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Omron Sysmac NY-series User Manual

Omron Sysmac NY-series
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// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE)
OR (MC_Axis001.MFaultLvl.Active=TRUE)THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1 and home is not defined, the Home instruction is e
xecuted for axis 1.
IF (Pwr1_S=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_S=TRUE)
AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
// After homing is completed for axis 1, MC_MoveVelocity is executed.
IF Hm1_D=TRUE THEN
Vel_Ex := TRUE;
END_IF;
// CamIn is executed when InVel of MC_MoveVelocity is TRUE.
IF Vel_InVel=TRUE THEN
Camin_Ex := TRUE;
END_IF;
// CamOut is executed when Camin_InCam0 is TRUE and MC_Axis001.Act.Pos is greater t
han 1000.
IF (Camin_InCam0=TRUE)
AND (MC_Axis001.Act.Pos>LREAL#1000.0) THEN
Camout_Ex := TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_S,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);
3 Axis Command Instructions
3-210
NY-series Motion Control Instructions Reference Manual (W561)

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Omron Sysmac NY-series Specifications

General IconGeneral
BrandOmron
ModelSysmac NY-series
CategoryControl Unit
LanguageEnglish

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