Omron NY532-1500 Reference Manual page 550

4 Axes Group Instructions
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;
// If StartPg is TRUE and EtherCAT communications are normal, the Servo for axis 2 is turned ON.
// If EtherCAT communications are not normal, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis001.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis001.Cfg.NodeAddress]=FALSE) THEN
Pwr2_En:=TRUE;
ELSE
Pwr2_En:=FALSE;
END_IF;
// Processing for a minor fault level error
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) OR (MC_Axis001.MFaultLvl.Active=TRUE) OR
(MC_Group000.MFaultLvl.Active=TRUE)THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1 and home is not defined, the Home instruction is executed.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex:=TRUE;
END_IF;
// If the Servo is ON for axis 2 and home is not defined, the Home instruction is executed.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
// If axes group 0 is disabled while home is defined for axis 1 and axis 2, it is enabled.
IF (Hm1_D=TRUE) AND (Hm2_D=TRUE) AND (MC_Group000.Status.Disabled=TRUE) THEN
Grp_En_Ex:= TRUE;
END_IF;
// After the MC_GroupEnable (Enable Axes Group) instruction is completed, linear interpolation (1) is executed.
IF Grp_En_D=TRUE THEN
Mv_Lin1_Ex:=TRUE;
END_IF;
// Linear interpolations (2) to (7) are executed with multi-execution of instructions while the Active output
variable for linear interpolation (1) is TRUE.
IF Mv_Lin1_Act=TRUE THEN
Mv_Lin2_Ex:=TRUE;
Mv_Lin3_Ex:=TRUE;
Mv_Lin4_Ex:=TRUE;
Mv_Lin5_Ex:=TRUE;
Mv_Lin6_Ex:=TRUE;
Mv_Lin7_Ex:=TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis
Enable
Status
Busy
Error
ErrorID
);
// MC_Power for axis 2
4-32
// Turn ON the Servo for axis 1.
// Turn OFF the Servo for axis 1.
// Turn ON the Servo for axis 2.
// Turn OFF the Servo for axis 2.
:= MC_Axis000,
:= Pwr1_En,
=> Pwr1_Status,
=> Pwr1_Bsy,
=> Pwr1_Err,
=> Pwr1_ErrID
NY-series Motion Control Instructions Reference Manual (W561)