Omron NY532-1500 Reference Manual page 440

3 Axis Command Instructions
ELSE
Pwr_En:=FALSE;
END_IF;
// Processing for a minor fault level error
// Program the FaultHandler according to the device.
IF MC_Axis000.MFaultLvl.Active=TRUE THEN
FaultHandler();
END_IF;
// If the Servo is ON and home is not defined, the Home instruction is executed.
IF (Pwr_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm_Ex:=TRUE;
END_IF;
// After home is defined, MC_MoveVelocity is executed.
IF MC_Axis000.Details.Homed=TRUE THEN
Vel_Ex:=TRUE;
END_IF;
// After MC_MoveVelocity is executed, MC_TouchProbe is executed.
IF Vel_Act=TRUE THEN
T_Probe_Ex:= TRUE;
END_IF;
//MC_Power
PWR(
Axis
Enable
Status
Busy
Error
ErrorID => Pwr_ErrID
);
//MC_Home
HM(
Axis
Execute
Done
Busy
CommandAborted => Hm_Ca,
Error
ErrorID
);
//MC_MoveVelocity
VEL(
Axis
Execute
Velocity
Acceleration
Deceleration
Jerk
InVelocity
Busy
3-356
:= MC_Axis000,
:= Pwr_En,
=> Pwr_Status,
=> Pwr_Bsy,
=> Pwr_Err,
:= MC_Axis000,
:= Hm_Ex,
=> Hm_D,
=> Hm_Bsy,
=> Hm_Err,
=> Hm_ErrID
:= MC_Axis000,
:= Vel_Ex,
:= Vel_Vel,
:= Vel_Acc,
:= Vel_Dec,
:= Vel_Jrk,
=> Vel_InVel,
=> Vel_Bsy,
NY-series Motion Control Instructions Reference Manual (W561)