PWR2
Erro
r
Axis Axis
Enable Status
Busy
MC_Power
ErrorID
Lock2
MC_Axis001
Pw
r2_Status
Pwr2_Bsy
Pwr2_Err
Pwr2_ErrID
FaultHandler
MC_Axis000.MFaultLvl.Active
FaultHandler
EN
MC_Axis001.MFaultLvl.Active
_MC_COM.MFaultLvl.Active
If a minor fault level error occurs in the MC Common Error Status variable or for any of the axes, the error
handler for the device (FaultHandler) is executed.
The FaultHandler is programmed according to the device.
HM1
Axis Axis
Execute
Error
ErrorID
CommandAborted
MC_Home
Done
Busy
MC_Axis000
Pw
r1_Status
Hm1_D
Hm1_Bsy
Hm1_Ca
Hm1_Err
Hm1_ErrID
MC_Axis000.Details.Homed
If the Servo is ON for the master axis (axis 1) and home is not defined, the Home instruction is executed to
define home.
HM2
Axis Axis
Execute
Error
ErrorID
CommandAborted
MC_Home
Done
Busy
MC_Axis001
Pw
r2_Status
Hm2_D
Hm2_Bsy
Hm2_Ca
Hm2_Err
Hm2_ErrID
MC_Axis001.Details.Homed
If the Servo is ON for the slave axis (axis 2) and home is not defined, the Home instruction is executed to
define home.
MC_Axis000
Hm1_D
Vel_InVel
BufferMode
VEL
Jer
k
Active
Axis Axis
Execute
InVelocity
Velocity
Busy
Deceleration
Error
Direction
Continuous
MC_MoveVelocity
Acceleration
CommandAborted
ErrorID_eMC_DIRECTION#_mcPositiveDirection
LREAL#90.0
LREAL#90.0
Vel_Bsy
Vel_Act
Vel_Ca
Vel_Err
Vel_ErrID
LREAL#90.0
LREAL#0.0
After homing is completed for the master axis (axis 1), the MC_MoveVelocity (Velocity Control) instruction is
executed.
5 Common Command Instructions
5-38
NY-series Motion Control Instructions Reference Manual (W561)
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