Ny-Series Instructions Reference Manual (W560 - Omron NY532-5400 Reference Manual

2 Instruction Descriptions
// Accept execution condition trigger.
R_TRIG_instance1(Trigger1, Operating1Set);
RS_instance1(
Set :=Operating1Set,
Reset1:=Operating1End,
Q1 =>Operating1);
// Change axis to unused axis for EtherCAT slave C.
MC_ChangeAxisUse_DevC(
Axis :=MC_Axis000,
Execute:=(Operating1 & NOT(DoneHold_DevC)),
AxisUse:=_mcUnusedAxis);
// Disable EtherCAT slave C.
EC_ChangeEnableSetting_DevC(
Execute :=(Operating1 & MC_ChangeAxisUse_DevC.Done & NOT(ExclusiveFlg)),
NodeAdr :=UINT#1,
IsEnable:=FALSE);
// Exclusive control of instructions
R_TRIG_DevC(EC_ChangeEnableSetting_DevC.Busy, ExclusiveFlgSet);
F_TRIG_DevC(EC_ChangeEnableSetting_DevC.Busy, ExclusiveFlgReset);
RS_ExFlg_DevC(
Set :=ExclusiveFlgSet,
Reset1:=ExclusiveFlgReset,
Q1 =>ExclusiveFlg);
RS_DevC(
Set :=EC_ChangeEnableSetting_DevC.Done,
Reset1:=Operating1End,
Q1 =>DoneHold_DevC);
// Change axis to unused axis for EtherCAT slave D.
MC_ChangeAxisUse_DevD(
Axis :=MC_Axis001,
Execute:=(Operating1 & DoneHold_DevC & NOT(DoneHold_DevD)),
AxisUse:=_mcUnusedAxis);
// Disable EtherCAT slave D.
EC_ChangeEnableSetting_DevD(
Execute :=(Operating1 & DoneHold_DevC & MC_ChangeAxisUse_DevD.Done &
NodeAdr :=UINT#2,
IsEnable:=FALSE);
// Exclusive control of instructions
R_TRIG_DevD(EC_ChangeEnableSetting_DevD.Busy, ExclusiveFlgSet);
F_TRIG_DevD(EC_ChangeEnableSetting_DevD.Busy, ExclusiveFlgReset);
RS_ExFlg_DevD(
Set :=ExclusiveFlgSet,
Reset1:=ExclusiveFlgReset,
Q1 =>ExclusiveFlg);
RS_DevD(
Set :=EC_ChangeEnableSetting_DevD.Done,
Reset1:=Operating1End,
Q1 =>DoneHold_DevD);
// Change axis to unused axis for EtherCAT slave E.
MC_ChangeAxisUse_DevE(
Axis :=MC_Axis002,
Execute:=(Operating1 & DoneHold_DevD & NOT(DoneHold_DevE)),
AxisUse:=_mcUnusedAxis);
// Disable EtherCAT slave E.
EC_ChangeEnableSetting_DevE(
2-938
NOT(ExclusiveFlg)),

NY-series Instructions Reference Manual (W560)