Omron Sysmac NY-series User Manual

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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

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)

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Omron Sysmac NY-series Specifications

General

Category	Control Unit
Operating Temperature	0 to 55 °C
Power Supply Voltage	24 VDC
Power Supply	24 VDC
Product Series	NY-series
CPU	Intel Atom or Intel Core i7
Programming Languages	IEC 61131-3 (LD, FBD, ST, SFC)
Memory (Program)	Up to 64 MB
Ethernet Ports	2
EtherNet/IP Ports	2 ports (built-in)
EtherCAT Master Ports	1
EtherCAT	Yes
Motion Control	Supported
Safety	Yes
Built-in I/O	No
Relative Humidity	10 to 90% (non-condensing)
Vibration Resistance	5 to 8.4 Hz: 3.5 mm; 8.4 to 150 Hz: 9.8 m/s²
Shock Resistance	147 m/s²
Power Consumption	Varies by model
Certifications	CE, cULus, RCM, KC, EAC