Omron NY532-1500 Reference Manual page 214

3 Axis Command Instructions
// MV_ABS parameters
Mv_Abs_Pos
Mv_Abs_Vel
Mv_Abs_Acc
Mv_Abs_Dec
Mv_Abs_Jrk
// MV_ZERO parameters
Mv_Zero_Vel
Mv_Zero_Acc
Mv_Zero_Dec
Mv_Zero_Jrk
Mv_Zero_Bm
// Change InitFlag to TRUE after setting the input parameters.
InitFlag := TRUE;
END_IF;
// If StartPg is TRUE and EtherCAT communications are normal, the Servo for axis 1 is turned ON.
// If EtherCAT communications are not normal, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;
// If StartPg is TRUE and EtherCAT communications are normal, the Servo for axis 2 is turned ON.
// If EtherCAT communications are not normal, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis001.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis001.Cfg.NodeAddress]=FALSE) THEN
Pwr2_En:=TRUE;
ELSE
Pwr2_En:=FALSE;
END_IF;
// Processing for a minor fault level error
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) OR (MC_Axis001.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1 and home is not defined, the Home instruction is executed for axis 1.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex:=TRUE;
END_IF;
// If the Servo is ON for axis 2 and home is not defined, the Home instruction is executed for axis 2.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
// After home is defined for axis 1, MC_MoveFeed is executed.
IF MC_Axis000.Details.Homed=TRUE THEN
Mv_Feed_Ex:=TRUE;
END_IF;
3-130
:= LREAL#1000.0;
:= LREAL#500.0;
:= LREAL#10000.0;
:= LREAL#10000.0;
:= LREAL#10000.0;
:= LREAL#500.0;
:= LREAL#10000.0;
:= LREAL#10000.0;
:= LREAL#10000.0;
:= _eMC_BUFFER_MODE#_mcBuffered;
// Turn ON the Servo.
// Turn OFF the Servo.
// Turn ON the Servo for axis 2.
// Turn OFF the Servo for axis 2.
NY-series Motion Control Instructions Reference Manual (W561)