Function - Omron NY532-1500 Reference Manual

Function

• The MC_GroupSyncMoveAbsolute instruction outputs the target position from the user program
every task period to the Servo Drive or other device in Cyclic Synchronous Position (CSP) Control
Mode. The target position is given as an absolute position.
• The upper limit of the velocity is the value that is set in the Maximum Velocity axis parameter. The
maximum acceleration and deceleration rates are not used.
• If this instruction is executed in the primary periodic task or priority-5 periodic task, the target position
that is specified in the input parameters is output to the Servo Drive in the next task period.
The following timing charts show an example of the operation for when this instruction is executed in
the primary periodic task. The same information applies when it is used in a priority-5 periodic task.
MC_SyncMoveAbsolute Executed in Primary Periodic Task
Position
Target positions (black
dots) specified with the
input parameters
Primary period
• If this instruction is executed in the priority-16 periodic task, the target position that is specified in the
input parameters is output to the Servo Drive in the next periodic task.
MC_SyncMoveAbsolute Executed in Priority-16 Periodic Task
Position
Target positions (black
dots) specified with
the input parameters
Primary period
Precautions for Correct Use Precautions for Correct Use
Specify the target position so that the travel distance to the target position does not cause the
velocity to exceed the value that is specified in the Maximum Velocity axis parameter. If a target
position is specified that cause the maximum velocity to be exceeded, the command velocity will
become saturated and the travel distance will be output so that the maximum velocity is not
exceeded. If this occurs, any insufficient travel distance to the target position is output in the next
period or later. Details.VelLimit (Command Velocity Saturation) in the axis control status changes
to TRUE at this time.
Instruction Details
This section describes the instruction in detail.
In-position Check
If Position (Target Position) is not changed, InPosition changes to TRUE when the difference between
the target position and the actual position is within the range that is set for the In-position Range axis
parameter.
NY-series Motion Control Instructions Reference Manual (W561)
Command
position
Time
Command
position
Time
Task period
3 Axis Command Instructions
Command
Servo
position
Drive
Command
Servo
position
Drive
M
E
M
E
3-381
3