Omron Sysmac NY-series Instruction & Reference Manual page 700

5 Common Command Instructions
Lock2
If a minor fault level error occurs in the MC Common Error Status variable or for any of the axes, the error
handler for the device (FaultHandler) is executed.
The FaultHandler is programmed according to the device.
MC_Axis000.MFaultLvl.Active
MC_Axis001.MFaultLvl.Active
_MC_COM.MFaultLvl.Active
If the Servo is ON for the master axis (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 the slave axis (axis 2) and home is not defined, the Home instruction is executed to
define home.
Pwr2_Status MC_Axis001.Details.Homed
After homing is completed for the master axis (axis 1), the MC_MoveVelocity (Velocity Control) instruction is
executed.
Hm1_D
5-38
MC_Axis001
MC_Axis000
MC_Axis001
MC_Axis000
LREAL#90.0
LREAL#90.0
LREAL#90.0
LREAL#0.0
_eMC_DIRECTION#_mcPositiveDirection
PWR2
MC_Power
Axis
Enable
ErrorID
FaultHandler
EN FaultHandler
HM1
MC_Home
Axis
Execute
CommandAborted
ErrorID
HM2
MC_Home
Axis
Execute
CommandAborted
ErrorID
VEL
MC_MoveVelocity
Axis
Execute InVelocity
Velocity
Acceleration
Deceleration CommandAborted
Jerk
Direction ErrorID
Continuous
BufferMode
NY-series Motion Control Instructions Reference Manual (W561)
Pwr2_Status
Axis
Status
Busy Pwr2_Bsy
Error Pwr2_Err
Pwr2_ErrID
Hm1_D
Axis
Done
Busy Hm1_Bsy
Hm1_Ca
Error Hm1_Err
Hm1_ErrID
Hm2_D
Axis
Done
Busy Hm2_Bsy
Hm2_Ca
Error Hm2_Err
Hm2_ErrID
Vel_InVel
Axis
Busy Vel_Bsy
Active Vel_Act
Vel_Ca
Error Vel_Err
Vel_ErrID