Omron Sysmac NY-series Instruction & Reference Manual page 185

 Sample Programming
If StartPg is TRUE, check that the Servo Drive is ready.
StartPg
If the Servo Drive is ready, the Servo is turned ON.
Lock1
If a minor fault level error occurs for axis 1, the error handler for the device (FaultHandler) is executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active
When Sensor1 changes to TRUE, the MC_MoveVelocity (Velocity Control) instruction is executed.
Pwr_Status
_eMC_DIRECTION#_mcPositiveDirection
During execution of the MC_MoveVelocity (Velocity Control) instruction, the override factor is changed
according to the status of the Sensor2 and Sensor3 bits.
Vel_Act
NY-series Motion Control Instructions Reference Manual (W561)
MC_Axis000.DrvStatus.Ready
MC_Axis000
MC_Axis000
Sensor1
LREAL#1048576.0
LREAL#1048576.0
LREAL#1048576.0
Note: The contents of the inline ST are given below.
3 Axis Command Instructions
PWR
MC_Power
Axis Axis
Enable Status
Busy
Error
ErrorID
FaultHandler
EN FaultHandler
VEL
MC_MoveVelocity
Axis Axis
Execute InVelocity
Velocity Busy
Acceleration Active
Deceleration CommandAborted
Jerk Error
Direction ErrorID
Continuous
BufferMode
Lock1
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
3
Vel_InVel
Vel_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
3-97