Omron NY532-1500 Reference Manual page 342

3 Axis Command Instructions
The MC_MoveVelocity (Velocity Control) instruction is executed after homing is completed for the master axis (axis 1).
Hm1_D
_eMC_DIRECTION#_mcPositiveDirection
After homing is completed for axis 2 (slave axis), MC_GearInPos (Positioning Gear Operation) is executed to start
gear operation if Vel_InVel of MC_MoveVelocity is TRUE.
MC_Axis001.Details.Homed
_eMC_REFERENCE_TYPE#_mcFeedback
Structured Text (ST)
Main Variables
Name
MC_Axis000
MC_Axis000.Details.Homed
MC_Axis000.MFaultLvl.Active
MC_Axis001
MC_Axis001.Details.Homed
MC_Axis001.MFaultLvl.Active
Pwr1_Status
Pwr2_Status
Hm1_D
Hm2_D
3-258
MC_Axis000
LREAL#90.0
LREAL#90.0
LREAL#90.0
LREAL#0.0
MC_Axis000
MC_Axis001
Vel_InVel
UINT#1
UINT#2
Pos1
Pos2
LREAL#180.0
LREAL#180.0
LREAL#180.0
Data type
_sAXIS_REF
BOOL
BOOL
_sAXIS_REF
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
VEL
MC_MoveVelocity
Axis Axis
Execute InVelocity
Velocity Busy
Acceleration Active
Deceleration CommandAborted
Jerk Error
Direction ErrorID
Continuous
BufferMode
GEARINPOS
MC_GearInPos
Master
Slave
Execute StartSync
RatioNumerator
RatioDenominator
ReferenceType
MasterSyncPosition CommandAborted
SlaveSyncPosition
Velocity
Acceleration
Deceleration
Jerk
BufferMode
Default
--- Axis Variable for the master axis, axis 1.
FALSE TRUE when home is defined for axis 1.
FALSE TRUE while there is a minor fault level error for
axis 1.
--- Axis Variable for the slave axis, axis 2.
FALSE TRUE when home is defined for axis 2.
FALSE TRUE while there is a minor fault level error for
axis 2.
FALSE This variable is assigned to the Status output
variable from the PWR1 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
FALSE This variable is assigned to the Status output
variable from the PWR2 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
FALSE This variable is assigned to the Done output vari-
able from the HM1 instance of the MC_Home
instruction.
FALSE This variable is assigned to the Done output vari-
able from the HM2 instance of the MC_Home
instruction.
NY-series Motion Control Instructions Reference Manual (W561)
Vel_InVel
Vel_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
Master
Gearinpos_StSync
Slave
InSync Gearinpos_InSync
Busy Gearinpos_Bsy
Active Gearinpos_Act
Gearinpos_Ca
Error Gearinpos_Err
ErrorID Gearinpos_ErrID
Comment