Omron Sysmac NY-series Instruction & Reference Manual page 314

3 Axis Command Instructions
// If the Servo is ON for axis 5 and home is not defined, the Home instruction is e
xecuted for axis 5.
IF (Pwr5_Status=TRUE) AND (MC_Axis004.Details.Homed=FALSE) THEN
Hm5_Ex:=TRUE;
END_IF;
// After homing is completed for axis 1, MC_MoveVelocity is executed.
IF Hm1_D=TRUE THEN
Vel_Ex:=TRUE;
END_IF;
// If home is defined for axis 2 and Vel_InVel of MC_MoveVelocity is TRUE, the MC_C
amIn instruction for axis 2 (slave axis) is executed.
IF (Vel_InVel=TRUE) AND (MC_Axis001.Details.Homed=TRUE) THEN
Camin1_Ex := TRUE;
END_IF;
// If home is defined for axis 3 and Vel_InVel of MC_MoveVelocity is TRUE, the MC_C
amIn instruction for axis 3 (slave axis) is executed.
IF (Vel_InVel=TRUE) AND (MC_Axis002.Details.Homed=TRUE) THEN
Camin2_Ex := TRUE;
END_IF;
// If home is defined for axis 4 and Vel_InVel of MC_MoveVelocity is TRUE, the MC_C
amIn instruction for axis 4 (slave axis) is executed.
IF (Vel_InVel=TRUE) AND (MC_Axis003.Details.Homed=TRUE) THEN
Camin3_Ex := TRUE;
END_IF;
// If home is defined for axis 5 and Vel_InVel of MC_MoveVelocity is TRUE, the MC_C
amIn instruction for axis 5 (slave axis) is executed.
IF (Vel_InVel=TRUE) AND (MC_Axis004.Details.Homed=TRUE) THEN
Camin4_Ex := TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);
// MC_Power for axis 2
PWR2(
3-226
NY-series Motion Control Instructions Reference Manual (W561)