Omron NY532-1500 Reference Manual page 503

Sample Programming
If StartPg input is TRUE, EtherCAT communications are checked to see if process data communications are
normal for axis 1.
StartPg _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]
If process data communications are active for axis 1, the Servo is turned ON.
Lock1
If a minor fault level error occurs for the axis composition, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active
If the Servo is ON for axis 1 and home is not defined, the Home instruction is executed to define home.
Pwr_Status
The parameters are set for the MC_MoveVelocity (Velocity Control) instruction.
InitFlag
The MC_MoveVelocity (Velocity Control) instruction is executed if home is defined for axis 1.
MC_Axis000.Details.Homed
NY-series Motion Control Instructions Reference Manual (W561)
_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]
MC_Axis000
MC_Axis000
Note: The contents of inline ST 1 are given below.
MC_Axis000
Hm_D
Vel_Vel
Vel_Acc
Vel_Dec
Vel_Jrk
3 Axis Command Instructions
PWR
MC_Power
Axis Axis
Enable Status
Busy
Error
ErrorID
FaultHandler
EN FaultHandler
HM
MC_Home
Axis Axis
Execute Done
Busy
CommandAborted
Error
ErrorID
VEL
MC_MoveVelocity
Axis Axis
Execute InVelocity
Velocity Busy
Acceleration Active
Deceleration CommandAborted
Jerk Error
Direction ErrorID
Continuous
BufferMode
Lock1
Pwr_Status
MC_Axis000
Pwr_Bsy
Pwr_Err
Pwr_ErrID
Hm_D
MC_Axis000
Hm_Bsy
Hm_Ca
Hm_Err
Hm_ErrID
Vel_InVel
MC_Axis000
Vel_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
3-419
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