instMC_TimeStampToPos(
Axis := MC_Axis001,
Enable := Vel_Ex,
TimeStamp := TimeStamp,
Enabled => inst_Enabled,
Busy => TSTP_Busy,
CalcPosition => CalcPosition,
Error => TSTP_Error,
ErrorID => TSTP_ErrorID );
//CalcPosition (calculated position) is obtained when the sensor output turns ON.
//(The position is saved alternately in Position[0] and Position[1].
IF inst_Enabled THEN
IF PreN3InputBit00=FALSE AND N3_Input_Bit_00=TRUE THEN
IF Index < UINT#2 THEN
Position[Index] := CalcPosition;
Count[Index] := RotaryCount;
Index := Index + UINT#1;
END_IF;
IF Index >= UINT#2 THEN
Finish := BOOL#TRUE;
Index := UINT#0;
END_IF;
END_IF;
END_IF;
PreN3InputBit00 := N3_Input_Bit_00;
//After two workpieces are detected, the distance between the workpieces is calcula
ted.
//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]
//...
IF Finish THEN
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]);
END_IF;
//MC_Power
PWR(
Axis := MC_Axis000,
Enable := Pwr_En,
Status => Pwr_Status,
Busy => Pwr_Bsy,
3 Axis Command Instructions
3-446
NY-series Motion Control Instructions Reference Manual (W561)
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