AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En:=TRUE; // Turn ON the Servo for axis 1.
ELSE
Pwr1_En:=FALSE; // Turn OFF the Servo for axis 1.
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 2 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis001.DrvStatus.Ready=TRUE) THEN
Pwr2_En:=TRUE; // Turn ON the Servo for axis 2.
ELSE
Pwr2_En:=FALSE; // Turn OFF the Servo for axis 2.
END_IF;
// Processing for a minor fault level error
// Program the FaultHandler according to the device.
IF (MC_Axis000.MFaultLvl.Active=TRUE) OR (MC_Axis001.MFaultLvl.Active=TRUE) THEN
FaultHandler();
END_IF;
// If the Servo is ON for axis 1 and home is not defined, the Home instruction is e
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 home is defined for axis 1, MC_MoveVelocity is executed for axis 1.
IF MC_Axis000.Details.Homed=TRUE THEN
Vel_Ex:=TRUE;
END_IF;
// MC_MoveLink is executed for axis 2 if home is defined for axis 2 and the target
velocity was reached for axis 1.
IF (MC_Axis001.Details.Homed=TRUE) AND (Vel_InVel=TRUE) THEN
Mv_Link_Ex:=TRUE;
END_IF;
// The actuator is turned ON if axis 1 and axis 2 are synchronized.
IF Mv_Link_InSync=TRUE THEN
3 Axis Command Instructions
3-314
NY-series Motion Control Instructions Reference Manual (W561)
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