Omron Sysmac NY-series - Page 153

BufferMode
M
V_ABS3
Deceleration
Active
Axis Axis
Execute Done
Position Busy
Acceleration
Error
Jerk
Direction
MC_MoveAbsolute
Velocity
CommandAborted
ErrorID
MC_Axis000
Mv_Abs2_Act
_eMC_DIRECTION#_mcNoDirection
_eMC_BUFFER_MODE#_mcBuffered
LREAL#200.0
LREAL#30.0
LREAL#1000.0
LREAL#1000.0
Mv_Abs3_Bsy
Mv_Abs3_Act
Mv_Abs3_C
a
Mv_Abs3_Err
Mv_Abs3_ErrID
Mv_Abs3_D
After absolute positioning 2 is started, absolute positioning 3 is started with multi-execution of instructions.
MC_Axis000
Mv_Abs3_Act
_eMC_BUFFER_MODE#_mcBuffered
LREAL#250.0
LREAL#1000.0
LREAL#1000.0
Mv_Zero_Bsy
Mv_Zero_Act
Mv_Zero_Ca
Mv_Zero_Err
Mv_Zero_ErrID
Mv_Zero_D
MV_ZERO
Jerk
Active
Axis
Axis
Execute
Done
Velocity Busy
Deceleration
Error
BufferMode
MC_MoveZeroPosition
Acceleration
CommandAborted
ErrorID
After absolute positioning 3 is started, the MC_MoveZeroPosition (High-speed Home) instruction is executed.
Structured Text (ST)

Main Variables
Name Data type Default Comment
MC_Axis000 _sAXIS_REF --- Axis Variable for axis 1.
MC_Axis000.MFaultLvl.Active BOOL FALSE TRUE while there is a minor fault level error for
axis 1.
MC_Axis000.Details.Homed BOOL FALSE TRUE when home is defined for axis 1.
Pwr_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR instance of the MC_Pow-
er instruction. This variable changes to TRUE
when the Servo is turned ON.
StartPg BOOL FALSE The Servo is turned ON if this variable is TRUE
and EtherCA
T process data communications are
established.
Hm_Ex BOOL FALSE The HM instance of MC_Home is executed
when this variable changes to TRUE.
Mv_Abs1_Ex BOOL FALSE The MV_ABS1 instance of MC_MoveAbsolute is
executed when this variable changes to TRUE.
Mv_Abs2_Ex BOOL FALSE The MV_ABS2 instance of MC_MoveAbsolute is
executed when this variable changes to TRUE.
Mv_Abs3_Ex BOOL FALSE The MV_ABS3 instance of MC_MoveAbsolute is
executed when this variable changes to TRUE.
Mv_Zero_Ex BOOL FALSE The MV_ZERO instance of MC_MoveZeroPosi-
tion is executed when this variable changes to
TRUE.
3 Axis Command Instructions
3-65
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveAbsolute
3
Sample Programming 1