Omron Sysmac NY-series User Manual

Time
T
ime
Time
Velocity
Jerk
Deceleration rate
Velocity
Vt
-Dt1
Jt
-Jt
-Dt2
Executed.
Re-executed.
Vt: Velocity when deceleration starts, Dt: Specified deceleration rate, Jt: Specified jerk
Multi-execution of Motion Control Instructions
For details on multi-execution of motion control instructions, refer to the NY
-series Industrial Panel
PC / Industrial Box PC Motion Control User’s Manual (Cat. No. W559).

Execution during Execution of Other Instructions
Axes Group Moving
If the MC_Stop instruction is executed for an axis that is in an axes group motion, an error will occur
for the axis.
An error will occur also for the axes group, and the axes group motion will stop.
When the Status.ErrorStop (Error Deceleration Stopping) Axis Variable Is TRUE
Status.ErrorStop (Error Deceleration Stopping) in the Axis Variable is TRUE while there is an error for
the axis.
If the MC_Stop instruction is not executed normally for an axis that is decelerating to a stop for an er-
ror. CommandAborted changes to TRUE. Use the MC_ImmediateStop instruction to stop the motion of
an axis for which an error occurred.
During Execution of the MC_ResetFollowingError (Reset Following Error Counter) Instruction
If the MC_Stop instruction is executed during the MC_ResetFollowingError (Reset Following Error
Counter) instruction, CommandAborted from the MC_ResetFollowingError instruction changes to
TRUE. The MC_Stop instruction is executed. However, Deceleration (Deceleration Rate) to the
MC_Stop instruction is not used and an immediate stop is performed.

Execution of Other Instructions during Instruction Execution
• If any of the following is executed while the axis is not decelerating to a stop for an MC_Stop instruc-
tion, Status.Stopping in the Axis Variable changes to TRUE.
MC_ResetFollowingError (Reset Following Error Counter) instruction
An immediate stop for the MC_TouchProbe (Enable External Latch) instruction
When Execute is TRUE for any other MC_Stop instruction.
3 Axis Command Instructions
3-145
NY-series Motion Control Instructions Reference Manual (W561)
MC_Stop
3
Function

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English