Omron Sysmac NY-series Instruction & Reference Manual page 466

3 Axis Command Instructions
// Change InitFlag to TRUE after setting the input parameters.
InitFlag:=TRUE;
Structured Text (ST)
 Main Variables
Name
MC_Axis000
MC_Axis000.MFaultLvl.Active
MC_Axis000.Details.Homed
Pwr_Status
Pos1
Pos2
StartPg
InitFlag
 Sample Programming
// Processing when input parameters are not set
IF InitFlag=FALSE THEN
// 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;
3-378
Data type Default
_sAXIS_REF --- This is the Axis Variable for axis 1.
BOOL FALSE TRUE while there is a minor fault level error for
axis 1.
BOOL FALSE TRUE when home is defined for axis 1.
BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
LREAL --- This variable specifies the first position of the
window.
LREAL --- This variable specifies the last position of the
window.
BOOL FALSE The Servo is turned ON if this variable is TRUE
and EtherCAT process data communications
are established.
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.
NY-series Motion Control Instructions Reference Manual (W561)
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