Omron Sysmac NY-series - Page 297

Camin_EM := TRUE; // Periodic Mode
Camin_StMode :=_eMC_START_MODE#_mcRelativePosition;
Camin_StPos := LREAL#20.0; // Master axis absolute position for start point
Camin_MStDis := LREAL#40.0; // Master axis position to start cam operation
Camin_MSc := LREAL#1.0; // Master axis scaling
Camin_SSc := LREAL#1.0; // Slave axis scaling
Camin_MO := LREAL#0.0; // Master offset
Camin_SO := LREAL#0.0; // Slave offset
Camin_RT := _eMC_REFERENCE_TYPE#_mcCommand;// Position type selection
Camin_Dir := _eMC_DIRECTION#_mcNoDirection;// Direction
// MC_MoveVelocity parameters
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#100000.0;
Vel_Dec := LREAL#100000.0;
Vel_Dir :=_eMC_DIRECTION#_mcPositiveDirection;
// MC_CamOut parameters
Camout_Dec := DecRate2;
// Change InitFlag to TRUE after setting the input parameters.
InitFlag := TRUE;
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 1 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En:=TRUE;
ELSE
Pwr1_En:=FALSE;
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 2 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En:=TRUE;
ELSE
Pwr2_En:=FALSE;
END_IF;
// If a minor fault level error occurs for axis 1 or axis 2, the error handler for
the device is executed.
3 Axis Command Instructions
3-209
NY-series Motion Control Instructions Reference Manual (W561)
MC_CamIn
3
Sample Programming 1