Omron Sysmac NY-series User Manual

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 a minor fault level error occurs for axis 1 to axis 3, the error handler for
the device (FaultHandler) is executed.
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) OR (MC_Axis001.MFaultLvl.Active=TRUE)
OR (MC_Axis002.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1, the MC_MoveVelocity instruction is executed.
IF Pwr1_Status=TRUE THEN
Vel_Ex := TRUE;
END_IF;
// If InVelocity of MC_MoveVelocity is TRUE and the Servo for axis 2 is ON, MC_Gear
In is executed with axis 1 as the master axis and axis 2 as the slave axis.
IF (Vel_InVel=TRUE) AND (Pwr2_Status=TRUE) THEN
Gearin1_Ex := TRUE;
END_IF;
// If InVelocity of MC_MoveVelocity is TRUE and the Servo for axis 3 is ON, MC_Gear
In is executed with axis 1 as the master axis and axis 3 as the slave axis.
IF (Vel_InVel=TRUE) AND (Pwr3_Status=TRUE) THEN
Gearin2_Ex := TRUE;
END_IF;
// If the actual position of axis 1 is 1000.0 or higher during gear operation for a
xis 2, the GearOut instruction for axis 2 (slave axis) is executed.
IF (Gearin1_Act=TRUE) AND (MC_Axis000.Act.Pos>=LREAL#1000.0) THEN
Gearout_Ex := TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
3 Axis Command Instructions
3-264
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English