Omron Sysmac NY-series - Page 401


Timing Chart
Mv_Link_Bsy
Mv_Link_InSync
MC_Axi
s001.DrvStatus.Latch1
Mv_Link_D
Mv_Link_Ex
MC_Axis000.Cmd.Vel
MC_Axis001.Cmd.Vel
Master axis
Slave axis
Velocity
Time
Velocity
Time

Sample Programming
// Processing when input parameters are not set
IF InitFlag=FALSE THEN
// MC_MoveVelocity parameters
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#0.0;
Vel_Dec := LREAL#0.0;
// MC_MoveLink parameters
Mv_Link_TrigRef.Mode :=_eMC_TRIGGER_MODE#_mcDrive;
Mv_Link_TrigRef.LatchID :=_eMC_TRIGGER_LATCH_ID#_mcLatch1;
Mv_Link_TrigRef.InputDrive :=_eMC_TRIGGER_INPUT_DRIVE#_mcEXT;
Mv_Link_TrigVar := FALSE;
Mv_Link_SlvDis := LREAL#1000.0;
Mv_Link_MasDis := LREAL#1000.0;
Mv_Link_MasDisInAcc := LREAL#100.0;
Mv_Link_MasDisInDec := LREAL#100.0;
Mv_Link_LnkOpt :=_eMC_LINKOPTION#_mcTriggerDetection;
// 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)
3 Axis Command Instructions
3-313
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveLink
3
Sample Programming