Omron Sysmac NY-series User Manual

Name Timing for changing to TRUE Timing for changing to FALSE
Busy When Execute changes to TRUE.
• When Done changes to TRUE.
• When Error changes to TRUE.
• When CommandAborted
changes to TRUE.
CommandAborted When this instruction is canceled.
• When Execute is TRUE and changes to
FALSE.
• After one period when Execute is FALSE.
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
When the error is cleared.
In-Out Variables
Name Meaning Data type
Valid
range
Description
AxesGroup Axes Group _sGROUP_R
EF
---
Specify the axes group.
*1
*1. Specify a user-defined Axes Group Variable that was created in the Axes Group Basic Settings of the Sysmac Studio
(default: MC_Group*) or a system-defined axes group variable name (_MC_GRP[*]).
If you use Sysmac Studio version 1.29 or higher
, you can specify the system-defined axes group variable name for AT
specification of a user-defined variable. This will allow you to specify the user-defined variable.
If you use Sysmac Studio version 1.28 or lower, do not specify any user-defined variable created in the variable table.
Function
Before describing the function of this instruction, the different states of axes groups are explained.
•
Axes groups have two states, the GroupEnable and GroupDisable states.
State Description
GroupEnable Multi-axes coordinated control is enabled.
Y
ou can execute any multi-axes coordinated control instructions except for the
MC_ChangeAxesInGroup (Change Axes In Group) instruction.
GroupDisable Multi-axes coordinated control is disabled.
Y
ou can execute only the following multi-axes coordinated control instructions.
• MC_GroupEnable (Enable Axes Group) instruction
• MC_GroupDisable (Disable Axes Group) instruction
• MC_GroupReset (Group Reset) instruction
• MC_GroupSetOverride (Set Group Overrides) instruction
• MC_GroupReadPosition (Read Axes Group Position) instruction
• MC_ChangeAxesInGroup (Change Axes in Group) instruction
• To perform multi-axes coordinated control, an axes group must be in a GroupEnable
state.
You can monitor the Axes Group Variables in the system-defined variables for motion control to see if
axes groups are enabled or disabled.
Name Meaning Description
_MC_GRP*.Status.Ready Axes Group Ena-
bled
TRUE when the axes group is stopped and preparations to exe-
cute an axes group instruction are completed.
_MC_GRP*.Status.Disabled Axes Group Dis-
abled
TRUE when the axes group is disabled and stopped.
Note * in _MC_GRP*. is replaced by a number between 0 and 31.
4 Axes Group Instructions
4-3
NY-series Motion Control Instructions Reference Manual (W561)
MC_GroupEnable
4
Function

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English