Omron Sysmac NY-series Instruction & Reference Manual page 375

Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);
// MC_Home for axis 2
HM2(
Axis := MC_Axis001,
Execute := Hm2_Ex,
Done => Hm2_D,
Busy => Hm2_Bsy,
CommandAborted => Hm2_Ca,
Error => Hm2_Err,
ErrorID => Hm2_ErrID
);
//MC_MoveVelocity
VEL(
Axis := MC_Axis000,
Execute := Vel_Ex,
Velocity := Vel_Vel,
Acceleration := Vel_Acc,
Deceleration := Vel_Dec,
Direction := Vel_Dir,
InVelocity => Vel_InVel,
Busy => Vel_Bsy,
Active => Vel_Act,
CommandAborted => Vel_Ca,
Error => Vel_Err,
ErrorID => Vel_ErrID
);
//MC_GearInPos
GEARINPOS(
Master := MC_Axis000,
Slave := MC_Axis001,
Execute := Gearinpos_Ex,
RatioNumerator := Gearinpos_Rn,
RatioDenominator := Gearinpos_Rd,
ReferenceType := Gearinpos_Rt,
MasterSyncPosition := Gearinpos_Mtpos,
SlaveSyncPosition := Gearinpos_Svpos,
Velocity := Gearinpos_Vel,
Acceleration := Gearinpos_Acc,
Deceleration := Gearinpos_Dec,
StartSync => Gearinpos_StSync,
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
3
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