Omron Sysmac NY-series User Manual

Name Meaning Data type
Valid
range
Description
Done Done BOOL TRUE or
F
ALSE
TRUE when the instruction is completed.
At this time, output variables Active, Error, and
CommandAborted are FALSE.
Done will be TRUE for at least one period if the input
variable Execute is FALSE when the instruction is
completed.
If Execute is TRUE, Done remains TRUE until
Execute changes to FALSE.
Busy Executing BOOL TRUE or
F
ALSE
Changes to TRUE when an instruction is acknowl-
edged.
Active Controlling BOOL TRUE or
F
ALSE
Changes to TRUE when the instruction is executed.
This variable is TRUE while the instruction is actually
controlling an axis or axes group. At this time, output
variables Done, Error, and CommandAborted are
FALSE.
Enabled Enabled BOOL TRUE or
F
ALSE
Changes to TRUE when busy.
CommandAborted Instruction
Aborted
BOOL TRUE or
F
ALSE
TRUE when an instruction could not be executed or
when it was aborted during execution.
The instruction is not executed if there is an error
with the target axis or axes group. Similarly, the in-
struction is not executed while the target axis or axes
group is decelerating to a stop.
The instruction is aborted when another instruction is
executed, or if an error other than for this instruction
occurs.
At this time, output variables Done, Active, and Error
change to FALSE. If the instruction is aborted while
the input variable Execute is FALSE,
CommandAborted will be TRUE for at least one peri-
od.
If Execute or Enable is TRUE, CommandAborted re-
mains TRUE until Execute or Enable changes to
FLASE.
Error Error BOOL TRUE or
F
ALSE
TRUE when there is an error caused by a mistake in
an input variable or instruction processing.
*1
ErrorID Error Code WORD
*2
Contains the error code when an error occurs.
16#0000 indicates normal operation.
Failure Failure End BOOL TRUE or
F
ALSE
TRUE when the instruction was not executed correct-
ly.
Status Servo ON BOOL TRUE or
F
ALSE
TRUE when the device is ready for operation.
EndOfProfile End of Cam
Cycle
BOOL TRUE or
F
ALSE
Changes to TRUE when the cam table end point is
executed.
Index Index UINT Non-nega-
tive number
Contains the cam data index number.
StartSync Following BOOL TRUE or
F
ALSE
TRUE when acceleration/deceleration is started for
synchronization and the device is ready for opera-
tion.
2 Variables and Instructions
2-28
NY-series Motion Control Instructions Reference Manual (W561)

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

Summary

Introduction to Motion Control Instructions

Motion Control Instructions

Basic Information on Motion Control Instructions

Variables and Instructions

Variables

Input Variables for Motion Control Instructions

Output Variables for Motion Control Instructions

Axis Command Instructions

MC_Power

Explains the MC_Power instruction for making a Servo Drive ready to operate.

MC_MoveJog

Explains the MC_MoveJog instruction for jogging an axis according to the specified target velocity.

MC_Home

Explains the MC_Home instruction for operating the motor to determine home.

MC_HomeWithParameter

Explains the MC_HomeWithParameter instruction for setting homing parameters and operating the motor to determine home.

MC_Move

Explains the MC_Move instruction for performing absolute positioning or relative positioning.

MC_MoveAbsolute

Explains the MC_MoveAbsolute instruction for moving the axis to a specified absolute target position.

MC_MoveRelative

Explains the MC_MoveRelative instruction for moving the axis the specified travel distance.

MC_MoveVelocity

Explains the MC_MoveVelocity instruction for performing velocity control.

MC_MoveZeroPosition

Explains the MC_MoveZeroPosition instruction for positioning to an absolute position of 0.

MC_MoveFeed

MC_Stop

Explains the MC_Stop instruction for decelerating an axis to a stop.

MC_ImmediateStop

Explains the MC_ImmediateStop instruction for stopping an axis immediately according to the specified stopping mode.

MC_SetPosition

MC_SetOverride

MC_ResetFollowingError

MC_CamIn

Explains the MC_CamIn instruction to start cam operation using a specified cam table.

MC_CamOut

MC_GearIn

Explains the MC_GearIn instruction to specify the gear ratio and start gear operation.

MC_GearInPos

Explains the MC_GearInPos instruction to perform electronic gear operation with specified gear ratio.

MC_GearOut

MC_MoveLink

Explains the MC_MoveLink instruction for positioning in sync with the specified master axis.

MC_CombineAxes

MC_TorqueControl

Explains the MC_TorqueControl instruction to control torque using the Torque Control Mode.

MC_SetTorqueLimit

Explains the MC_SetTorqueLimit instruction to limit torque output from the Servo Drive.

MC_TouchProbe

Explains the MC_TouchProbe instruction to record axis position when a trigger signal occurs.

MC_AbortTrigger

MC_AxesObserve

MC_SyncMoveVelocity

Explains the MC_SyncMoveVelocity instruction for outputting target velocity in CSV Mode.

MC_SyncMoveAbsolute

Explains the MC_SyncMoveAbsolute instruction to cyclically output target positions.

MC_Reset

Explains the MC_Reset instruction to clear axis errors.

MC_DigitalCamSwitch

Explains the MC_DigitalCamSwitch instruction to turn a digital output ON or OFF based on axis position.

MC_SyncOffsetPosition

MC_OffsetPosition

Axes Group Instructions

MC_GroupEnable

MC_GroupDisable

MC_MoveLinear

MC_MoveLinearAbsolute

MC_MoveLinearRelative

MC_MoveCircular2D

MC_GroupStop

MC_GroupImmediateStop

MC_GroupSetOverride

MC_GroupSyncMoveAbsolute

MC_GroupReset

Common Command Instructions

MC_SetCamTableProperty

MC_SaveCamTable

MC_Write

MC_GenerateCamTable

MC_WriteAxisParameter

MC_ReadAxisParameter