Omron NY532-1500 Reference Manual page 297

Camin1_Mo
Camin1_So
Camin1_Rt
Camin1_Dir
Camin2_Em
Camin2_Sm
Camin2_Sp
Camin2_Msd
Camin2_Ms
Camin2_Ss
Camin2_Mo
Camin2_So
Camin2_Rt
Camin2_Dir
Camin3_Em
Camin3_Sm
Camin3_Sp
Camin3_Msd
Camin3_Ms
Camin3_Ss
Camin3_Mo
Camin3_So
Camin3_Rt
Camin3_Dir
Camin4_Em
Camin4_Sm
Camin4_Sp
Camin4_Msd
Camin4_Ms
Camin4_Ss
Camin4_Mo
Camin4_So
Camin4_Rt
Camin4_Dir
// 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;
// If StartPg is TRUE and EtherCAT communications are normal, the Servo for axis 3 is turned ON.
// If EtherCAT communications are not normal, the Servo is turned OFF.
NY-series Motion Control Instructions Reference Manual (W561)
:= LREAL#30.0;
:= LREAL#0.0;
:= _eMC_REFERENCE_TYPE#_mcCommand;
:= _eMC_DIRECTION#_mcNoDirection;
:= TRUE;
:= _eMC_START_MODE#_mcAbsolutePosition;
:= LREAL#0.0;
:= LREAL#0.0;
:= LREAL#1.0;
:= LREAL#1.0;
:= LREAL#80.0;
:= LREAL#0.0;
:= _eMC_REFERENCE_TYPE#_mcCommand;
:= _eMC_DIRECTION#_mcNoDirection;
:= TRUE;
:= _eMC_START_MODE#_mcAbsolutePosition;
:= LREAL#0.0;
:= LREAL#0.0;
:= LREAL#1.0;
:= LREAL#1.0;
:= LREAL#130.0;
:= LREAL#0.0;
:= _eMC_REFERENCE_TYPE#_mcCommand;
:= _eMC_DIRECTION#_mcNoDirection;
:= TRUE;
:= _eMC_START_MODE#_mcAbsolutePosition;
:= LREAL#0.0;
:= LREAL#0.0;
:= LREAL#1.0;
:= LREAL#1.0;
:= LREAL#180.0;
:= LREAL#0.0;
:= _eMC_REFERENCE_TYPE#_mcCommand;
:= _eMC_DIRECTION#_mcNoDirection;
3 Axis Command Instructions
3
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