Omron Sysmac NY-series - Page 582

BufferMode
TransitionMode
MoveMode
Acceleration
MV_LIN7
Deceleration
A
xesGroup A xesGroup
P osition
Execute
Error
ErrorID
CommandAborted
Jerk
Active
CoordSystem
MC_MoveLinear
Velocity
Done
Busy
MC_Group000
Mv_Lin1_Act
Mv_Lin7_Bsy
Mv_Lin7_Ca
Mv_Lin7_Err
Mv_Lin7_ErrID
Mv_Lin7_Act
Mv_Lin7_Pos
Mv_Lin7_Vel
Mv_Lin7_Acc
Mv_Lin7_Dec
Mv_Lin7_Bm
Mv_Lin7_Mm
Mv_Lin7_D
Linear interpolation (7) is executed with multi-execution of instructions after linear interpolation (1) is started.
Contents of Inline ST
// MV_LIN1 parameters
Mv_Lin1_Pos[0] := LREAL#50.0;
Mv_Lin1_Pos[1] := LREAL#5.0;
Mv_Lin1_Vel := LREAL#100.0;
Mv_Lin1_Acc := LREAL#100.0;
Mv_Lin1_Dec := LREAL#100.0;
Mv_Lin1_Mm := _eMC_MOVE_MODE#_mcAbsolute;
// MV_LIN2 parameters
Mv_Lin2_Pos[0] := LREAL#0.0;
Mv_Lin2_Pos[1] := LREAL#10.0;
Mv_Lin2_Vel := LREAL#100.0;
Mv_Lin2_Acc := LREAL#100.0;
Mv_Lin2_Dec := LREAL#100.0;
Mv_Lin2_Bm := _eMC_BUFFER_MODE#_mcBuffered;
Mv_Lin2_Mm := _eMC_MOVE_MODE#_mcAbsolute;
// MV_LIN3 parameters
Mv_Lin3_Pos[0] := LREAL#50.0;
Mv_Lin3_Pos[1] := LREAL#15.0;
Mv_Lin3_Vel := LREAL#100.0;
Mv_Lin3_Acc := LREAL#100.0;
Mv_Lin3_Dec := LREAL#100.0;
Mv_Lin3_Bm := _eMC_BUFFER_MODE#_mcBuffered;
Mv_Lin3_Mm := _eMC_MOVE_MODE#_mcAbsolute;
// MV_LIN4 parameters
Mv_Lin4_Pos[0] := LREAL#0.0;
Mv_Lin4_Pos[1] := LREAL#20.0;
Mv_Lin4_Vel := LREAL#100.0;
Mv_Lin4_Acc := LREAL#100.0;
Mv_Lin4_Dec := LREAL#100.0;
Mv_Lin4_Bm := _eMC_BUFFER_MODE#_mcBuffered;
4 Axes Group Instructions
4-30
NY-series Motion Control Instructions Reference Manual (W561)