Omron Sysmac NY-series User Manual

• In the user program, place the MC_Phasing instruction after synchronized control instructions as
shown below
.
StartPhase
MC_Axis000
MC_Axis001
G_Num
G_Den
_eMC_REFERENCE_TYPE#_mcCommand
G_Acc
G_Dec
G_Jerk
MC_Axis000
MC_Axis001
P_Shift
P_Vel
P_Acc
P_Dec
P_Jerk
G_Bsy
G_Act
G_Ca
G_Err
G_ErrID
P_Bsy
P_Act
P_Ca
P_Err
P_Err
ID
Jer
k
BufferMode
PHASING
Velocity
Done
Master Master
Slave Slave
PhaseShift
Error
ErrorID
CommandAbortedAcceleration
Busy
Active
Deceleration
MC_Phasing
Execute
Jerk
ReferenceType
BufferMode
GEARIN
RatioDenominator
InGear
Master Master
Slave Slave
StartGear
InG
P_D
G_Bsy
RatioNumerator
Error
ErrorID
CommandAborted
Acceleration
Busy
Active
Deceleration
MC_GearIn
Execute
Precautions for Correct Use
Refer to 1-1-3 Precautions for Master and Auxiliary Axes in Synchronized Control on page 1-
6
for precautions on the master axis.
Instruction Details
This section describes the instruction in detail.

Specifying Master
(Master Axis) and Slave (Slave Axis)
Specify axes variable names to specify the axes for Master (Master Axis) and Slave
(Slave Axis).
An axis specification error will occur if you specify a Master (Master Axis) or Slave (Slave Axis) for
which execution of a synchronized control instruction is not in progress.

PhaseShift (Phase Shift Amount)
Set the phase shift amount of the Master (Master Axis) as viewed from the Slave (Slave Axis) as the
PhaseShift
(Phase Shift Amount).
Specify the phase shift amount as a relative value.
3 Axis Command Instructions
3-331
NY-series Motion Control Instructions Reference Manual (W561)
MC_Phasing
3
Function

Omron Sysmac NY-series Specifications

General

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