Omron NY532-1500 Reference Manual page 663

Timing Charts
WriteCamDefinitionDone
_MC_COM.Status.GenerateCamBusy
Command current position for master axis (axis 1)
Command current position for slave axis (axis 2)
Sample Programming
If StartPg is TRUE, EtherCAT communications are checked for normal communications. If it is nor-
//
mal, the Servo for axis 1 is turned ON.
If EtherCAT communications are not normal, the Servo is turned OFF.
//
IF (StartPg=TRUE)
AND (_EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]=TRUE)
AND (_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]=FALSE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;
If StartPg is TRUE, EtherCAT communications are checked for normal communications. If it is nor-
//
mal, 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
NY-series Motion Control Instructions Reference Manual (W561)
WriteCamDefinition
Gene_Exe
Gene_D
Gene_EPI
Gene_Bsy
Gene_Ca
Gene_Err
CamIn_Exe
CamIn_InCam
CamIn_Bsy
CamIn_Act
CamIn_Ca
CamIn_Err
5 Common Command Instructions
0 36000
5-43
5