Omron NY532-1500 Reference Manual page 341

Sample Programming
If StartPg is TRUE, EtherCAT communications for the axes are checked to see if process data
communications are normal.
StartPg _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]
_EC_PDSlavTbl[MC_Axis001.Cfg.NodeAddress]
If process data communications are active, the Servo is turned ON for the axes.
Lock1
Lock2
If a minor fault level error occurs for the axis composition, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active
MC_Axis001.MFaultLvl.Active
If the Servo is ON for the master axis (axis 1) and home is not defined, the Home instruction is executed to define home.
Pwr1_Status MC_Axis000.Details.Homed
If the Servo is ON for the slave axis (axis 2) and home is not defined, the Home instruction is executed to define home.
Pwr2_Status MC_Axis001.Details.Homed
NY-series Motion Control Instructions Reference Manual (W561)
_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]
_EC_CommErrTbl[MC_Axis001.Cfg.NodeAddress]
PWR1
MC_Power
MC_Axis000 Axis
Enable
PWR2
MC_Power
MC_Axis001 Axis
Enable
FaultHandler
EN FaultHandler
HM1
MC_Home
MC_Axis000 Axis
Execute
CommandAborted
HM2
MC_Home
MC_Axis001 Axis
Execute
CommandAborted
3 Axis Command Instructions
Pwr1_Status
Axis
Status
Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID
Pwr2_Status
Axis
Status
Busy Pwr2_Bsy
Error Pwr2_Err
ErrorID Pwr2_ErrID
Axis
Done
Busy Hm1_Bsy
Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID
Axis
Done
Busy Hm2_Bsy
Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID
Lock1
Lock2
3
Hm1_D
Hm2_D
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