Omron Sysmac NY-series - Page 532

IF Index >= UINT#2 THEN
Finish := BOOL#TRUE;
Index := UINT#0;
END_IF;
Contents of Inline ST 4
//First comparison: Workpiece 1=Position[0] and workpiece 2=Position[1]
//Second comparison: Workpiece 2=Position[1] and workpiece 3=Position[0]
//Third comparison: Workpiece 3=Position[0] and workpiece 4=Position[1]
FirstPoint := (Index+UINT#1) MOD UINT#2;
LastPoint :=Index;
DiffCount := Count[1] - Count[0];
Distance := (ABS(DiffCount) -LINT#1)* 360.0 +
(360.0 + Position[FirstPoint] - Position[LastPoint]);
Structured Text (ST)

Main Variables
Name Data type Default Comment
MC_Axis000 _sAXIS_REF --- Axis Variable for axis 1.
MC_Axis001 _sAXIS_REF --- Axis Variable for axis 2.
N3_Input_Bit_00 BOOL --- Device variable
N3_Input_Bit_00_Time_Stamp ULINT --- Device variable
Hm_Ex BOOL FALSE The HM instance of MC_Home is
executed when this variable
changes to TRUE.
Vel_Ex BOOL FALSE The VEL instance of MC_Move-
V
elocity is executed when this
variable changes to TRUE.
PreN3InputBit00 BOOL --- The previous value of the N3_In-
put_Bit_00 device variable.
Position ARRAY[0..1] OF
LREAL
--- Stores the calculated positions.
Count ARRAY[0..1] OF
ULINT
--- Stores the number of rotations.
FirstPoint UINT --- A variable that is used for proc-
essing.
LastPoint UINT --- A variable that is used for proc-
essing.
Distance LREAL --- The distance between workpie-
ces.

Sample Programming
//Processing when input parameters are not set
IF InitFlag=FALSE THEN
3 Axis Command Instructions
3-444
NY-series Motion Control Instructions Reference Manual (W561)