Omron NX701-1 User Manual page 373

If the Servo is ON for axis 1 and home is not defined, the MC_Home instruction is executed.
Pwr1_Status MC_Axis001.Details.Homed
If homing is completed for axis 0, velocity control is executed.
Hm1_D
_eMC_DIRECTION#_mcPositiveDirection
When axis 0 reaches the target velocity, cam operation is executed.
Vel_InVel MC_Axis001.Details.Homed
_eMC_START_MODE#_mcRelativePosition
_eMC_REFERENCE_TYPE#_mcCommand
_eMC_DIRECTION#_mcNoDirection
If StartOn is TRUE and cam motion is in sync, shifting the phase of the master axis is started.
StartOn Camin_InSync
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
MC_Axis001
MC_Axis000
Axis
Execute
LREAL#1000.0 Velocity
LREAL#100000.0 Acceleration
LREAL#100000.0 Deceleration
Jerk
Direction
Continuous
BufferMode
MC_Axis000 Master
MC_Axis001 Slave
CamProfile0 CamTable
Execute
BOOL#True Periodic
StartMode
LREAL#20.0 StartPosition
LREAL#40.0 MasterStartDistance
LREAL#1.0 MasterScaling
LREAL#1.0 SlaveScaling
LREAL#0.0 MasterOffset
LREAL#0.0 SlaveOffset
ReferenceType
Direction
CamTransition
BufferMode
MC_Axis000 Master
MC_Axis001 Slave
Execute
LREAL#500.0 PhaseShift
LREAL#1000.0 Velocity
LREAL#0.0 Acceleration
LREAL#0.0 Deceleration
Jerk
BufferMode
10 Sample Programming
HM2
MC_Home
Axis Axis
Execute Done
Busy
CommandAborted
Error
ErrorID
VEL
MC_MoveVelocity
Axis
InVelocity
Busy
Active
CommandAborted
Error
ErrorID
CAMIN
MC_CamIn
CamTable
EndOfProfile
CommandAborted
PHASING
MC_Phasing
Master
Slave
Done
Busy Phasing_Bsy
Active Phasing_Act
CommandAborted Phasing_Ca
Error Phasing_Err
ErrorID Phasing_ErrID
Hm2_D
Hm2_Bsy
Hm2_Ca
Hm2_Err
Hm2_ErrID
Vel_InVel
Vel_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
Master
Slave
CamIn_InCam
InCam
InSync CamIn_InSync
CamIn_Eop
Index CamIn_Index
Busy CamIn_Bsy
Active CamIn_Act
CamIn_Ca
Error CamIn_Err
ErrorID CamIn_ErrID
Phasing_D
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