Omron Sysmac NY-series User Manual

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precautions, additional
information, or reference
information.
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3-3
3
Axis Command Instructions
NJ-series Motion Control Instructions Reference Manual (W508)
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* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis variable names
are MC_Axis***.)
• When
Enable changes to TRUE, the axis specified by Axis is made ready to operate.
You can control the axis when it is ready to operate.
• When Enable changes to FALSE, the ready status is cleared for the axis specified by Axis.
You cannot control the axis after the ready status is cleared because it will not acknowledge opera-
tion commands. Also, an error occurs if a motion command is executed for an axis for which the
ready status is cleared. You can execute the MC_Power (Power Servo) and MC_Reset (Reset Axis
Error) instructions even for axes that are not ready.
• You can use this instruction to disable the operation of axes while they are in motion. In this case,
CommandAborted will change to TRUE. Output of the operation comman
d will stop and the axis will
not longer be ready for operation.
• If home is not defined for a Servomotor with an absolute encoder, compensation is performed using
the absolute encoder home offset to define home when the axis is ready to operate.
For details on the absolute encoder home offset, refer to the
NJ-series CPU Unit Motion Control
U
ser’s Manual (Cat. No. W507).
Precautions for Correct UsePrecautions for Correct Use
• You can use this instruction for servo axes and virtual servo axes. If the instruction is used for
encoder axes or virtual encoder axes, an error will occur.
• Executing this Instruction for the Master Axis of Synchronized Control
When master axis operation is disabled for a vertical axis, the position of the master axis may
change rapidly. This may cause the motion of t he slave axis to change rapidly. Take suitable
measures to prevent the slave axis from moving rapidly, such as applying a brake to the mas-
ter axis or leaving master axis operation enabled until after synchronized control is completed.
• W
hen Enable changes to TRUE, Busy (Executing) changes to TRUE to indicate that the instruction
was acknowledged.
• After the axis becomes ready for operation, Status (Servo ON) changes to TRUE.
• W
hen Enable changes to FALSE, Busy (Executing) changes to FALSE. Status (Servo ON) changes
t
o FALSE when ready status is cleared. Status (Servo ON) outputs the axis ready status regardless
o
f whether Enable is TRUE or FALSE.
In-Out
Variables
Name Meaning Data type Valid range Description
Axis Axis _sAXIS_REF ---
Specify the axis.
*
Function
Timing Charts
Enable
Status
Busy
The specified axis becomes
ready for operation.
Rea
dy status is cleared for the
specified axis.
Note These pages are for illustrative purposes only. They may not literally appear in this manual.
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier
.
Version Information
Information on dif
ferences in specifications and functionality for Controller with different unit versions
and for different versions of the Sysmac Studio is given.
Manual Structure
5
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