*4. An error will occur if the servo is ON.
*5. The status changes as follows for the given conditions:
• If the error is reset successfully when the servo is OFF
, the status will change to Axes Group Disabled
(a).
• If the error is reset successfully when the servo is ON, the status will change to Standstill (b).
• If Execute for the MC_GroupStop instruction is TRUE and the servo is ON, the status will change to
Deceleration Stopping (d).
Common Command Instructions
You can perform multi-execution of common command instructions regardless of the status of the
axis or axes group.
Also, the axis status and axes group status will not change when you execute a common command
instruction. The current status is maintained.
Multi-execution of Instructions for an Encoder Axis and Virtual En-
coder Axis
The following table shows whether multi-execution of the instruction is supported for an encoder axis,
as well as how the status of the encoder axis changes after multi-execution.
The color of the cell in the table tells you if multi-execution of the instruction is supported.
White : Multi-execution of the instruction is supported.
Gray : Multi-execution of the instruction is not supported. An error will occur.
Yellow : Multi-execution of the instruction is not supported. CommandAborted changes to TRUE and execution
of the instruction is disabled.
Each letter code in the table shows the status to which the axis changes.
Axis Status
A : Disabled
H : ErrorStop
Axis Command Instructions
Instruction
Axis status before instruction execution
A H
Axis Disabled Error Deceleration Stopping
MC_Power H H
MC_MoveJog H H
MC_Home H H
MC_HomeWithParameter H H
MC_Move H H
MC_MoveAbsolute H H
MC_MoveRelative H H
MC_MoveVelocity H H
MC_MoveZeroPosition H H
MC_MoveFeed H H
MC_Stop H H
MC_ImmediateStop H H
MC_SetPosition A H
Appendices
A-8
NY-series Motion Control Instructions Reference Manual (W561)
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