Omron Sysmac NY-series User Manual

Instruction
Axis status before instruction execution
Axes group status be-
fore instruction execu-
tion
A B C D E F G H I a b c d e
Axis Disabled Standstill Discrete Motion Continuous Motion Synchronized Motion Homing Deceleration Stopping Error Deceleration Stopping Coordinated Motion Axes Group Disabled Standstill Moving Deceleration Stopping Error Deceleration Stopping
MC_SetTorqueLimit A B C D E F G H I a b c d e
MC_ZoneSwitch A B C D E F G H I a b c d e
MC_TouchProbe A B C D E H G H I a e e e e
MC_AbortTrigger A B C
*9
D
*5
E H G H I a e e e e
MC_AxesObserve A B C D E F G H I a b c d e
MC_SyncMoveVelocity H D D D D H G H I a e e e e
MC_SyncMoveAbsolute H C C C C H G H I a e e e e
MC_Reset A B C D E F G
*10
I a b c d e
MC_ChangeAxisUse
(Change unused axis to
used axis)
A --- --- --- --- --- --- --- --- --- --- --- --- ---
MC_ChangeAxisUse
(Change used axis to un-
used axis)
---
*11
H H H H H H H a b c d e
MC_DigitalCamSwitch A B C D E F G H I a b c d e
MC_TimeStampToPos A B C D E F G H I a b c d e
MC_SyncOffsetPosition H H H H E H G H I a e e e e
MC_OffsetPosition H H H H E H G H I a e e e e
*1. If Execute for the MC_Stop instruction is F
ALSE, the status will change to Standstill (B). If the value of
this variable is TRUE, the status will change to Deceleration Stopping (G).
*2. The status will change to Standstill (b) or Deceleration Stopping (d) depending on the maximum deceler-
ation rate.
*3. If a target position is set, the status will change to Discrete Motion (C). Otherwise, the status will change
to Continuous Motion (D).
*4. If the MC_MoveZeroPosition instruction is being executed, an error will occur and the status will change
to Error Deceleration Stopping (H).
*5. If the MC_TorqueControl instruction or the MC_SyncMoveVelocity instruction is being executed, an error
will occur and the status will change to Error Deceleration Stopping (H).
*6. If the MC_CamIn instruction is not being executed, an error will occur and the status will change to Error
Deceleration Stopping (H).
*7. If the MC_GearIn instruction or the MC_GearInPos instruction is not being executed, an error will occur
and the status will change to Error Deceleration Stopping (H).
*8. If the MC_CombineAxes instruction is being executed, an error will occur and the status will change to
Error Deceleration Stopping (H).
*9. If LatchID for the MC_AbortT
rigger instruction is the same as the LatchID for the MC_MoveFeed instruc-
tion, an error will occur and the status will change to Error Deceleration Stopping (H).
*10. The status changes as follows for the given conditions:
Appendices
A-6
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