Omron NY532-1500 Reference Manual page 581

// The rest of the instructions are executed with multi-execution of instructions when the Active output variable
for linear interpolation (1) changes to TRUE.
IF Mv_Lin1_Act=TRUE THEN
Mv_Circ1_Ex:=TRUE;
Mv_Lin2_Ex:=TRUE;
Mv_Circ2_Ex:=TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis
Enable
Status
Busy
Error
ErrorID
);
// MC_Power for axis 2
PWR2(
Axis
Enable
Status
Busy
Error
ErrorID
);
// MC_Home for axis 1
HM1(
Axis
Execute
Done
Busy
CommandAborted
Error
ErrorID
);
// MC_Home for axis 2
HM2(
Axis
Execute
Done
Busy
CommandAborted
Error
ErrorID
);
// Axes Group 0 is enabled.
GRP_EN(
AxesGroup
Execute
Done
Busy
CommandAborted
Error
ErrorID
);
// Linear interpolation 1
MV_LIN1(
NY-series Motion Control Instructions Reference Manual (W561)
:= MC_Axis000,
:= Pwr1_En,
=> Pwr1_Status,
=> Pwr1_Bsy,
=> Pwr1_Err,
=> Pwr1_ErrID
:= MC_Axis001,
:= Pwr2_En,
=> Pwr2_Status,
=> Pwr2_Bsy,
=> Pwr2_Err,
=> Pwr2_ErrID
:= MC_Axis000,
:= Hm1_Ex,
=> Hm1_D,
=> Hm1_Bsy,
=> Hm1_Ca,
=> Hm1_Err,
=> Hm1_ErrID
:= MC_Axis001,
:= Hm2_Ex,
=> Hm2_D,
=> Hm2_Bsy,
=> Hm2_Ca,
=> Hm2_Err,
=> Hm2_ErrID
:= MC_Group000,
:= Grp_En_Ex,
=> Grp_En_D,
=> Grp_En_Bsy,
=> Grp_En_Ca,
=> Grp_En_Err,
=> Grp_En_ErrID
4 Axes Group Instructions
4
4-63