Omron NY532-1500 Reference Manual page 494

3 Axis Command Instructions
Structured Text (ST)
Main Variables
Name
MC_Axis000
MC_Axis001
E001_Time_Stamp_of_Synchronous_Output
N3_Output_Bit_00
N3_Output_Bit_00_Time_Stamp
N3_Output_Bit_01
N3_Output_Bit_01_Time_Stamp
Pwr_En
Switches
Outputs
TrackOptions
EnableMask
Hm_Ex
Vel_Ex
*1 You must add 0x200A:02 (Time Stamp of Synchronous Output) to the I/O entries for the EtherCAT Coupler Unit.
Sample Programming
// Processing when input parameters are not set
IF InitFlag=FALSE THEN
// MC_MoveVelocity parameters
Vel_Vel
Vel_Acc
Vel_Dec
Vel_Jrk
// MC_DigitalCamSwitch parameters
Switches[0].TrackNumber
Switches[0].FirstOnPosition
Switches[0].LastOnPosition
Switches[0].AxisDirection
Switches[0].CamSwitchMode
Switches[1].TrackNumber
Switches[1].FirstOnPosition
3-410
Data type
_sAXIS_REF
_sAXIS_REF
ULINT
BOOL
ULINT
BOOL
ULINT
BOOL
ARRAY[ 0..3] OF
_sCAMSWITCH_REF
ARRAY[ 0..1] OF
_sOUTPUT_REF
ARRAY[ 0..1] OF
_sTRACK_REF
WORD
BOOL
BOOL
:= LREAL#1000.0;
:= LREAL#0.0;
:= LREAL#0.0;
:= LREAL#1000.0;
NY-series Motion Control Instructions Reference Manual (W561)
Default
--- Axis Variable for axis 1.
--- Axis Variable for axis 2.
---
Device variable
--- Device variable
--- Device variable
--- Device variable
--- Device variable
--- This variable is assigned to the
Enable input variable from the
PWR instance of the MC_Power
instruction.
--- Input parameter for Switches in-
out variable
The element numbers correspond
to the switch numbers.
--- Input parameter for Outputs in-out
variable
The element numbers correspond
to the track numbers.
--- Input parameter for TrackOptions
in-out variable
The element numbers correspond
to the track numbers.
16#0003 Input parameter for EnableMask
input variable
Tracks 0 and 1 are enabled.
FALSE The HM instance of MC_Home is
executed when this variable
changes to TRUE.
FALSE The VEL instance of MC_MoveVe-
locity is executed when this vari-
able changes to TRUE.
:= UINT#0;
:= LREAL#2000.0;
:= LREAL#3000.0;
:= _eMC_DIRECTION#_mcPositiveDirection;
:= _eMC_SWITCH_MODE#_mcPositionBased;
:= UINT#0;
:= LREAL#2500.0;
Comment
*1