Omron Sysmac NY-series Instruction & Reference Manual page 153

After absolute positioning 2 is started, absolute positioning 3 is started with multi-execution of instructions.
Mv_Abs2_Act
After absolute positioning 3 is started, the MC_MoveZeroPosition (High-speed Home) instruction is executed.
Mv_Abs3_Act
Structured Text (ST)
 Main Variables
Name
MC_Axis000
MC_Axis000.MFaultLvl.Active
MC_Axis000.Details.Homed
Pwr_Status
StartPg
Hm_Ex
Mv_Abs1_Ex
Mv_Abs2_Ex
Mv_Abs3_Ex
Mv_Zero_Ex
NY-series Motion Control Instructions Reference Manual (W561)
MC_Axis000
LREAL#200.0
LREAL#30.0
LREAL#1000.0
LREAL#1000.0
_eMC_DIRECTION#_mcNoDirection
_eMC_BUFFER_MODE#_mcBuffered
MC_Axis000
LREAL#250.0
LREAL#1000.0
LREAL#1000.0
_eMC_BUFFER_MODE#_mcBuffered
Data type
_sAXIS_REF
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
3 Axis Command Instructions
MV_ABS3
MC_MoveAbsolute
Axis
Execute
Position
Velocity Active
Acceleration CommandAborted
Deceleration
Jerk ErrorID
Direction
BufferMode
MV_ZERO
MC_MoveZeroPosition
Axis
Execute
Velocity
Acceleration Active
Deceleration CommandAborted
Jerk
BufferMode ErrorID
Default
--- Axis Variable for axis 1.
FALSE TRUE while there is a minor fault level error for
axis 1.
FALSE TRUE when home is defined for axis 1.
FALSE This variable is assigned to the Status output
variable from the PWR instance of the MC_Pow-
er instruction. This variable changes to TRUE
when the Servo is turned ON.
FALSE The Servo is turned ON if this variable is TRUE
and EtherCAT process data communications are
established.
FALSE The HM instance of MC_Home is executed
when this variable changes to TRUE.
FALSE The MV_ABS1 instance of MC_MoveAbsolute is
executed when this variable changes to TRUE.
FALSE The MV_ABS2 instance of MC_MoveAbsolute is
executed when this variable changes to TRUE.
FALSE The MV_ABS3 instance of MC_MoveAbsolute is
executed when this variable changes to TRUE.
FALSE The MV_ZERO instance of MC_MoveZeroPosi-
tion is executed when this variable changes to
TRUE.
Mv_Abs3_D
Axis
Done
Busy Mv_Abs3_Bsy
Mv_Abs3_Act
Mv_Abs3_Ca
Error Mv_Abs3_Err
Mv_Abs3_ErrID
Mv_Zero_D
Axis
Done
Busy Mv_Zero_Bsy
Mv_Zero_Act
Mv_Zero_Ca
Error Mv_Zero_Err
Mv_Zero_ErrID
Comment
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