Omron Sysmac NY-series Instruction & Reference Manual page 465

The parameters are set for the MC_MoveVelocity (Velocity Control) and MC_TouchProbe (Enable External
Latch) instructions.
InitFlag
The MC_MoveVelocity (Velocity Control) instruction is executed if home is defined for axis 1.
MC_Axis000.Details.Homed
Latch processing is executed after the MC_MoveVelocity (Velocity Control) instruction is started.
Vel_Act
Contents of Inline ST
// MC_MoveVelocity parameters
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#1000.0;
Vel_Dec := LREAL#1000.0;
Vel_Jrk := LREAL#1000.0;
// MC_TouchProbe parameters
T_Probe_TrigRef.Mode :=_eMC_TRIGGER_MODE#_mcDrive;
T_Probe_TrigRef.LatchID :=_eMC_TRIGGER_LATCH_ID#_mcLatch1;
T_Probe_TrigRef.InputDrive :=_eMC_TRIGGER_INPUT_DRIVE#_mcEXT;
T_Probe_TrigVar := FALSE;
T_Probe_Wo := TRUE;
T_Probe_FstPos := LREAL#1000.0;
T_Probe_LstPos := LREAL#2000.0;
NY-series Motion Control Instructions Reference Manual (W561)
Note: The contents of the inline ST are given below.
MC_Axis000 Axis
Execute
Vel_Vel Velocity
Vel_Acc Acceleration
Vel_Dec Deceleration
Vel_Jrk Jerk
Direction
Continuous
BufferMode
MC_Axis000 Axis
T_Probe_TrigRef TriggerInput
T_Probe_TrigVar TriggerVariable
Execute
T_Probe_Wo WindowOnly
T_Probe_FstPos FirstPosition
T_Probe_LstPos LastPosition
ReferenceType
StopMode
3 Axis Command Instructions
VEL
MC_MoveVelocity
Axis
InVelocity
Busy Vel_Bsy
Active Vel_Act
CommandAborted Vel_Ca
Error Vel_Err
ErrorID Vel_EIrrD
T_PROBE
MC_TouchProbe
Axis
TriggerInput
TriggerVariable
Done
Busy T_Probe_Bsy
RecordedPosition T_Probe_RecPos
CommandAborted T_Probe_Ca
Error T_Probe_Err
ErrorID T_Probe_ErrID
Vel_InVel
3
T_Probe_D
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