Omron Sysmac NY-series User Manual

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Name Timing for changing to TRUE Timing for changing to FALSE

CommandAborted

• When this instruction is aborted because anoth-

er motion control instruction was executed with

the Buf

fer Mode set to Aborting.

• When this instruction is canceled due to an er-

ror.

• When this instruction is executed while there is

an error.

• When you start this instruction during MC_Stop

instruction execution.

• When execution of the synchronized control in-

struction is completed.

• When Execute is TRUE and changes to

FALSE.

• After one period when Execute is FALSE.

Error When there is an error in the execution conditions

or input parameters for the instruction.

When the error is cleared.

In-Out Variables

Name Meaning Data type

Valid

range

Description

Master Master Axis _sAXIS_REF ---

Specify the master axis.

Slave Slave Axis _sAXIS_REF ---

Specify the slave axis.

*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Ax-

is*) or a system-defined axis variable name (_MC_AX[*]).

If you use Sysmac Studio version 1.29 or higher

, you can specify the system-defined axis variable name for AT specifi-

cation of a user-defined variable. This will allow you to specify the user-defined variable.

If you use Sysmac Studio version 1.28 or lower, do not specify any user-defined variable created in the variable table.

Precautions for Correct Use

If you specify the same axis for the master axis and slave axis, a Master and Slave Defined as

Same Axis minor fault (error code 5436 hex) will occur

Function

• Except during execution of the MC_CombineAxes instruction, if the MC_Phasing instruction is exe-

cuted when single-axis synchronized control is in progress, the phase of the master axis is shifted

according to the settings of PhaseShift (Phase Shift Amount), V

elocity (Target Velocity),

Acceleration (Acceleration Rate), and Deceleration (Deceleration Rate).

• The command current position and actual current position of the master axis do not change, and the

relative shift between the command current position and actual current position of the master axis is

taken as the phase of the master axis.

The slave axis is synchronized to the shifted master axis phase.

• Done changes to TRUE when the PhaseShift (Phase Shift Amount) is reached.

• Shifting is ended when execution of the synchronized control instruction is completed. If a synchron-

ized control instruction is executed again, the previous amount of shift is not affected.

• You can shift the phase of the master axis for the following synchronized control instructions:

MC_CamIn (Start Cam Operation), MC_GearIn (Start Gear Operation), MC_GearInPos (Positioning

Gear Operation), and MC_MoveLink (Synchronous Positioning).

3 Axis Command Instructions

3-330

NY-series Motion Control Instructions Reference Manual (W561)

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Omron Sysmac NY-series Specifications

General

Category	Control Unit
Operating Temperature	0 to 55 °C
Power Supply Voltage	24 VDC
Power Supply	24 VDC
Product Series	NY-series
CPU	Intel Atom or Intel Core i7
Programming Languages	IEC 61131-3 (LD, FBD, ST, SFC)
Memory (Program)	Up to 64 MB
Ethernet Ports	2
EtherNet/IP Ports	2 ports (built-in)
EtherCAT Master Ports	1
EtherCAT	Yes
Motion Control	Supported
Safety	Yes
Built-in I/O	No
Relative Humidity	10 to 90% (non-condensing)
Vibration Resistance	5 to 8.4 Hz: 3.5 mm; 8.4 to 150 Hz: 9.8 m/s²
Shock Resistance	147 m/s²
Power Consumption	Varies by model
Certifications	CE, cULus, RCM, KC, EAC