Omron NY532-1500 Reference Manual page 664

5 Common Command Instructions
Pwr2_En:=FALSE;
END_IF;
If a minor fault level error occurs in the MC Common Error Status variable or for any of the axes,
//
the error handler for the device (FaultHandler) is executed.
//
The FaultHandler is programmed according to the device.
//
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (_MC_COM.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;
After homing is completed for axis 1, the MC_MoveVelocity instruction is executed.
//
IF Hm1_D=TRUE THEN
Vel_Ex := TRUE;
END_IF;
If WriteCamDefinition is TRUE and the MC_GenerateCamTable (Generate Cam Table)
//
instruction is not yet executed, the cam properties and cam nodes are written.
//
After the data is written, WriteCamDefinitionDone is changed to TRUE.
//
IF(WriteCamDefinition = TRUE) THEN
The cam properties are written.
//
CamProperty0.CycleTime
The cam nodes are written.
//
CamNode0[0].Curve
CamNode0[0].ConnectingVelEnable
CamNode0[0].ConnectingVel
CamNode0[0].ConnectingAccEnable
CamNode0[0].ConnectingAcc
CamNode0[1].Phase
CamNode0[1].Distance
CamNode0[1].Curve
CamNode0[1].ConnectingVelEnable
CamNode0[1].ConnectingVel
CamNode0[1].ConnectingAccEnable
CamNode0[1].ConnectingAcc
CamNode0[2].Phase
CamNode0[2].Distance
CamNode0[2].Curve
CamNode0[2].ConnectingVelEnable
CamNode0[2].ConnectingVel
CamNode0[2].ConnectingAccEnable
CamNode0[2].ConnectingAcc
CamNode0[2].PhasePitch
CamNode0[3].Phase
WriteCamDefinitionDone is changed to TRUE.
//
WriteCamDefinitionDone
END_IF;
If WriteCamDefinitionDone is TRUE and cam table creation processing is not in progress,
//
the MC_GenerateCamTable (Generate Cam Table) instruction is executed.
//
IF(WriteCamDefinitionDone = TRUE)
AND(_MC_COM.Status.GenerateCamBusy = FALSE) THEN
5-44
:= REAL#0.800;
:= _eMC_CAM_CURVE#_mcPolynomic5;
:= FALSE;
:= REAL#0.000;
:= FALSE;
:= REAL#0.000;
:= REAL#200.000;
:= REAL#-102.000;
:= _eMC_CAM_CURVE#_mcStraightLine;
:= FALSE;
:= REAL#0.000;
:= FALSE;
:= REAL#0.000;
:= REAL#360.000;
:= REAL#0.000;
:= _eMC_CAM_CURVE#_mcPolynomic5;
:= FALSE;
:= REAL#0.000;
:= FALSE;
:= REAL#0.000;
:= REAL#0.010;
:= REAL#0.000;
:= TRUE;
NY-series Motion Control Instructions Reference Manual (W561)