Omron Sysmac NY-series

xecuted.
IF (Pwr1_Status=TRUE) AND (MC_Axis000.Details.Homed=FALSE) THEN
Hm1_Ex:=TRUE;
END_IF;
// If the Servo is ON for axis 2 and home is not defined, the Home instruction is e
xecuted.
IF (Pwr2_Status=TRUE) AND (MC_Axis001.Details.Homed=FALSE) THEN
Hm2_Ex:=TRUE;
END_IF;
// After homing is completed for axis 1, MC_MoveVelocity is executed.
IF Hm1_D=TRUE THEN
Vel_Ex := TRUE;
END_IF;
// After homing is completed for axis 2, MC_GearInPos is executed when Vel_InVel of
MC_MoveVelocity is TRUE.
IF (MC_Axis001.Details.Homed=TRUE) AND (Vel_InVel=TRUE) THEN
Gearinpos_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,
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_Home for axis 1
HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
3 Axis Command Instructions
3-286
NY-series Motion Control Instructions Reference Manual (W561)