Omron NY532-1500 Reference Manual page 439

Structured Text (ST)
Main Variables
Name
MC_Axis000
MC_Axis000.MFaultLvl.Active
MC_Axis000.Details.Homed
Pwr_Status
Pos1
Pos2
StartPg
InitFlag
Sample Programming
// Processing when input parameters are not set
IF InitFlag=FALSE THEN
// MC_MoveVelocity parameters
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#1000.0;
Vel_Dec := LREAL#1000.0;
Vel_Jrk := LREAL#1000.0;
// MC_TouchProbe parameters
T_Probe_TrigRef.Mode
T_Probe_TrigRef.LatchID
T_Probe_TrigRef.InputDrive := _eMC_TRIGGER_INPUT_DRIVE#_mcEXT;
T_Probe_TrigVar
T_Probe_Wo
T_Probe_FstPos
T_Probe_LstPos
// Change InitFlag to TRUE after setting the input parameters.
InitFlag:=TRUE;
END_IF;
// If StartPg is TRUE and EtherCAT communications are normal, the Servo 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
Pwr_En:=TRUE;
NY-series Motion Control Instructions Reference Manual (W561)
Data type Default
_sAXIS_REF --- This is the Axis Variable for axis 1.
BOOL FALSE TRUE while there is a minor fault level error for
axis 1.
BOOL FALSE TRUE when home is defined for axis 1.
BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the MC_Power
instruction. This variable changes to TRUE when
the Servo is turned ON.
LREAL --- This variable specifies the first position of the win-
dow.
LREAL --- This variable specifies the last position of the win-
dow.
BOOL FALSE The Servo is turned ON if this variable is TRUE
and EtherCAT process data communications are
established.
BOOL FALSE This variable indicates if it is necessary to set the
input parameters. Input parameters are set when
this variable is FALSE. When setting the input
parameters is completed, this variable changes to
TRUE.
:= _eMC_TRIGGER_MODE#_mcDrive;
:= _eMC_TRIGGER_LATCH_ID#_mcLatch1;
:= FALSE;
:= TRUE;
:= LREAL#1000.0;
:= LREAL#2000.0;
3 Axis Command Instructions
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