Omron Sysmac NY-series Instruction & Reference Manual page 313

END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 5 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis004.DrvStatus.Ready=TRUE) THEN
Pwr5_En:=TRUE;
ELSE
Pwr5_En:=FALSE;
END_IF;
// If a minor fault level error occurs for axis 1 to axis 5, the error handler for
the device (FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (MC_Axis002.MFaultLvl.Active=TRUE)
OR (MC_Axis003.MFaultLvl.Active=TRUE)
OR (MC_Axis004.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1 and home is not defined, the Home instruction is e
xecuted for axis 1.
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 e
xecuted for axis 2.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
// If the Servo is ON for axis 3 and home is not defined, the Home instruction is e
xecuted for axis 3.
IF (Pwr3_Status=TRUE) AND (MC_Axis002.Details.Homed=FALSE) THEN
Hm3_Ex:=TRUE;
END_IF;
// If the Servo is ON for axis 4 and home is not defined, the Home instruction is e
xecuted for axis 4.
IF (Pwr4_Status=TRUE) AND (MC_Axis003.Details.Homed=FALSE) THEN
Hm4_Ex:=TRUE;
END_IF;
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
3
3-225