Omron Sysmac NY-series Instruction & Reference Manual page 625

Position := Mv_Lin2_Pos,
Velocity := Mv_Lin2_Vel,
Acceleration := Mv_Lin2_Acc,
Deceleration := Mv_Lin2_Dec,
BufferMode := Mv_Lin2_Bm,
MoveMode := Mv_Lin2_Mm,
Done => Mv_Lin2_D,
Busy => Mv_Lin2_Bsy,
Active => Mv_Lin2_Act,
CommandAborted => Mv_Lin2_Ca,
Error => Mv_Lin2_Err,
ErrorID => Mv_Lin2_ErrID
);
// Circular interpolation (4)
MV_CIRC2(
AxesGroup := MC_Group000,
Execute := Mv_Circ2_Ex,
CircAxes := Mv_Circ2_CircAxes,
CircMode := Mv_Circ2_CircMode,
AuxPoint := Mv_Circ2_AuxPoint,
EndPoint := Mv_Circ2_EndPoint,
PathChoice := Mv_Circ2_Pc,
Velocity := Mv_Circ2_Vel,
Acceleration := Mv_Circ2_Acc,
Deceleration := Mv_Circ2_Dec,
BufferMode := Mv_Circ2_Bm,
MoveMode := Mv_Circ2_Mm,
Done => Mv_Circ2_D,
Busy => Mv_Circ2_Bsy,
Active => Mv_Circ2_Act,
CommandAborted => Mv_Circ2_Ca,
Error => Mv_Circ2_Err,
ErrorID => Mv_Circ2_ErrID
);
NY-series Motion Control Instructions Reference Manual (W561)
4 Axes Group Instructions
4
4-73