Omron Sysmac NY-series - Page 309

MasterScaling
Sla
veScaling
MasterOffset
SlaveOffset
ReferenceType
CAMIN4
StartMode
InCam
Master Master
Slave
Slave
CamTable CamTable
Periodic
EndOfProfile
CommandAborted
Error
Active
StartPosition
Busy
MasterStartDistance
MC_CamIn
Execute
InSync
Index
Direction
BufferMode
CamTransition
ErrorID
MC_Axis000
MC_Axis004
CamProfile0
Vel
_InVel MC_Axis004.Details.Homed
_eMC_DIRECTION#_mcNoDirection
_eMC_REFERENCE_TYPE#_mcCommand
_eMC_START_MODE#_mcAbsolutePosition
BOOL#FALSE
LREAL#0.0
LREAL#0.0
LREAL#1.0
LREAL#1.0
LREAL#180.0
LREAL#0.0
Camin4_InCam
Camin4_Bsy
Camin4_Act
Camin4_Ca
Camin4_Err
Camin4_ErrID
Camin4_InSync
Camin4_Eop
Camin4_Index
The MC_CamIn (Start Cam Operation) instruction is executed for axis 5 (slave axis) if Vel_InVel is TRUE for
the MC_MoveVelocity (Velocity Control) instruction and homing is completed for axis 5.
Structured Text (ST)

Main Variables
Name Data type Default Comment
MC_Axis000 _sAXIS_REF --- Axis Variable for the master axis, axis 1.
MC_Axis001 _sAXIS_REF --- Axis Variable for the slave axis, axis 2.
MC_Axis002 _sAXIS_REF --- Axis Variable for the slave axis, axis 3.
MC_Axis003 _sAXIS_REF --- Axis Variable for the slave axis, axis 4.
MC_Axis004 _sAXIS_REF --- Axis Variable for the slave axis, axis 5.
StartPg BOOL FALSE The Servo is turned ON if this variable is TRUE and
EtherCA
T process data communications are establish-
ed.
Vel_InVel BOOL FALSE This variable is assigned to the InV
elocity output varia-
ble from the VEL instance of the MC_MoveVelocity in-
struction. It is TRUE when the target velocity is
reached.
CamProfile0 ARRAY[0..360] OF
_sMC_CAM_REF
--- This is the cam data variable. This variable is as-
signed to the CamT
able input variables from the CA-
MIN1 to CAMIN4 instances of the MC_CamIn instruc-
tion.
The array elements ARRAY[0..N] are set with the Cam
Editor.
Camin1_Ex BOOL FALSE The CAMIN1 to CAMIN4 instances of MC_CamIn are
executed when this variable changes to TRUE.
Camin2_Ex BOOL FALSE
Camin3_Ex BOOL FALSE
Camin4_Ex BOOL FALSE
3 Axis Command Instructions
3-221
NY-series Motion Control Instructions Reference Manual (W561)
MC_CamIn
3
Sample Programming 2