Omron NY532-1500 Reference Manual page 325

// If a minor fault level error occurs for axis 1 to axis 3, the error handler for the device (FaultHandler) is
executed.
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) OR (MC_Axis001.MFaultLvl.Active=TRUE) OR
(MC_Axis002.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1, the MC_MoveVelocity instruction is executed.
IF Pwr1_Status=TRUE THEN
Vel_Ex := TRUE;
END_IF;
// If InVelocity of MC_MoveVelocity is TRUE and the Servo for axis 2 is ON, MC_GearIn is executed with axis 1
as the master axis and axis 2 as the slave axis.
IF (Vel_InVel=TRUE) AND (Pwr2_Status=TRUE) THEN
Gearin1_Ex := TRUE;
END_IF;
// If InVelocity of MC_MoveVelocity is TRUE and the Servo for axis 3 is ON, MC_GearIn is executed with axis 1
as the master axis and axis 3 as the slave axis.
IF (Vel_InVel=TRUE) AND (Pwr3_Status=TRUE) THEN
Gearin2_Ex := TRUE;
END_IF;
// If the actual position of axis 1 is 1000.0 or higher during gear operation for axis 2,
// the GearOut instruction for axis 2 (slave axis) is executed.
IF (Gearin1_Act=TRUE) AND (MC_Axis000.Act.Pos>=LREAL#1000.0) THEN
Gearout_Ex := TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis
Enable
Status
Busy
Error
ErrorID
);
// MC_Power for axis 2
PWR2(
Axis
Enable
Status
Busy
Error
ErrorID
);
// MC_Power for axis 3
PWR3(
Axis
Enable
Status
Busy
Error
ErrorID
);
NY-series Motion Control Instructions Reference Manual (W561)
:= MC_Axis000,
:= Pwr1_En,
=> Pwr1_Status,
=> Pwr1_Bsy,
=> Pwr1_Err,
=> Pwr1_ErrID
:= MC_Axis001,
:= Pwr2_En,
=> Pwr2_Status,
=> Pwr2_Bsy,
=> Pwr2_Err,
=> Pwr2_ErrID
:= MC_Axis002,
:= Pwr3_En,
=> Pwr3_Status,
=> Pwr3_Bsy,
=> Pwr3_Err,
=> Pwr3_ErrID
3 Axis Command Instructions
3
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