Omron Sysmac NY-series User Manual

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
You cannot use the MC_SetPosition instruction on an axis for which any of the following instructions is
being executed.
A multi-execution of instructions error will occur if it is executed.
MC_MoveJog (Jog) instruction MC_MoveLink (Synchronous Positioning) instruction
MC_Home (Home) instruction MC_CombineAxes (Combine Axes) instruction
MC_HomeWithParameter (Home with Parameters) in-
struction
MC_MoveZeroPosition (High-speed Home) instruction
MC_CamIn (Start Cam Operation) Instruction MC_TorqueControl (Torque Control) Instruction
MC_GearIn (Start Gear Operation) Instruction MC_SyncMoveVelocity (Cyclic Synchronous Velocity
Control) instruction
MC_GearInPos (Positioning Gear Operation) instruc-
tion

Execution of Other Instructions during Instruction Execution
If another MC_SetPosition instruction is executed while there is one already in execution, the last in-
struction takes priority
.
In this case, Done for the first MC_SetPosition instruction will change to TRUE, but the change to the
set position for the first instruction is not completed.
Errors
If an error occurs during instruction execution, Error
will change to TRUE.
You can find out the cause of the error by referring to the value output by ErrorID (Error Code).
Additional Information
If you execute this instruction while the axis is in motion, the instruction of the axis currently in
motion will be restarted and the data required for positioning will be recalculated.
If an error occurs, it will be for the instruction of the axis currently in motion rather than for this
instruction.

Timing Chart When Error Occurs
Busy
Error
16#0000
Error
ID
Execute
Error code
3 Axis Command Instructions
3-159
NY-series Motion Control Instructions Reference Manual (W561)
MC_SetPosition
3
Function

Omron Sysmac NY-series Specifications

General

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