.
IF Vel_Act=TRUE THEN
IF (Sensor2=FALSE) AND (Sensor3=FALSE) THEN
Set_Ov_Velfct := LREAL#100.0;
ELSIF (Sensor2=TRUE) AND (Sensor3=FALSE) THEN
Set_Ov_Velfct := LREAL#500.0;
ELSIF (Sensor2=FALSE) AND (Sensor3=TRUE) THEN
Set_Ov_Velfct := LREAL#200.0;
ELSE
Set_Ov_Velfct := LREAL#200.0;
END_IF;
END_IF;
// The MC_SetOverride instruction is executed during velocity control for the MC_MoveVelocity instruction.
IF Vel_Act=TRUE THEN
Set_Ov_En := TRUE;
END_IF;
// The MC_Stop instruction is executed when StopTrig is TRUE.
IF StopTrig=TRUE THEN
Stp_Ex := TRUE;
END_IF;
//MC_Power
PWR(
Axis
Enable
Status
Busy
Error
ErrorID
);
//MC_MoveVelocity
VEL(
Axis
Execute
Velocity
Acceleration
Deceleration
Direction
InVelocity
Busy
Active
CommandAborted
Error
ErrorID
);
3-96
:= MC_Axis000,
:= Pwr_En,
=> Pwr_Status,
=> Pwr_Bsy,
=> Pwr_Err,
=> Pwr_ErrID
:= MC_Axis000,
:= Vel_Ex,
:= Vel_Vel,
:= Vel_Acc,
:= Vel_Dec,
:= Vel_Dir,
=> Vel_Invel,
=> Vel_Bsy,
=> Vel_Act,
=> Vel_Ca,
=> Vel_Err,
=> Vel_ErrID
NY-series Motion Control Instructions Reference Manual (W561)