Function - Omron NY532-1500 Reference Manual

Output Variable Update Timing
Name
Done When positioning is completed.
Busy When Execute changes to TRUE.
Active When the axis starts moving.
CommandAborted • When this instruction is aborted because
• When this instruction is canceled due to an
• When this instruction is executed while there
• When you start this instruction during
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
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

• The MC_MoveLinearRelative instruction performs linear interpolation for 2 to 4 axes.
• The target position is specified as a relative position.
Other specifications are the same as those for the MC_MoveLinear (Linear Interpolation) instruction.
For details, refer to Function on page 4-12.
Precautions for Correct Use Precautions for Correct Use
• An Instruction Execution Error with Undefined Home (error code: 5466 hex) occurs if home is
undefined for any of the composition axes in the axes group.
• You cannot execute an instruction to perform linear interpolation if a limit input is ON for any of
the logical axes that belong to the axes group.
NY-series Motion Control Instructions Reference Manual (W561)
Timing for changing to TRUE
another motion control instruction was exe-
cuted with the Buffer Mode set to Aborting.
error.
is an error.
MC_GroupStop instruction execution.
Data type
_sGROUP_REF
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 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
*
4-41
4