Omron Sysmac NY-series - Page 372


Timing Chart
Pwr1_Status
Pwr2_Status
Hm1_D
Hm1_Ex
Hm1_Bsy
Hm2_Bsy
Hm2_Ex
Hm2_D
Vel_Act
Gearinpos_Ex
Gearinpos_StSync
Gearinpos_InSync
Gearinpos_Bsy
Gearinpos_Act
Vel_Ex
Vel_InVel
Vel_Bsy
Command position
Actual position
Command velocity
Command position
Command velocity
Actual velocity
Axis 1
Axis 2

Sample Programming
// Processing when input parameters are not set
IF InitFlag = FALSE THEN
// MC_MoveVelocity parameters
Vel_Vel := LREAL#90.0;
Vel_Acc := LREAL#90.0;
Vel_Dec := LREAL#90.0;
3 Axis Command Instructions
3-284
NY-series Motion Control Instructions Reference Manual (W561)