Omron Sysmac NY-series - Page 587

END_IF;
// Linear interpolations (2) to (7) are executed with multi-execution of instructio
ns while the Active output variable for linear interpolation (1) is TRUE.
IF Mv_Lin1_Act=TRUE THEN
Mv_Lin2_Ex:=TRUE;
Mv_Lin3_Ex:=TRUE;
Mv_Lin4_Ex:=TRUE;
Mv_Lin5_Ex:=TRUE;
Mv_Lin6_Ex:=TRUE;
Mv_Lin7_Ex:=TRUE;
END_IF;
// MC_Power for axis 1
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);
// MC_Power for axis 2
PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);
// MC_Home for axis 1
HM1(
Axis := MC_Axis000,
Execute := Hm1_Ex,
Done => Hm1_D,
Busy => Hm1_Bsy,
CommandAborted => Hm1_Ca,
Error => Hm1_Err,
ErrorID => Hm1_ErrID
);
// MC_Home for axis 2
HM2(
Axis := MC_Axis001,
4 Axes Group Instructions
4-35
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveLinear
4
Sample Programming