Online Editing Of Motion Control Instructions; Changes In The Operating Mode Of The Ny-Series Controller - Omron NY532-1500 Reference Manual

1 Introduction to Motion Control Instructions

Online Editing of Motion Control Instructions

You can perform the following online editing operations for motion control instructions from the Sysmac
Studio.
Deleting motion control instructions
Adding motion control instructions
Adding input variables, output variables, and in-out variables to motion control instructions
Changing input variables, output variables, and in-out variables in motion control instructions
Deleting input variables, output variables, and in-out variables in motion control instructions.
Precautions for Correct Use Precautions for Correct Use
If instructions to stop the axis motion, such as MC_Stop or MC_GroupStop, are deleted while the
axis is still moving, the axis may not stop depending on the contents of the user program. Make
sure that it is safe to use the online editing before using it for motion control instructions.

Changes in the Operating Mode of the NY-series Controller

An NY-series Controller has two operating modes: PROGRAM mode and RUN mode. This section
describes the operation of the MC Function Module when the operating mode changes.
Changes from RUN Mode to PROGRAM Mode
• The motion control instruction that is under execution will be aborted. The CommandAborted output
variable remains FALSE, but the operation is the same as when CommandAborted is TRUE.
• If the axis is moving, it will decelerate to a stop at the maximum deceleration. The Servo ON/OFF sta-
tus will continue.
• If saving the cam table is in progress for the Save Cam Table instruction, the save operation contin-
ues.
• If creation of the cam table is in progress for the Generate Cam Table instruction, the creation opera-
tion continues.
• Motion control instructions located in a priority 16 periodic task perform the above process after the
END instruction in the task is executed.
Changes from PROGRAM Mode to RUN Mode
• The output variables of the motion control instructions are cleared.
• The axis decelerates to a stop when the mode changes from RUN mode to PROGRAM mode. If the
operating mode is changed back to RUN mode while the axis is decelerating, the output variables
from the motion control instruction are cleared. Therefore, CommandAborted of the motion control
instruction that was under execution remains FALSE.
Additional Information
• To enable accessing output variables for motion control instructions even after the operating
mode changes, assign variables that have output parameters with a Retain attribute. By
accessing the assigned output parameter, you can access the output variable immediately
before the operating mode changes.
• The Servo ON/OFF status will continue even if the operating mode is changed.
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Online editing operations
NY-series Motion Control Instructions Reference Manual (W561)