Omron Sysmac NY-series Instruction & Reference Manual page 373

Vel_Dir :=_eMC_DIRECTION#_mcPositiveDirection;
// MC_GearInPos parameters
Pos1 := LREAL#300.0;
Pos2 := LREAL#200.0;
Gearinpos_Rn := UINT#1;
Gearinpos_Rd := UINT#2;
Gearinpos_Rt :=_eMC_REFERENCE_TYPE#_mcFeedback;
Gearinpos_Mtpos := Pos1;
Gearinpos_Svpos := Pos2;
Gearinpos_Vel := LREAL#180.0;
Gearinpos_Acc := LREAL#180.0;
Gearinpos_Dec := LREAL#180.0;
// Change InitFlag to TRUE after setting the input parameters.
InitFlag:=TRUE;
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 1 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 2 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En:=TRUE;
ELSE
Pwr2_En:=FALSE;
END_IF;
// If a minor fault level error occurs for axis 1 or axis 2, 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)THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1 and home is not defined, the Home instruction is e
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
3
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