Omron Sysmac NY-series - Page 621

Mv_Circ2_CircMode :=_eMC_CIRC_MODE#_mcCenter;
Mv_Circ2_AuxPoint[0] := LREAL#15.0;
Mv_Circ2_AuxPoint[1] := LREAL#20.0;
Mv_Circ2_EndPoint[0] := LREAL#20.0;
Mv_Circ2_EndPoint[1] := LREAL#20.0;
Mv_Circ2_Pc := _eMC_CIRC_PATHCHOICE#_mcCW;
Mv_Circ2_Vel := LREAL#100.0;
Mv_Circ2_Acc := LREAL#20.0;
Mv_Circ2_Dec := LREAL#20.0;
Mv_Circ2_Bm := _eMC_BUFFER_MODE#_mcBuffered;
Mv_Circ2_Mm := _eMC_MOVE_MODE#_mcAbsolute;
//MV_LIN1 parameters
Mv_Lin1_Pos[0] := LREAL#10.0;
Mv_Lin1_Pos[1] := LREAL#5.0;
Mv_Lin1_Vel := LREAL#100.0;
Mv_Lin1_Acc := LREAL#20.0;
Mv_Lin1_Dec := LREAL#20.0;
Mv_Lin1_Mm := _eMC_MOVE_MODE#_mcAbsolute;
//MV_LIN2 parameters
Mv_Lin2_Pos[0] := LREAL#15.0;
Mv_Lin2_Pos[1] := LREAL#15.0;
Mv_Lin2_Vel := LREAL#100.0;
Mv_Lin2_Acc := LREAL#20.0;
Mv_Lin2_Dec := LREAL#20.0;
Mv_Lin2_Bm := _eMC_BUFFER_MODE#_mcBuffered;
Mv_Lin2_Mm := _eMC_MOVE_MODE#_mcAbsolute;
// Change InitFlag to TRUE after setting the input parameters.
InitFlag := TRUE;
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 1 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
IF (StartPg=TRUE)
AND (MC_Axis000.DrvStatus.Ready=TRUE) THEN
Pwr1_En:=TRUE; // Turn ON the Servo for axis 1.
ELSE
Pwr1_En:=FALSE; // Turn OFF the Servo for axis 1.
END_IF;
// If StartPg is TRUE and the Servo Drive is ready, the Servo for axis 2 is turned
ON.
// If the Servo Drive is not ready, the Servo is turned OFF.
4 Axes Group Instructions
4-69
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveCircular2D
4
Sample Programming