Omron Sysmac NY-series Instruction & Reference Manual page 347

If the Servo Drives are ready, the Servos are turned ON for each axis.
Lock1
Lock2
Lock3
If a minor fault level error occurs for the axis composition, the error handler for the device (FaultHandler) is
executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active
MC_Axis001.MFaultLvl.Active
MC_Axis002.MFaultLvl.Active
The MC_MoveVelocity (Velocity Control) instruction is executed after the Servo is turned ON for the master
axis (axis 1).
Pwr1_Status
_eMC_DIRECTION#_mcPositiveDirection
NY-series Motion Control Instructions Reference Manual (W561)
MC_Power
MC_Axis000 Axis
Enable
MC_Power
MC_Axis001 Axis
Enable
MC_Power
MC_Axis002 Axis
Enable
FaultHandler
EN
MC_MoveVelocity
MC_Axis000 Axis
Execute
LREAL#2000.0 Velocity
LREAL#2000.0 Acceleration
LREAL#2000.0 Deceleration
Jerk
Direction
Continuous
BufferMode
3 Axis Command Instructions
PWR1
Axis
Status
Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID
PWR2
Axis
Status
Busy Pwr2_Bsy
Error Pwr2_Err
ErrorID Pwr2_ErrID
PWR3
Axis
Status
Busy Pwr3_Bsy
Error Pwr3_Err
ErrorID Pwr3_ErrID
FaultHandler
VEL
Axis
InVelocity
Busy Vel_Bsy
Active Vel_Act
CommandAborted Vel_Ca
Error Vel_Err
ErrorID Vel_ErrID
Pwr1_Status
Pwr2_Status
3
Pwr3_Status
Vel_InVel
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