Omron Sysmac NY-series Instruction & Reference Manual page 579

If the Servo is ON for axis 1 and home is not defined, the Home instruction is executed to define home.
Pwr1_Status MC_Axis000.Details.Homed
If the Servo is ON for axis 2 and home is not defined, the Home instruction is executed to define home.
Pwr2_Status MC_Axis001.Details.Homed
After home is defined for axis 1 and axis 2, the axes group is enabled.
Hm1_D Hm2_D MC_Group000.Status.Disabled MC_Group000
The parameters are set for linear interpolation.
InitFlag
NY-series Motion Control Instructions Reference Manual (W561)
HM1
MC_Home
MC_Axis000 Axis
Execute
HM2
MC_Home
MC_Axis001 Axis
Execute
GRP_EN
MC_GroupEnable
AxesGroup
Execute
CommandAborted
Note: The contents of the inline
ST are given below.
4 Axes Group Instructions
Hm1_D
Axis
Done
Busy Hm1_Bsy
CommandAborted Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID
Hm2_D
Axis
Done
Busy Hm2_Bsy
CommandAborted Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID
Grp_En_D
AxesGroup
Done
Busy Grp_En_Bsy
Grp_En_Ca
Error Grp_En_Err
ErrorID Grp_En_ErrID
4
4-27