Omron NY532-1500 Reference Manual page 544

4 Axes Group Instructions
If the Servo is ON for axis 1 and home is not defined, the Home instruction is executed to define home.
Pwr1_Status MC_Axis000.Details.Homed
If the Servo is ON for axis 2 and home is not defined, the Home instruction is executed to define home.
Pwr2_Status MC_Axis001.Details.Homed
After home is defined for axis 1 and axis 2, the axes group is enabled.
Hm1_D Hm2_D MC_Group000.Status.Disabled MC_Group000
The parameters are set for linear interpolation.
InitFlag
If the axes group is enabled, linear interpolation (1) is executed.
Grp_En_D
4-26
MC_Home
MC_Axis000 Axis
Execute
MC_Home
MC_Axis001 Axis
Execute
GRP_EN
MC_GroupEnable
AxesGroup
Execute
Note: The contents of the inline
ST are given below.
MV_LIN1
MC_MoveLinear
MC_Group000 AxesGroup
Execute
Mv_Lin1_Pos Position
Mv_Lin1_Vel Velocity
Mv_Lin1_Acc Acceleration
Mv_Lin1_Dec Deceleration
Jerk
CoordSystem
BufferMode
TransitionMode
Mv_Lin1_Mm MoveMode
NY-series Motion Control Instructions Reference Manual (W561)
HM1
Axis
Done
Busy Hm1_Bsy
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID
HM2
Axis
Done
Busy Hm2_Bsy
CommandAborted Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID
AxesGroup
Done
Busy Grp_En_Bsy
CommandAborted Grp_En_Ca
Error Grp_En_Err
ErrorID Grp_En_ErrID
AxesGroup
Done
Busy Mv_Lin1_Bsy
Active Mv_Lin1_Act
CommandAborted Mv_Lin1_Ca
Error Mv_Lin1_Err
ErrorID Mv_Lin1_ErrID
Hm1_D
Hm2_D
Grp_En_D
Mv_Lin1_D