Omron Sysmac NY-series User Manual

LastPosition
FirstPosition
0
LastPositi
on
FirstPosition
0
FirstPosition > LastPosition
+
+
− −
Window only range
Window only range
: The positions indicated with
open dots are not included.

StopMode
• You can specify the StopMode for the specified Axis when a trigger occurs.
•
If _mcNonStop is specified, the axis will not stop even if a trigger occurs.
• If _mcImmediateStop is specified, the axis stops at the latched position when a trigger occurs.
CommandAborted of the instruction that was moving the axis changes to TRUE due to this stop.
• For _mcImmediateStop, Done changes to TRUE as soon as the axis command stops. Busy is
TRUE until the axis stops at the latched position.
• An in-position check is not performed when stopping for _mcImmediateStop.
• If an axis error occurs for the axis for which _mcImmediateStop (Immediate Stop) is specified and a
trigger occurs before stopping the axis is completed, the axis will continue to decelerate to a stop.
Also, the trigger will cause CommandAborted (Instruction Aborted) to change to TRUE.
Error occurs.
Velocity
T
ime
Trigger occurs.
Decelerating to a stop for the error
Precautions for Correct Use
• The MC Function Module performs stop processing for _mcImmediateStop (Immediate Stop).
The axis will stop beyond the latched position, and the axis will then return to the latched po-
sition for a command from the Controller
.
• If you use _mcImmediateStop (Immediate Stop) with a high command velocity, the distance
to return to the latched position will be long. Make sure that the command velocity is not too
high.
• Specify _mcNonStop (No Stop) for an encoder axis. If _mcImmediateStop (Immediate Stop)
is specified, Error will change to TRUE when the instruction is executed. At the same time, an
Enable External Latch Instruction Execution Disabled error (error code: 5492 hex) is output to
ErrorID.

Axis Variable Status
If _mcImmediateStop is specified for StopMode, Status.Stopping (Deceleration Stopping) in the Axis
V
ariable is TRUE during stop processing for the trigger.
3 Axis Command Instructions
3-370
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