Omron Sysmac NY-series User Manual


Applicable Axes and Execution Condition
• For a servo axis, this instruction is ready for execution as soon as Enable for the MC_Power (Power
Servo) instruction changes to TRUE (Servo ON).
•
A virtual servo axis will acknowledge this instruction at any time. However, processing to switch the
Control Mode of the Servo Drive is not performed.
• An error occurs if the instruction is executed for an encoder or virtual encoder axis.

Operation When Servo Turns OFF
Processing to change to CSP Mode is performed by the MC Function Module when the Status output
variable from the MC_Power (Power Servo) instruction changes to FALSE.
However, for an OMRON G5-series Servo Drive, commands to change the Control Mode are not ac-
knowledged from the MC Function Module when the Servo is OFF.

Axis Variable Status
Status.Continuous (Continuous Motion) in the Axis Variable status changes to TRUE.
Also, CST (Cyclic Synchronous Torque (CST) Control Mode) in DrvStatus (Servo Drive Status) in the
Axis Variable changes to TRUE.

Home Status
Home remains defined.

Software Limits
Software Limits are enabled for this instruction.
They are enabled even for the following axis parameter settings.
• Enabled for command position. Deceleration stop.
• Enabled for command position. Stop using remaining pulses.

When Count Mode Is Set to Linear Mode
The operation for underflows and overflows is the same as for operations that do not have target posi-
tions.

Operation Selection at Reversing
If multi-execution is performed and the torque command value is reversed, operation is performed with
TorqueRamp from this instruction and not with the setting of the Operation Selection at Reversing
axis parameter.
The operation for reversing for multi-execution of instructions is as follows:
• If the command position reverses for multi-execution of an instruction that uses CSP during execu-
tion of this instructions, the operation at reversing is performed according to the Operation
Selection at Reversing axis parameter.
• If the torque command value reverses when multi-execution of this instruction is performed during
execution of an instruction that uses CSP or CSV, the torque command reverses according to
TorqueRamp.
• If the torque command value reverses when multi-execution of this instruction is performed during
execution of this instruction, the torque command reverses according to TorqueRamp.
3 Axis Command Instructions
3-340
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