Name Meaning
Data
type
Valid
range
Description
Error Error BOOL TRUE or
F
ALSE
TRUE while there is an error.
ErrorID Error Code WORD
*1
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
*1. The upper four digits of the event code give the error code for ErrorID. Refer to the NY
-series Troubleshooting Manual
(Cat. No. W564) for the event codes.
Output Variable Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
Done When the instruction is completed.
• When Execute is TRUE and changes to
F
ALSE.
• After one period when Execute is 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 due to an error
in another instruction.
• 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 for which to change the
axes.
*1
Axes Axes Group Com-
position Axes
ARRAY [0..3]
OF UINT
--- Specify the axis numbers of the new composition
axes.
*2
*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.
*2. Set only servo axes or virtual servo axes as the composition axes. Specify the same number of composition axes as
the number before the composition axes are changed.
Function
• When Execute changes to TRUE, the MC_ChangeAxesInGroup instruction writes the composition
axes that are specified in Axes (Axes Group Composition Axes) to the Axes Group parameter for
the axes group that is specified in AxesGroup (Axes Group).
•
When execution of the instruction is completed, Axis[ ] in the Kinematics (Kinematics Transformation
Settings) axes group variable will indicate the specified composition axes.
• You cannot use this instruction to change the axis composition (i.e., the number of axes). For exam-
ple, if you execute this instruction for an axes group with an axis composition of three axes, the axis
composition will still contain three axes.
4 Axes Group Instructions
4-96
NY-series Motion Control Instructions Reference Manual (W561)
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