Omron NY532-1500 Reference Manual page 495

Switches[1].LastOnPosition
Switches[1].AxisDirection
Switches[1].CamSwitchMode
Switches[2].TrackNumber
Switches[2].FirstOnPosition
Switches[2].LastOnPosition
Switches[2].AxisDirection
Switches[2].CamSwitchMode
Switches[3].TrackNumber
Switches[3].FirstOnPosition
Switches[3].Duration
Switches[3].AxisDirection
Switches[3].CamSwitchMode
// InitFlag is changed to TRUE after input parameters are set.
InitFlag:=TRUE;
END_IF;
// If StartPg is TRUE and EtherCAT communications are normal, the Servo for axis 1 is turned ON.
// If EtherCAT communications are not normal, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (_EC_RegSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr_En:=TRUE;
ELSE
Pwr_En:=FALSE;
END_IF;
// If a minor fault level error occurs for axis 1, the error handler for the device (FaultHandler) is exe-
cuted.
// 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) THEN
Hm_Ex:=TRUE;
END_IF;
// After home is defined, MC_MoveVelocity is executed.
IF MC_Axis000.Details.Homed=TRUE AND Hm_D=TRUE THEN
Vel_Ex:=TRUE;
END_IF;
//MC_Power
PWR(
Axis
Enable
Status
Busy
Error
ErrorID => Pwr_ErrID
);
//MC_Home
HM(
NY-series Motion Control Instructions Reference Manual (W561)
:= MC_Axis000,
:= Pwr_En,
=> Pwr_Status,
=> Pwr_Bsy,
=> Pwr_Err,
3 Axis Command Instructions
:= LREAL#3000.0;
:= _eMC_DIRECTION#_mcNegativeDirection;
:= _eMC_SWITCH_MODE#_mcPositionBased;
:= UINT#0;
:= LREAL#4000.0;
:= LREAL#1000.0;
:= _eMC_DIRECTION#_mcNoDirection;
:= _eMC_SWITCH_MODE#_mcPositionBased;
:= UINT#1;
:= LREAL#3000.0;
:= T#1350ms;
:= _eMC_DIRECTION#_mcNoDirection;
:= _eMC_SWITCH_MODE#_mcTimeBased;
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