Omron Sysmac NY-series User Manual

Name Data type Default Comment
Switches ARRAY[0..3] OF
_sCAMSWITCH_REF
--- Input parameter for Switches in-
out variable.
The element numbers corre-
spond to the switch numbers.
Outputs ARRAY[0..1] OF
_sOUTPUT_REF
--- Input parameter for Outputs in-
out variable.
The element numbers corre-
spond to the track numbers.
TrackOptions ARRAY[0..1] OF
_sTRACK_REF
--- Input parameter for T
rackOptions
in-out variable.
The element numbers corre-
spond to the track numbers.
EnableMask WORD 16#0003 Input parameter for EnableMask
input variable.
T
racks 0 and 1 are enabled.
*1. You must add 0x200A:02 (Time Stamp of Synchronous Output) to the I/O entries for the EtherCAT Coupler Unit.

Sample Programming
StartPg
Lock1
MC_
Axis000.DrvStatus.Ready
If StartPg is TRUE, check that the Servo Drive for axis 1 is ready.
PWR
Error
Axi
s Axis
Enable Status
Busy
MC_Power
ErrorID
Lock1
MC_
Axis000 MC_Axis000
Pwr_Status
Pwr_Bsy
Pwr_Err
Pwr_ErrID
If the Servo Drive for axis 1 is ready, the Servo is turned ON.
FaultHandler
MC_Axis0
00.MFaultLvl.Active
FaultHandlerEN
If a minor fault level error occurs for the axis composition, the error handler for the device (FaultHandler) is
executed.
Program the FaultHandler according to the device.
HM
Axis Axis
Execute
Error
ErrorID
CommandAborted
MC_Home
Done
Busy
MC_Axis000 MC_Axis0
00
Pwr_Status
Hm_D
Hm_Bsy
Hm_Ca
Hm_Err
Hm_ErrID
If the Servo is ON for axis 1 and home is not defined, the Home instruction is executed to define home.
3 Axis Command Instructions
3-429
NY-series Motion Control Instructions Reference Manual (W561)
MC_DigitalCamSwitch
3
Sample Programming

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English