IF MC_Axis001.Act.Pos>LREAL#1000.0 THEN
Camout_Ex := TRUE;
END_IF;
Structured Text (ST)
Main Variables
Name Data type Default Comment
MC_Axis000 _sAXIS_REF --- Axis Variable for the master axis, 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.
MC_Axis001 _sAXIS_REF --- Axis Variable for the slave axis, axis 2.
MC_Axis001.MFaultLvl.Active BOOL FALSE TRUE while there is a minor fault level
error for axis 2.
MC_Axis001.Details.Homed BOOL FALSE TRUE when home is defined for axis 2.
Pwr1_S BOOL FALSE This variable is assigned to the Status
output variable from the PWR1 instance
of the MC_Power instruction. This varia-
ble changes to TRUE when the Servo is
turned ON.
Pwr2_S BOOL FALSE This variable is assigned to the Status
output variable from the PWR2 instance
of the MC_Power instruction. This varia-
ble changes to TRUE when the Servo is
turned ON.
CamProfile0 ARRAY[0..360] OF
_sMC_CAM_REF
--- This is the cam data variable.
The array elements ARRA
Y[0..N] are set
with the Cam Editor. In this sample, 0 to
360 are used, but the number of array
elements depends on the settings that
you make with the Cam Editor.
DecRate2 LREAL 10000.0 This variable sets the deceleration rate
for execution of MC_CamOut.
Vel_InVel BOOL FALSE This variable is assigned to the
InV
elocity output variable from the VEL
instance of the MC_MoveVelocity in-
struction. It is TRUE when the target ve-
locity is reached.
Camin_InCam0 BOOL FALSE This variable is assigned to the InCam
output variable from the CAMIN instance
of the MC_CamIn instruction. It is TRUE
during cam operation.
Camout_Ex BOOL FALSE The CAMOUT instance of MC_CamOut
is executed while this variable is TRUE.
StartPg BOOL FALSE The Servo is turned ON if this variable is
TRUE and EtherCA
T process data com-
munications are established.
3 Axis Command Instructions
3-207
NY-series Motion Control Instructions Reference Manual (W561)
MC_CamIn
3
Sample Programming 1
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