Omron Sysmac NY-series User Manual

• When the immediate stop input signal or limit stop input signal changes to TRUE for the master or
auxiliary axis
•
When the Servo turns OFF for the master or auxiliary axis
When the Servo is turned OFF when the master or auxiliary axis is a vertical axis, the position of the
axis may change suddenly.
Take suitable measures to prevent the slave axis from moving suddenly, such as applying a brake to
the master or auxiliary axis or turning OFF the Servo after synchronized control has been released.
• When you change the control mode of the Servo Drive
Take suitable precautions for changes in the velocity when an instruction is executed.
Set suitable input parameters for the instruction.
Conditions That Lead to Errors
The following conditions apply to NY-series Controllers.

Conditions for NY-series Controllers
When any of the following four conditions occurs for the master or auxiliary axis when synchronized
motion is started or during synchronized motion, a Master Axis Position Read Error or Auxiliary Ax-
is Position Read Error occurs for the slave axis.
The CommandAborted
output variable from the synchronized control instruction changes to TRUE
at the same time.
• EtherCAT process data communications are not established.
• An EtherCAT Slave Communications Error occurs while EtherCAT communications are not es-
tablished.
• An Absolute Encoder Current Position Calculation Failed error occurs.
• The slave is disconnected.
The following occur if multi-execution of instructions is used for synchronized control instructions
for the slave axis.
• Even if the master or auxiliary axis is in one of the four conditions given above, multi-execution of
instructions is acknowledged normally and the instruction is buffered.
• The motion for the buffered instruction is started as normal if none of the above four conditions
exist.
Additional Information
If the MC_Home or MC_HomeWithParameter instruction is executed for the master or auxiliary
axis or if the MC_Power instruction is executed for an axis that uses an absolute encoder
, the
slave ignores the changes in position of the master or auxiliary axis.
Therefore, the slave axis does not move suddenly when defining home.
1 Introduction to Motion Control Instructions
1-7
NY-series Motion Control Instructions Reference Manual (W561)
1-1 Motion Control Instructions
1
1-1-3 Precautions for Master and Auxiliary Axes in Synchronized Control

Omron Sysmac NY-series Specifications

General

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