Omron Sysmac NY-series User Manual

Precautions for Correct Use
• An Instruction Execution Error with Undefined Home (error code: 5466 hex) occurs if home is
undefined for any of the composition axes in the axes group.
•
Specify the target positions so that the travel distances to the target positions do not cause
the velocity to exceed the value that is specified in the Maximum Velocity axis parameter. If
target positions are specified that cause the Maximum Velocity to be exceeded, the com-
mand velocity will become saturated and the travel distances will be output so that the
Maximum Velocity is not exceeded. If this occurs, any insufficient travel distances to the tar-
get positions are output in the next period or later.
Details.VelLimit (Command Velocity Saturation) in the axis control status changes to TRUE at
this time.
Instruction Details
This section describes the instruction in detail.

In-position Check
If Position (T
arget Position) is not changed, InPosition changes to TRUE when the difference between
the target position and the actual position is within the range that is set for the In-position Range axis
parameter.
Even if the target position is changed while InPosition is TRUE, it will remain TRUE for the remainder
of the period and change to FALSE the next period.
The setting of the In-position Check Time axis parameter is disabled.

Stop Processing
This section describes the methods that are used to stop axes group operations.
Use the MC_GroupStop instruction or the MC_GroupImmediateStop instruction to stop axes group op-
eration. If one of these instructions is executed, CommandAborted for this instruction will change to
TRUE.
Stopping with the MC_GroupStop Instruction
An immediate stop is performed.
Stopping with the MC_GroupImmediateStop Instruction
An immediate stop is performed according to the setting of the Immediate Stop Input Stop Method
axis parameter for each axis.

Stopping Due to Errors
If an error that causes the axes to stop occurs, an immediate stop is performed regardless of any set-
tings.

Applicable Axes
• You can use this instruction for a servo axis.
To use this instruction, change Enable for the MC_Power instruction to TRUE (Servo ON).
• A virtual servo axis will acknowledge this instruction at any time.
4 Axes Group Instructions
4-102
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