Omron Sysmac NY-series Instruction & Reference Manual page 518

3 Axis Command Instructions
The parameters are set for the MC_MoveVelocity (Velocity Control) instruction and for the Switches variables
for the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction.
InitFlag
The MC_MoveVelocity (Velocity Control) instruction is executed if home is defined for axis 1.
MC_Axis000.Details.Homed
After the MC_MoveVelocity (Velocity Control) instruction is executed for axis 1, the MC_DigitalCamSwitch
(Enable Digital Cam Switch) instruction is executed for axis 2.
Vel.Act
After the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction for axis 2 starts operating, the
NX_AryDOutTimeStamp (Write Digital Output Array with Specified Time Stamps) instruction is executed.
InOperation
E001_Time_Stamp_of_Synchronous_Output
N3_Output_Bit_00_Time_Stamp
InOperation
E001_Time_Stamp_of_Synchronous_Output
N3_Output_Bit_01_Time_Stamp
3-430
Note: The contents of the inline ST are given below.
MC_Axis000 Axis
Hm_D
Execute
Vel_Vel Velocity
Vel_Acc Acceleration
Vel_Dec Deceleration
Vel_Jrk Jerk
Direction
Continuous
BufferMode
instMC_DigitalCamSwitch
MC_Axis001 Axis
Switches Switches
Outputs Outputs
TrackOptions TrackOptions
Enable
EnableMask EnableMask
ValueSource
inst_NX_AryDOutTimeStamp1
NX_AryDOutTimeStamp
Enable
Outputs[0] SetDOut
SyncOutTime
N3_Output_Bit_00 DOut
TimeStamp
inst_NX_AryDOutTimeStamp2
NX_AryDOutTimeStamp
Enable
Outputs[1] SetDOut
SyncOutTime
N3_Output_Bit_01 DOut
TimeStamp
NY-series Motion Control Instructions Reference Manual (W561)
VEL
MC_MoveVelocity
Axis
InVelocity
Busy
Active
CommandAborted
Error
ErrorID
MC_DigitalCamSwitch
Axis MC_Axis001
Switches Switches
Outputs Outputs
TrackOptions TrackOptions
InOperation
Busy DCS_Busy
Error DCS_Error
ErrorID DCS_ErrID
ENO
SetDOut Outputs[0]
DOut N3_Output_Bit_00
TimeStamp N3_Output_Bit_00_Time_Stamp
ENO
SetDOut Outputs[1]
DOut N3_Output_Bit_01
TimeStamp N3_Output_Bit_01_Time_Stamp
Vel_InVel
MC_Axis000
Vel_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
InOperation