Omron Sysmac NY-series - Page 349

Structured Text (ST)
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Main Variables
Name Data type Default Comment
MC_Axis000 _sAXIS_REF --- Axis Variable for the master axis, axis 1.
MC_Axis000.Act.Pos LREAL --- This variable gives the actual current position of
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.
Pwr1_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR1 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
Pwr2_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR2 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
Pwr3_Status BOOL FALSE This variable is assigned to the Status output
variable from the PWR3 instance of the
MC_Power instruction. This variable changes to
TRUE when the Servo is turned ON.
StartPg BOOL FALSE The Servo is turned ON if this variable is TRUE
and EtherCA
T process data communications
are established.
Vel_InVel BOOL FALSE This variable is assigned to the InV
elocity out-
put variable from the VEL instance of the
MC_MoveVelocity instruction. It is TRUE when
the target velocity is reached.
Gearin1_Act BOOL FALSE This variable is assigned to the Active output
variable from the GEARIN1 instance of the
MC_GearIn instruction. It is TRUE during con-
trol operations for GEARIN1.
Gearout_Ex BOOL FALSE The GEAROUT instance of MC_GearOut is
executed when this variable changes to TRUE.
Vel_Ex BOOL FALSE The VEL instance of MC_MoveVelocity is exe-
cuted when this variable changes to TRUE.
Gearin1_Ex BOOL FALSE The GEARIN1 instance of MC_GearIn is exe-
cuted when this variable changes to TRUE.
Gearin2_Ex BOOL FALSE The GEARIN2 instance of MC_GearIn is exe-
cuted when this variable changes to TRUE.
InitFlag BOOL FALSE This variable indicates if it is necessary to set
the input parameters.
Input parameters are set when this variable is
F
ALSE. When setting the input parameters is
completed, this variable changes to TRUE.
3 Axis Command Instructions
3-261
NY-series Motion Control Instructions Reference Manual (W561)
MC_GearIn
3
Sample Programming