xecuted for axis 1.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex:=TRUE;
END_IF;
// If the Servo is ON for axis 2 and home is not defined, the Home instruction is e
xecuted for axis 2.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
// After home is defined for axis 1, MC_MoveFeed is executed.
IF MC_Axis000.Details.Homed=TRUE THEN
Mv_Feed_Ex:=TRUE;
END_IF;
// If home is defined for axis 2 and interrupt feeding is completed for axis 1, abs
olute positioning is performed for axis 2.
IF (MC_Axis001.Details.Homed=TRUE) AND (Mv_Feed_D=TRUE) THEN
Mv_Abs_Ex := TRUE;
END_IF;
// After MC_MoveAbsolute is started, MC_MoveZeroPosition is executed with multi-exe
cution of instructions.
IF Mv_Abs_Act=TRUE THEN
Mv_Zero_Ex := TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);
// MC_Power for axis 2
PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);
3 Axis Command Instructions
3-137
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveFeed
3
Sample Programming
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