Omron Sysmac NY-series - Page 156

END_IF;
// After MV_ABS1 is started, MV_ABS2 is executed with multi-execution of instructio
ns.
IF Mv_Abs1_Act=TRUE THEN
Mv_Abs2_Ex:=TRUE;
END_IF;
// After MV_ABS2 is started, MV_ABS3 is executed with multi-execution of instructio
ns.
IF Mv_Abs2_Act=TRUE THEN
Mv_Abs3_Ex:=TRUE;
END_IF;
// After MV_ABS3 is started, MV_ZERO is executed with multi-execution of instructio
ns.
IF Mv_Abs3_Act=TRUE THEN
Mv_Zero_Ex:=TRUE;
END_IF;
// MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
Error => Pwr_Err,
ErrorID => Pwr_ErrID
);
// MC_Home
HM(
Axis := MC_Axis000,
Execute := Hm_Ex,
Done => Hm_D,
Busy => Hm_Bsy,
CommandAborted => Hm_Ca,
Error => Hm_Err,
ErrorID => Hm_ErrID
);
// MC_MoveAbsolute
MV_ABS1(
Axis := MC_Axis000,
Execute := Mv_Abs1_Ex,
Position := Mv_Abs1_Pos,
Velocity := Mv_Abs1_Vel,
3 Axis Command Instructions
3-68
NY-series Motion Control Instructions Reference Manual (W561)