Omron Sysmac NY-series - Page 706

CamProperty := CamProperty0,
CamNodes := CamNode0,
execute := Gene_Exe,
Done => Gene_D,
EndPointIndex => Gene_EPI,
Busy => Gene_Bsy,
CommandAborted => Gene_CA,
Error => Gene_Err,
ErrorID => Gene_ErrID,
ErrorParameterCode => Gene_ErrPC,
ErrorNodePointIndex => Gene_ErrNPI
);
// MC_Power for master axis (axis 1)
PWR1(
Axis := MC_Axis000,
Enable := Pwr1_En,
Status => Pwr1_Status,
Busy => Pwr1_Bsy,
Error => Pwr1_Err,
ErrorID => Pwr1_ErrID
);
// MC_Power for slave axis (axis 2)
PWR2(
Axis := MC_Axis001,
Enable := Pwr2_En,
Status => Pwr2_Status,
Busy => Pwr2_Bsy,
Error => Pwr2_Err,
ErrorID => Pwr2_ErrID
);
// MC_Home for master axis (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 slave axis (axis 2)
HM2(
Axis := MC_Axis001,
5 Common Command Instructions
5-44
NY-series Motion Control Instructions Reference Manual (W561)