Omron NY532-1500 Reference Manual page 576

4 Axes Group Instructions
After home is defined for axis 1 and axis 2, the axes group is enabled.
Hm1_D Hm2_D
MC_Group000.Status.Disabled
The parameters are set for linear interpolation and circular interpolation.
InitFlag
If the axes group is enabled, linear interpolation (1) is executed.
Grp_En_D
Circular interpolation (2) is executed with multi-execution of instructions after linear interpolation (1) is started.
Mv_Lin1_Act
4-58
MC_Group000 AxesGroup
Execute
Note: The contents of the inline ST
are given below.
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
MC_MoveCircular2D
MC_Group000 AxesGroup
Execute
Mv_Circ1_CircAxes CircAxes
Mv_Circ1_CircMode CircMode
Mv_Circ1_AuxPoint AuxPoint
Mv_Circ1_EndPoint EndPoint
Mv_Circ1_Pc PathChoice
Mv_Circ1_Vel Velocity
Mv_Circ1_Acc Acceleration
Mv_Circ1_Dec
Deceleration
Jerk
CoordSystem
Mv_Circ1_Bm BufferMode
TransitionMode
Mv_Circ1_Mm MoveMode
NY-series Motion Control Instructions Reference Manual (W561)
GRP_EN
MC_GroupEnable
AxesGroup
Done
Busy Grp_En_Bsy
CommandAborted Grp_En_Ca
Error Grp_En_Err
ErrorID Grp_En_ErrID
MV_LIN1
MC_MoveLinear
AxesGroup
Done
Busy Mv_Lin1_Bsy
Active Mv_Lin1_Act
CommandAborted Mv_Lin1_Ca
Error Mv_Lin1_Err
ErrorID Mv_Lin1_ErrID
MV_CIRC1
AxesGroup
Done
Busy Mv_Circ1_Bsy
Active Mv_Circ1_Act
CommandAborted Mv_Circ1_Ca
Error Mv_Circ1_Err
ErrorID Mv_Circ1_ErrID
Grp_En_D
Mv_Lin1_D
Mv_Circ1_D