Omron Sysmac NY-series Instruction & Reference Manual page 349

Structured Text (ST)
 Main Variables
Name
MC_Axis000
MC_Axis000.Act.Pos
MC_Axis001
MC_Axis002
Pwr1_Status
Pwr2_Status
Pwr3_Status
StartPg
Vel_InVel
Gearin1_Act
Gearout_Ex
Vel_Ex
Gearin1_Ex
Gearin2_Ex
InitFlag
NY-series Motion Control Instructions Reference Manual (W561)
Data type Default
_sAXIS_REF --- Axis Variable for the master axis, axis 1.
LREAL --- This variable gives the actual current position of
axis 1.
_sAXIS_REF --- Axis Variable for the slave axis, axis 2.
_sAXIS_REF --- Axis Variable for the slave axis, axis 3.
BOOL FALSE This variable is assigned to the Status output
variable from the PWR1 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
BOOL FALSE This variable is assigned to the Status output
variable from the PWR2 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
BOOL FALSE This variable is assigned to the Status output
variable from the PWR3 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
BOOL FALSE The Servo is turned ON if this variable is TRUE
and EtherCAT process data communications
are established.
BOOL FALSE This variable is assigned to the InVelocity out-
put variable from the VEL instance of the
MC_MoveVelocity instruction. It is TRUE when
the target velocity is reached.
BOOL FALSE This variable is assigned to the Active output
variable from the GEARIN1 instance of the
MC_GearIn instruction. It is TRUE during con-
trol operations for GEARIN1.
BOOL FALSE The GEAROUT instance of MC_GearOut is
executed when this variable changes to TRUE.
BOOL FALSE The VEL instance of MC_MoveVelocity is exe-
cuted when this variable changes to TRUE.
BOOL FALSE The GEARIN1 instance of MC_GearIn is exe-
cuted when this variable changes to TRUE.
BOOL FALSE The GEARIN2 instance of MC_GearIn is exe-
cuted when this variable changes to TRUE.
BOOL FALSE This variable indicates if it is necessary to set
the input parameters.
Input parameters are set when this variable is
FALSE. When setting the input parameters is
completed, this variable changes to TRUE.
3 Axis Command Instructions
Comment
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