Omron Sysmac NY-series User Manual

Name Data type Meaning Function
_MC_AX[0..63] _sAXIS_REF Axis Variable
Status _sAXIS_REF_STA Axis Status
Ready BOOL Axis Ready-to-exe-
cute
TRUE when preparations for axis execution are
finished and the axis is stopped.
This variable gives the same status as
_MC_AX[*].Status.Standstill (TRUE: standstill).
Disabled BOOL Axis Disabled TRUE while the Servo is OFF for the axis.
The following axis status are mutually exclu-
sive. Only one of them can be TRUE at a time.
Disabled, Standstill, Discrete, Continuous,
Synchronized, Homing, Stopping, ErrorStop, or
Coordinated
Standstill BOOL Standstill TRUE while the Servo is ON for the axis.
Discrete BOOL Discrete Motion TRUE while position control is executed toward
the target position.
This includes when the velocity is 0 because
the override factor was set to 0 during a dis-
crete motion.
Continuous BOOL Continuous Motion TRUE during continuous motion without a tar-
get position.
This state exists during velocity control and tor-
que control.
This includes when the velocity is 0 because
the target velocity is set to 0 and when the ve-
locity is 0 due to an override factor set to 0 dur-
ing continuous motion.
Synchronized BOOL Synchronized Motion TRUE during execution of synchronized con-
trol.
This includes waiting for synchronization after
changing to synchronized control instructions.
Homing BOOL Homing TRUE when homing for the MC_Home or
MC_HomeWithParameter instruction.
Stopping BOOL Deceleration Stop-
ping
TRUE until the axis stops for a MC_Stop or
MC_T
ouchProbe instruction.
This includes when Execute is TRUE after the
axis stops for an MC_Stop instruction.
Axis motion instructions are not executed while
decelerating to a stop.
(CommandAborted is TRUE)
ErrorStop BOOL Error Deceleration
Stopping
This status exists when the axis is stopping or
stopped for execution of the MC_Imdediate-
Stop instruction or a minor fault (while
_MC_AX[*].MFaultLvl.Active is TRUE (Axis Mi-
nor Fault Occurrence).
Axis motion instructions are not executed in this
state.
(CommandAborted is TRUE)
Coordinated BOOL Coordinated Motion TRUE when an axes group is enabled by a
multi-axes coordinated control instruction.
Details _sAXIS_REF_DET
Axis Control Status
*1
2 Variables and Instructions
2-5
NY-series Motion Control Instructions Reference Manual (W561)
2-1 Variables
2
2-1-2 Axis Variables

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