Omron NY532-1500 Reference Manual page 522

4 Axes Group Instructions
Basic Function
• The MC_GroupEnable (Enable Axes Group) instruction places the axes group specified by Axes-
Group into the GroupEnable state.
• When an axes group is in the GroupEnable state, you can execute any multi-axes coordinated control
instructions for the axes group.
• You can set only servo axes and virtual servo axes in an axes group. An error will occur if you include
other axis types.
• All axes that belong to an axes group must be in a stopped state to enable the group.
An axis is stopped if the Status.Disabled (Axis Disabled) or Status.Standstill (Standstill) in the Axis
Variable is TRUE.
• If there are axes that already belong to another axes group and the other axes group is enabled, the
MC_GroupEnable instruction is not executed and an error will occur if you attempt to execute it.
• When an axes group is enabled, the axes in the axes group change to Coordinated Motion status.
Status.Coordinated (Coordinated Motion) in the Axis Variable changes to TRUE.
• An axes group is disabled if the MC_GroupDisable (Disable Axes Group) instruction is executed, if
operation is stopped by changing to PROGRAM mode, or if a MC Test Run is started.
Precautions for Correct Use Precautions for Correct Use
• To use an axes group, create an axes group on the Sysmac Studio and download the settings
to the CPU Unit. You cannot change the axes in an axes group from the user program.
For a CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher, you
can use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to temporarily
change axes groups.
• Use the Synchronize Menu of the Sysmac Studio to download the project.
Timing Charts
Execute
Done
Busy
CommandAborted
Error
ErrorID
Axes group state
4-4
16#0000
GroupDisable
NY-series Motion Control Instructions Reference Manual (W561)
GroupEnable