Omron Sysmac NY-series - MC_AxesObserve

MC_AxesObserve
The MC_AxesObserve instruction monitors the deviation between the command positions or the ac-
tual positions for the specified axes to see if it exceeds the allowed value.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_AxesObserve Monitor Axis
Following Er-
ror
FB
MC_AxesObserve_instance
Invalid
Master Master
Slave Slave
Enable Enabled
PermittedDeviation
DeviatedValue
Error
ErrorID
MC_AxesObserve
ReferenceType
Busy
MC_AxesObserve_instance (
Master :=parameter,
Slave :=parameter,
Enable :=parameter,
ReferenceT
ype :=parameter,
PermittedDeviation :=parameter,
Enabled =>parameter,
Invalid =>parameter,
Busy =>parameter,
DeviatedValue =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range
De-
fault
Description
Enable Enable BOOL TRUE or FALSE FALS
E
The instruction is executed when
the value of this variable is TRUE.
ReferenceType Position
T
ype Selec-
tion
_eMC_RERER-
ENCE_TYPE
0: _mcCommand
1: _mcFeedback
0
*1
Specify the position type.
0: Command position (value calcu-
lated in the previous task period
*2
)
1: Actual position (value obtained
in the same task period
*2
)
PermittedDevi-
ation
Permitted
Following
Error
LREAL Non-negative number 0 Specify the permitted maximum
value of the following error be-
tween the master and slave axes.
The unit is command units.
*3
*1. The default value for an enumeration variable is actually not the number, but the enumerator.
*2. The task period is the primary period.
*3. Refer to Unit Conversion Settings in the NY
-series Industrial Panel PC / Industrial Box PC Motion Control User’s
Manual (Cat. No. W559) for information on command units.
3 Axis Command Instructions
3-385
NY-series Motion Control Instructions Reference Manual (W561)
MC_AxesObserve
3
Variables