Omron NY532-1500 Reference Manual page 374

3 Axis Command Instructions
END_IF;
// MC_MoveLink is executed for axis 2 if home is defined for axis 2 and the target velocity was reached for axis
1.
IF (MC_Axis001.Details.Homed=TRUE) AND (Vel_InVel=TRUE) THEN
Mv_Link_Ex:=TRUE;
END_IF;
// The actuator is turned ON if axis 1 and axis 2 are synchronized.
IF Mv_Link_InSync=TRUE THEN
Actuator:=TRUE;
ELSE
Actuator:=FALSE;
END_IF;
// MC_Power1
PWR1(
Axis
Enable
Status
Busy
Error
ErrorID
);
// MC_Power2
PWR2(
Axis
Enable
Status
Busy
Error
ErrorID
);
// MC_Home1
HM1(
Axis
Execute
Done
Busy
CommandAborted
Error
ErrorID
);
// MC_Home2
HM2(
Axis
Execute
Done
Busy
CommandAborted
Error
ErrorID
);
// MC_MoveVelocity
VEL(
Axis
Execute
Velocity
Acceleration
Deceleration
3-290
:= 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_Axis000,
:= Hm1_Ex,
=> Hm1_D,
=> Hm1_Bsy,
=> Hm1_Ca,
=> Hm1_Err,
=> Hm1_ErrID
:= MC_Axis001,
:= Hm2_Ex,
=> Hm2_D,
=> Hm2_Bsy,
=> Hm2_Ca,
=> Hm2_Err,
=> Hm2_ErrID
:= MC_Axis000,
:= Vel_Ex,
:= Vel_Vel,
:= Vel_Acc,
:= Vel_Dec,
NY-series Motion Control Instructions Reference Manual (W561)