Omron NY532-1500 Reference Manual page 577

Linear interpolation (3) is executed with multi-execution of instructions after linear interpolation (1) is started.
Mv_Lin1_Act
Circular interpolation (4) is executed with multi-execution of instructions after linear interpolation (1) is started.
Mv_Lin1_Act
Contents of Inline ST
// MV_CIRC1 parameters
Mv_Circ1_CircAxes[0]
Mv_Circ1_CircAxes[1]
Mv_Circ1_CircMode
Mv_Circ1_AuxPoint[0]
Mv_Circ1_AuxPoint[1]
Mv_Circ1_EndPoint[0]
Mv_Circ1_EndPoint[1]
Mv_Circ1_Pc
Mv_Circ1_Vel
Mv_Circ1_Acc
Mv_Circ1_Dec
Mv_Circ1_Bm
Mv_Circ1_Mm
// MV_CIRC2 parameters
Mv_Circ2_CircAxes[0]
Mv_Circ2_CircAxes[1]
Mv_Circ2_CircMode
Mv_Circ2_AuxPoint[0]
Mv_Circ2_AuxPoint[1]
Mv_Circ2_EndPoint[0]
Mv_Circ2_EndPoint[1]
Mv_Circ2_Pc
Mv_Circ2_Vel
Mv_Circ2_Acc
NY-series Motion Control Instructions Reference Manual (W561)
MC_Group000
Mv_Lin2_Pos
Mv_Lin2_Vel
Mv_Lin2_Acc
Mv_Lin2_Dec
Mv_Lin2_Bm
Mv_Lin2_Mm
MC_Group000
Mv_Circ2_CircAxes
Mv_Circ2_CircMode
Mv_Circ2_AuxPoint
Mv_Circ2_EndPoint
Mv_Circ2_Pc
Mv_Circ2_Vel
Mv_Circ2_Acc
Mv_Circ2_Dec
Mv_Circ2_Bm
Mv_Circ2_Mm
:= UINT#0;
:= UINT#1;
:= _eMC_CIRC_MODE#_mcRadius;
:= LREAL#5.0;
:= LREAL#0.0;
:= LREAL#15.0;
:= LREAL#10.0;
:= _eMC_CIRC_PATHCHOICE#_mcCCW;
:= LREAL#100.0;
:= LREAL#20.0;
:= LREAL#20.0;
:= _eMC_BUFFER_MODE#_mcBuffered;
:= _eMC_MOVE_MODE#_mcAbsolute;
:= UINT#0;
:= UINT#1;
:= _eMC_CIRC_MODE#_mcCenter;
:= LREAL#15.0;
:= LREAL#20.0;
:= LREAL#20.0;
:= LREAL#20.0;
:= _eMC_CIRC_PATHCHOICE#_mcCW;
:= LREAL#100.0;
:= LREAL#20.0;
4 Axes Group Instructions
MV_LIN2
MC_MoveLinear
AxesGroup AxesGroup
Execute Done
Position Busy
Velocity Active
Acceleration CommandAborted
Deceleration Error
Jerk ErrorID
CoordSystem
BufferMode
TransitionMode
MoveMode
MV_CIRC2
MC_MoveCircular2D
AxesGroup AxesGroup
Execute Done
CircAxes Busy
CircMode Active
AuxPoint CommandAborted
EndPoint Error
PathChoice ErrorID
Velocity
Acceleration
Deceleration
Jerk
CoordSystem
BufferMode
TransitionMode
MoveMode
Mv_Lin2_D
Mv_Lin2_Bsy
Mv_Lin2_Act
Mv_Lin2_Ca
Mv_Lin2_Err
Mv_Lin2_ErrID
Mv_Circ2_D
Mv_Circ2_Bsy
Mv_Circ2_Act
Mv_Circ2_Ca
Mv_Circ2_Err
Mv_Circ2_ErrID
4-59
4