Omron Sysmac NY-series - Page 312

Camin4_So := LREAL#0.0;
Camin4_Rt := _eMC_REFERENCE_TYPE#_mcCommand;
Camin4_Dir := _eMC_DIRECTION#_mcNoDirection;
// 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 StartPg is TRUE and the Servo Drive is ready, the Servo for axis 3 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis002.DrvStatus.Ready=TRUE) THEN
Pwr3_En:=TRUE;
ELSE
Pwr3_En:=FALSE;
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 4 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis003.DrvStatus.Ready=TRUE) THEN
Pwr4_En:=TRUE;
ELSE
Pwr4_En:=FALSE;
3 Axis Command Instructions
3-224
NY-series Motion Control Instructions Reference Manual (W561)