Omron Sysmac NY-series - Page 465

InitFlag
Note: The contents of the inline ST are given below.
The parameters are set for the MC_MoveVelocity (Velocity C
ontrol) and MC_TouchProbe (Enable External
Latch) instructions.
MC_Axis000
Vel_InVel
BufferMode
VEL
Jer
k
Active
Axis Axis
Execute
InVelocity
Velocity
Busy
Deceleration
Error
Direction
Continuous
MC_MoveVelocity
Acceleration
CommandAborted
ErrorID
Vel_Vel
Vel_Acc
Vel_Jrk
Vel
_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_EIrrD
Vel_Dec
MC_Axis000.Details.Homed
The MC_MoveVelocity (Velocity Control) instruction is executed if home is defined for axis 1.
StopMode
T
_PROBE
FirstPosition
Axis
Axis
TriggerInput
TriggerInput
TriggerVariable TriggerVariable
WindowOnly
RecordedPosition
Error
ErrorID
CommandAborted
LastPosition
ReferenceType
MC_TouchProbe
Execute
Done
Busy
MC_Axis000
T_Probe_TrigRef
T_Probe_Trig
Var
T_Probe_Wo
T_Probe_FstPos
T_Probe_LstPos
T_Probe_D
T_Probe_Bsy
T_Probe_RecPos
T_Probe_Ca
T_Probe_Err
T_Probe_ErrID
Vel_Act
Latch processing is executed after the MC_MoveVelocity (Velocity Control) instruction is started.
Contents of Inline ST
// MC_MoveVelocity parameters
Vel_Vel := LREAL#1000.0;
Vel_Acc := LREAL#1000.0;
Vel_Dec := LREAL#1000.0;
Vel_Jrk := LREAL#1000.0;
// MC_TouchProbe parameters
T_Probe_TrigRef.Mode :=_eMC_TRIGGER_MODE#_mcDrive;
T_Probe_TrigRef.LatchID :=_eMC_TRIGGER_LATCH_ID#_mcLatch1;
T_Probe_TrigRef.InputDrive :=_eMC_TRIGGER_INPUT_DRIVE#_mcEXT;
T_Probe_TrigVar := FALSE;
T_Probe_Wo := TRUE;
T_Probe_FstPos := LREAL#1000.0;
T_Probe_LstPos := LREAL#2000.0;
3 Axis Command Instructions
3-377
NY-series Motion Control Instructions Reference Manual (W561)
MC_TouchProbe
3
Sample Programming