Omron NY532-1500 Reference Manual page 254

3 Axis Command Instructions
Precautions for Correct Use Precautions for Correct Use
• Do not execute the MC_SetPosition instruction for the Master (Master Axis) if you use this
instruction on a CPU Unit with unit version 1.09 or earlier.
If the MC_SetPosition instruction is executed for the Master (Master Axis), the Slave (Slave
Axis) may follow the master axis quickly.
If you want to use the MC_SetPosition instruction for the Master (Master Axis), disable the
relationship between the Master (Master Axis) and slave axes before executing the instruction.
Refer to Precautions for Master and Auxiliary Axes in Synchronized Control on page 1-6 for
precautions on the master axis.
• When executed, this instruction checks if the phases are in ascending order. If they are not in
ascending order, an error occurs.
When you change cam data, execute the MC_SetCamTableProperty (Set Cam Table Proper-
ties) instruction to make sure that the phases are in ascending order.
Make sure that the phases will be in ascending order before you change the phases during a
cam motion. The cam motion may stop if the phases are not in ascending order.
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not
use the cam data variable for motion control instructions while exclusive control is in effect for
the cam data variable. An Incorrect Cam Table Specification error (error code: 5439 hex) will
occur.
3-170 NY-series Motion Control Instructions Reference Manual (W561)