Omron Sysmac NY-series User Manual


When Using NX-series Position Interface Units
You cannot use this instruction for NX-series Position Interface Units.

Stop Processing
The Control Mode and command velocities that are used to stop axis motion are described below.
For a deceleration stop, the target velocity of this instruction is used as the initial velocity and the axis
is decelerated to a stop with the deceleration rate for the specified Stop Mode.
Stopping with the MC_ImmediateStop Instruction
The command velocity is changed to 0. The Control Mode is changed to CSP Mode when the change
criterion that is given below is satisfied.
Stopping with the MC_Stop Instruction
The command velocity is changed to 0 at the deceleration rate of the instruction. The Control Mode is
changed to CSP Mode when the change criterion that is given below is satisfied.
Stopping for a Minor Fault Level Error
The command velocity is changed to 0 at the deceleration rate of each error
. The Control Mode is
changed to CSP Mode when the change criterion that is given below is satisfied.
Stopping for a Major Fault Level Error or a Partial Fault Level Error
The command velocity is changed to 0. The Control Mode is changed to CSP Mode when the change
criterion that is given below is satisfied.
However, depending on the error level, it may not be possible to switch the Control Mode normally,
and the axis may stop in CSV Mode.
Stopping by Turning OFF the Servo
The command velocity is changed to 0 with the specified method. The Control Mode is not changed.
Stopping When the Operating Mode of the CPU Unit Changes to PROGRAM Mode
The command velocity is changed to 0 with the specified method. The Control Mode is changed to
CSP Mode when the change criterion that is given below is satisfied.

Change Criterion
Whether it is possible to change the Control Mode depends on Servo Drive specifications.
To ensure that the Control Mode is switched to CSP Mode during stop processing for stop instructions
or errors, it is necessary to sufficiently decelerate the Servomotor first.
The Control Mode is changed to CSP Mode when the following criterion is met for three consecutive
periodic tasks after the command velocity changes to 0.
Actual current velocity ≤ Maximum velocity × 0.1
Precautions for Correct Use
Here, the periodic task is the primary periodic task.

Recovery to Cyclic Synchronous Position (CSP) Control Mode
It is not always possible to normally change to CSP Mode for a stop.
For example, it may not be possible when a partial fault level error occurs in the MC Function Module.
3 Axis Command Instructions
3-396
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