Omron Sysmac NY-series User Manual


Execution of Other Instructions during Instruction Execution
Multi-execution of instructions cannot be used for the MC_GenerateCamTable (Generate Cam Table)
instruction during execution of an MC_CamIn instruction for which the same cam table is specified
with CamT
able.
To use multi-execution of motion instructions for this instruction, specify the slave axis.
When multi-execution of another instruction is performed while this instruction is in execution, the fol-
lowing limits apply depending on the Buffer Mode.
• When another instruction is executed by using multi-execution with the Buffer Mode set to Aborting,
the cam motion is aborted and the next operation is started.
• When another instruction is executed with the Buffer Mode set to Buffered, the command position
of the next operation is output when EndOfProfile (End of Cam Cycle) changes to TRUE.

Multi-execution of MC_CamIn Instructions with Buffer Mode in Blending
• You can specify Blending only for multi-execution of two MC_CamIn instructions. You cannot exe-
cute this instruction with Blending during execution of any other instruction.
• Specify the same values for Master (Master Axis) and ReferenceType (Position Type Selection) as
those specified in the instruction that is currently in operation. If you specify different values, a Mo-
tion Control Instruction Multi-execution Disabled error will occur.
• The InSync output variable from the buffered instruction changes to TRUE in the period in which the
current instruction is completed normally, and cam operation starts without the slave axis ever stop-
ping.
• Even if StartPosition (Cam Table Start Position) and MasterStartDistance (Master Following Dis-
tance) are specified, the slave axis starts cam operation as soon as instruction execution starts re-
gardless of the values that are specified. The starting point in the cam table is the final position for
the current instruction. The operation is the same regardless of which of the four types of blending is
specified.

Execution during Execution of Other Instructions
Multi-execution of instructions cannot be used for this instruction during execution of the MC_Genera-
teCamTable (Generate Cam Table) instruction for which the same cam table is specified with
CamTable.

Master Axis and Slave Axis Compensations
There are the following three instructions that shift the phase of master and slave axes during
synchronized control.
Compensations Instruction
Master axis compensations MC_Phasing (Shift Master Axis Phase)
Slave axis compensations MC_SyncOffsetPosition (Cyclic Synchronous Position Offset Compensation)
MC_Of
fsetPosition (Position Offset Compensation)
If multi-execution of instructions causes any synchronized control instruction other than the MC_Ca-
mIn (Start Cam Operation) instruction to be aborted (i.e., if the CommandAborted
output variable
changes to TRUE), any instructions that shift the phase are also aborted as CommandAborted
changes to TRUE.
3 Axis Command Instructions
3-200
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

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