Omron Sysmac NY-series User Manual

Precautions for Safe Use
Always use the axis at a constant velocity for the MC_DigitalCamSwitch instruction.
If you set the Count Mode to Rotary Mode, the following operation will occur if you use
OnCompensation or OffCompensation
and the axis velocity changes abruptly.
• If the value of OnCompensation or OffCompensation is equivalent to the time for half a rota-
tion or more, InOperation will be FALSE.
• If the value of OnCompensation results in exceeding LastOnPosition, the output timing will be
unstable.
FirstOnPosition LastOnPosition
OnCompensation
FirstOnPosition after compensation
• If the value of OffCompensation results in exceeding FirstOnPosition, the output timing will be
unstable.
FirstOnPosition LastOnPosition
OffCo
mpensation
LastOnPosition after compensation
Precautions for Correct Use
If you set the Count Mode to Rotary Mode and use OnCompensation or OffCompensation, set
the parameters so that the relationship between FirstOnPosition and LastOnPosition is not re-
versed.
The output timing will be unstable.
Refer to "Precautions for Safe Use", above, for operation information.
Additional Information
If the Count Mode is set to Rotary Mode, the valid range is T#-1s to T#1s, but the following
restrictions also apply to the setting.
•
Set the value within a range that does not exceed the time for half a rotation of the axis.
For example, for rotation at 500 r/min, the time for one rotation is 120 ms. The time is for half
a rotation, so set OnCompensation (ON Time Compensation) and OffCompensation (OFF
Time Compensation) to between −60 and 60 ms.
• If a value is set that exceeds the time for half a rotation of the axis, InOperation will be FALSE
and EnableOut will be FALSE. Always check the status of InOperation during application.
• If a value within the correct range is restored when InOperation is FALSE, InOperation will
change to TRUE.
The following figure shows the operation when OnCompensation (ON T
ime Compensation) is set to
T#5ms and OffCompensation (OFF Time Compensation) is set to T#10ms for the Setting Example
given on page 3-422.
3 Axis Command Instructions
3-425
NY-series Motion Control Instructions Reference Manual (W561)
MC_DigitalCamSwitch
3
Function

Omron Sysmac NY-series Specifications

General

Category	Control Unit
Operating Temperature	0 to 55 °C
Power Supply Voltage	24 VDC
Power Supply	24 VDC
Product Series	NY-series
CPU	Intel Atom or Intel Core i7
Programming Languages	IEC 61131-3 (LD, FBD, ST, SFC)
Memory (Program)	Up to 64 MB
Ethernet Ports	2
EtherNet/IP Ports	2 ports (built-in)
EtherCAT Master Ports	1
EtherCAT	Yes
Motion Control	Supported
Safety	Yes
Built-in I/O	No
Relative Humidity	10 to 90% (non-condensing)
Vibration Resistance	5 to 8.4 Hz: 3.5 mm; 8.4 to 150 Hz: 9.8 m/s²
Shock Resistance	147 m/s²
Power Consumption	Varies by model
Certifications	CE, cULus, RCM, KC, EAC

Summary

Introduction to Motion Control Instructions

Motion Control Instructions

Basic Information on Motion Control Instructions

Variables and Instructions

Variables

Input Variables for Motion Control Instructions

Output Variables for Motion Control Instructions

Axis Command Instructions

MC_Power

Explains the MC_Power instruction for making a Servo Drive ready to operate.

MC_MoveJog

Explains the MC_MoveJog instruction for jogging an axis according to the specified target velocity.

MC_Home

Explains the MC_Home instruction for operating the motor to determine home.

MC_HomeWithParameter

Explains the MC_HomeWithParameter instruction for setting homing parameters and operating the motor to determine home.

MC_Move

Explains the MC_Move instruction for performing absolute positioning or relative positioning.

MC_MoveAbsolute

Explains the MC_MoveAbsolute instruction for moving the axis to a specified absolute target position.

MC_MoveRelative

Explains the MC_MoveRelative instruction for moving the axis the specified travel distance.

MC_MoveVelocity

Explains the MC_MoveVelocity instruction for performing velocity control.

MC_MoveZeroPosition

Explains the MC_MoveZeroPosition instruction for positioning to an absolute position of 0.

MC_MoveFeed

MC_Stop

Explains the MC_Stop instruction for decelerating an axis to a stop.

MC_ImmediateStop

Explains the MC_ImmediateStop instruction for stopping an axis immediately according to the specified stopping mode.

MC_SetPosition

MC_SetOverride

MC_ResetFollowingError

MC_CamIn

Explains the MC_CamIn instruction to start cam operation using a specified cam table.

MC_CamOut

MC_GearIn

Explains the MC_GearIn instruction to specify the gear ratio and start gear operation.

MC_GearInPos

Explains the MC_GearInPos instruction to perform electronic gear operation with specified gear ratio.

MC_GearOut

MC_MoveLink

Explains the MC_MoveLink instruction for positioning in sync with the specified master axis.

MC_CombineAxes

MC_TorqueControl

Explains the MC_TorqueControl instruction to control torque using the Torque Control Mode.

MC_SetTorqueLimit

Explains the MC_SetTorqueLimit instruction to limit torque output from the Servo Drive.

MC_TouchProbe

Explains the MC_TouchProbe instruction to record axis position when a trigger signal occurs.

MC_AbortTrigger

MC_AxesObserve

MC_SyncMoveVelocity

Explains the MC_SyncMoveVelocity instruction for outputting target velocity in CSV Mode.

MC_SyncMoveAbsolute

Explains the MC_SyncMoveAbsolute instruction to cyclically output target positions.

MC_Reset

Explains the MC_Reset instruction to clear axis errors.

MC_DigitalCamSwitch

Explains the MC_DigitalCamSwitch instruction to turn a digital output ON or OFF based on axis position.

MC_SyncOffsetPosition

MC_OffsetPosition

Axes Group Instructions

MC_GroupEnable

MC_GroupDisable

MC_MoveLinear

MC_MoveLinearAbsolute

MC_MoveLinearRelative

MC_MoveCircular2D

MC_GroupStop

MC_GroupImmediateStop

MC_GroupSetOverride

MC_GroupSyncMoveAbsolute

MC_GroupReset

Common Command Instructions

MC_SetCamTableProperty

MC_SaveCamTable

MC_Write

MC_GenerateCamTable

MC_WriteAxisParameter

MC_ReadAxisParameter