Function - Omron NY532-1500 Reference Manual

Output Variable Update Timing
Name
Done When the instruction is completed.
Busy When Execute changes to TRUE.
CommandAborted When this instruction is canceled.
Error When there is an error in the execution con-
ditions or input parameters for the instruc-
tion.
In-Out Variables
Name Meaning
AxesGroup Axes Group
* Specify a user-defined Axes Group Variable that was created in the Axes Group Basic Settings of the Sysmac Studio
(default: MC_Group***) or a system-defined axes group variable name (_MC_GRP[*], _MC1_GRP[*], or _MC2_GRP[*]).

Function

Before describing the function of this instruction, the different states of axes groups are explained.
• Axes groups have two states, the GroupEnable and GroupDisable states.
State
GroupEnable
GroupDisable
• To perform multi-axes coordinated control, an axes group must be in a GroupEnable state.
You can monitor the Axes Group Variables in the system-defined variables for motion control to see if
axes groups are enabled or disabled.
Here, the Axes Group Variables are described using _MC_GRP[*] as an example. The same informa-
tion applies to _MC1_GRP[*] and _MC2_GRP[*].
Name
_MC_GRP*.Status.Ready
_MC_GRP*.Status.Disabled
Note * in _MC_GRP* is replaced by a number between 0 and 63 for the NX-series, and a number between 0 and
31 for the NJ/NY-series.
NY-series Motion Control Instructions Reference Manual (W561)
Timing for changing to TRUE
Data type
_sGROUP_REF ---
Multi-axes coordinated control is enabled.
You can execute any multi-axes coordinated control instructions except for the
MC_ChangeAxesInGroup (Change Axes In Group) instruction.
Multi-axes coordinated control is disabled. You can execute only the following multi-axes
coordinated control instructions.
• MC_GroupEnable (Enable Axes Group) instruction
• MC_GroupDisable (Disable Axes Group) instruction
• MC_GroupReset (Reset Axes Group Errors) instruction
• MC_GroupSetOverride (Set Group Overrides) instruction
• MC_GroupReadPosition (Read Axes Group Position) instruction
• MC_ChangeAxesInGroup (Change Axes in Group) instruction
Meaning
Axes Group
Enabled
Axes Group Dis-
abled
4 Axes Group Instructions
Timing for changing to FALSE
• When Execute is TRUE and changes to FALSE.
• After one period when Execute is FALSE.
• When Done changes to TRUE.
• When Error changes to TRUE.
• When CommandAborted changes to TRUE.
• When Execute is TRUE and changes to FALSE.
• After one period when Execute is FALSE.
When the error is cleared.
Valid range
Specify the axes group.
Description
Description
TRUE when the axes group is stopped and preparations
to execute an axes group instruction are completed.
TRUE when the axes group is disabled and stopped.
Description
*
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