BufferMode
M
V_ABS4
Deceleration
Active
Axis Axis
Execute Done
Position Busy
Acceleration
Error
Jerk
Direction
MC_MoveAbsolute
Velocity
CommandAborted
ErrorID
MC_Axis000
Mv_Abs3_Act
_eMC_DIRECTION#_mcShortestWay
_eMC_BUFFER_MODE#_mcBuffered
LREAL#0.0
LREAL#250.0
LREAL#1000.0
LREAL#1000.0
Mv_Abs4_Bsy
Mv_Abs4_Act
Mv_Abs4_C
a
Mv_Abs4_Err
Mv_Abs4_ErrID
Mv_Abs4_D
Absolute positioning 4 is executed with multi-execution of instructions to move from 120.0° to 0.0°.
The shortest way is used for the motion direction.
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_Abs4_Ex BOOL FALSE The MV_ABS4 instance of MC_MoveAbsolute is
executed when this variable changes to TRUE.
InitFlag BOOL FALSE This variable indicates if it is necessary to set
the input parameters.
Input parameters are set when this variable is
F
ALSE. When setting the input parameters is
completed, this variable changes to TRUE.
3 Axis Command Instructions
3-74
NY-series Motion Control Instructions Reference Manual (W561)
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