Omron Sysmac NY-series - Page 353

ErrorID => Pwr1_ErrID
);
// MC_Power for axis 2
PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);
// MC_Power for axis 3
PWR3(
Axis := MC_Axis002,
Enable := Pwr3_En,
Status => Pwr3_Status,
Busy => Pwr3_Bsy,
Error => Pwr3_Err,
ErrorID => Pwr3_ErrID
);
// MC_MoveVelocity
VEL(
Axis := MC_Axis000,
Execute := Vel_Ex,
Velocity := Vel_Vel,
Acceleration := Vel_Acc,
Deceleration := Vel_Dec,
Direction := Vel_Dir,
InVelocity => Vel_InVel,
Busy => Vel_Bsy,
Active => Vel_Act,
CommandAborted => Vel_Ca,
Error => Vel_Err,
ErrorID => Vel_ErrID
);
// MC_GearIn with axis 1 as master axis and axis 2 as slave axis
GEARIN1(
Master := MC_Axis000,
Slave := MC_Axis001,
Execute := Gearin1_Ex,
RatioNumerator := Gearin1_Rn,
RatioDenominator := Gearin1_Rd,
ReferenceType := Gearin1_Rt,
3 Axis Command Instructions
3-265
NY-series Motion Control Instructions Reference Manual (W561)
MC_GearIn
3
Sample Programming