Omron Sysmac NY-series - Page 351

Vel_Dec := LREAL#2000.0;
Vel_Dir :=_eMC_DIRECTION#_mcPositiveDirection;
// MC_GearIn1 parameters
Gearin1_Rn := UINT#1;
Gearin1_Rd := UINT#2;
Gearin1_Rt :=_eMC_REFERENCE_TYPE#_mcFeedback;
Gearin1_Acc := LREAL#4000.0;
Gearin1_Dec := LREAL#4000.0;
// MC_GearIn2 parameters
Gearin2_Rn := UINT#2;
Gearin2_Rd := UINT#3;
Gearin2_Rt :=_eMC_REFERENCE_TYPE#_mcFeedback;
Gearin2_Acc := LREAL#4000.0;
Gearin2_Dec := LREAL#4000.0;
// MC_GearOut parameters
DecRate := LREAL#200.0;
Gearout_Dec := DecRate;
// 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
3 Axis Command Instructions
3-263
NY-series Motion Control Instructions Reference Manual (W561)
MC_GearIn
3
Sample Programming