Omron Sysmac NY-series

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Error Codes

Refer to the NY

-series Troubleshooting Manual (Cat. No. W564) for instruction errors.

3 Axis Command Instructions

3-347

NY-series Motion Control Instructions Reference Manual (W561)

MC_TorqueControl

Function

Main Page

Default Chapter3
- Intended Audience3
- Applicable Products3
Relevant Manuals4
Manual Structure6
- Page Structure6
- Special Information7
Sections in this Manual9
- Table of Contents10
Terms and Conditions Agreement15
- Warranty, Limitations of Liability15
- Application Considerations16
- Disclaimers16
Safety Precautions18
Precautions for Safe Use19
Precautions for Correct Use20
Regulations and Standards21
Versions22
- Checking Versions22
Related Manuals24
Revision History27
- Introduction to Motion Control Instructions29
Motion Control Instructions30
- Function Blocks for Plcopen ® Motion Control30
- Overview of Motion Control Instructions30
- Function Blocks for Plcopen30
- Precautions for Master and Auxiliary Axes in Synchronized Control34
Basic Information on Motion Control Instructions36
- Motion Control Instruction Names36
- Languages for Motion Control Instructions36
- Motion Control Instruction Locations37
- Multi-Execution of Motion Control Instructions45
- Online Editing of Motion Control Instructions46
- Changes in the Operating Mode of the Controller46
  - Variables and Instructions49
Section 2 Variables and Instructions50
Variables50
- MC Common Variables51
- Axis Variables52
- Axes Group Variables58
- Input Variables for Motion Control Instructions60
- Output Variables for Motion Control Instructions75
- In-Out Variables for Motion Control Instructions78
Instructions81
- Common Commands81
- Axis Commands81
- Axes Group Commands83
PDO Mapping85
- Required Objects85
- Objects Required for Specific Instructions86
Mc_Power91
- Variables91
- Function92
Mc_Movejog96
- Variables96
- Function97
Mc_Home106
- Variables106
- Function107
Mc_Homewithparameter129
- Variables129
- Function133
Mc_Move136
- Variables136
- Function138
Mc_Moveabsolute141
- Variables141
- Function143
- Sample Programming 1149
- Sample Programming 2158
Mc_Moverelative168
- Variables168
- Function170
Mc_Movevelocity176
- Variables176
- Function178
- Sample Programming182
Mc_Movezeroposition192
- Variables192
- Function194
Mc_Movefeed199
- Variables199
- Function203
- Sample Programming215
Mc_Stop228
- Variables228
- Function229
Mc_Immediatestop237
- Variables237
- Function238
Mc_Setposition242
- Variables242
- Function243
Mc_Setoverride249
- Variables249
- Function250
Mc_Resetfollowingerror255
- Variables255
- Function256
Mc_Camin262
- Variables262
- Function266
- Sample Programming 1289
- Sample Programming 2292
Mc_Camout320
- Variables320
- Function321
Mc_Cammonitor325
- Variables325
- Function328
- Precautions for Correct Use333
Mc_Gearin334
- Variables334
- Function336
- Sample Programming343
Mc_Gearinpos355
- Variables355
- Function358
- Sample Programming365
Mc_Gearout377
- Variables377
- Function378
Mc_Movelink382
- Variables382
- Function385
- Sample Programming394
Mc_Combineaxes405
- Variables405
- Function407
Mc_Phasing416
- Variables416
- Function418
Mc_Torquecontrol423
- Variables423
- Function425
Mc_Settorquelimit436
- Variables436
- Function438
Mc_Zoneswitch443
- Variables443
- Function444
Mc_Touchprobe449
- Variables449
- Function452
- Sample Programming462
Mc_Aborttrigger469
- Variables469
- Function470
Mc_Axesobserve473
- Variables473
- Function475
Mc_Syncmovevelocity479
- Variables479
- Function481
Mc_Syncmoveabsolute489
- Variables489
- Function491
Mc_Reset496
- Variables496
- Function497
Mc_Changeaxisuse500
- Variables500
- Function501
Mc_Digitalcamswitch504
- Variables504
- Function506
- Sample Programming515
Mc_Timestamptopos524
- Variables524
- Function525
- Sample Programming528
Mc_Syncoffsetposition536
- Variables536
- Function538
Mc_Offsetposition546
- Variables546
- Function548
- Axes Group Instructions553
Mc_Groupenable554
- Variables554
- Function555
Mc_Groupdisable558
- Variables558
- Function559
Mc_Movelinear563
- Variables563
- Function565
- Sample Programming576
Mc_Movelinearabsolute592
- Variables592
- Function594
Mc_Movelinearrelative595
- Variables595
- Function597
Mc_Movecircular2D598
- Variables598
- Function601
- Sample Programming613
Mc_Groupstop626
- Variables626
  - Function628
- Mc_Groupimmediatestop634
  - Variables634
  - Function635
- Mc_Groupsetoverride638
  - Variables638
  - Function639
- Mc_Groupreadposition643
  - Variables643
  - Function644
- Mc_Changeaxesingroup647
  - Variables647
  - Function648
- Mc_Groupsyncmoveabsolute651
  - Variables651
  - Function653
- Mc_Groupreset658
  - Variables658
  - Function659
    - Common Command Instructions663
Section 5 Common Command Instructions664
- Mc_Setcamtableproperty664
  - Variables664
  - Function665
- Mc_Savecamtable670
  - Variables670
  - Function671
- Mc_Write675
  - Variables675
  - Function678
- Mc_Generatecamtable680
- Mc_Writeaxisparameter709
  - Variables709
  - Function710
- Mc_Readaxisparameter723
  - Variables723
  - Function725
Appendices727
- Instructions for Which Multi-Execution Is Supported728
  - A-1-1 Axis and Axes Group Status728
  - A-1-2 State Transitions and Instructions for Which Multi-Execution Is Supported730
- A-2 Connecting to NX Units736
- A-3 Version Information737
Index739

Omron Sysmac NY-series

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