Omron NY532-1500 Reference Manual page 506

3 Axis Command Instructions
Structured Text (ST)
Main Variables
Name
MC_Axis000
MC_Axis001
N3_Input_Bit_00
N3_Input_Bit_00_Time_Stamp
Hm_Ex
Vel_Ex
PreN3InputBit00
Position
Count
FirstPoint
LastPoint
Distance
Sample Programming
// Processing when input parameters are not set
IF InitFlag=FALSE THEN
// MC_MoveVelocity parameters
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#0.0;
Vel_Dec := LREAL#0.0;
Vel_Jrk := LREAL#1000.0;
// 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;
3-422
Data type Default
_sAXIS_REF
_sAXIS_REF
BOOL
ULINT
BOOL FALSE
BOOL FALSE
BOOL
ARRAY[0..1] OF
LREAL
ARRAY[0..1] OF ULINT
UINT
UINT
LREAL
NY-series Motion Control Instructions Reference Manual (W561)
Comment
--- Axis Variable for axis 1.
--- Axis Variable for axis 2.
--- Device variable
--- Device variable
The HM instance of MC_Home is
executed when this variable
changes to TRUE.
The VEL instance of MC_MoveVe-
locity is executed when this vari-
able changes to TRUE.
--- The previous value of the N3_In-
put_Bit_00 device variable.
--- Stores the calculated positions.
--- Stores the number of rotations.
--- A variable that is used for process-
ing.
--- A variable that is used for process-
ing.
--- The distance between work-
pieces.