Function - Omron NY532-1500 Reference Manual

Function

• The MC_MoveCircular2D instruction performs 2D circular interpolation for two axes.
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 circular 2D interpolation if a limit input is ON for
any of the logical axes that belong to the axes group.
Instruction Details
This section describes the instruction in detail.
Circular Interpolation Procedure
Use the following procedure to perform circular interpolation.
1
Registering Axes Groups for Interpolation
• Determine the axes group to perform interpolation.
An axes group is represented by _MC_GRP[*], _MC1_GRP[*], or _MC2_GRP[*].
• Specify the axis composition with the Composition Axes Group Variable.
• Specify the combination of axes to perform interpolation with the Axis Selection Axes Group
Variable.
• Use logical axes (axis A0 to A3) for the axes, and not axis numbers (axis 0 to 255).
• Specify axis numbers 0 to 255 for the logical axes A0 to A3 in order from the lowest number
using the Axis Selection Axes Group Variable.
Logical axis
Axis A0
Axis A1
Axis A2
Axis A3
*1 The Axis number is "Axis 0 to Axis 63" in the case of NJ/NY-series.
Example: The following specifications are used to specify axis numbers 0 and 1 for axes A0 and
Logical axis
Axis A0
Axis A1
Precautions for Correct Use Precautions for Correct Use
An Instruction Not Allowed for Encoder Axis Type error (543D hex) will occur and operation will
end if an encoder axis or virtual encoder axis is included in the axes group. Make sure that you
select only servo axes or virtual servo axes.
2
Enabling the Axes Group
NY-series Motion Control Instructions Reference Manual (W561)
Axis number
Axis 0 to Axis 255
Axis 0 to Axis 255
Axis 0 to Axis 255
Axis 0 to Axis 255
A1 with a 2-axis composition.
Axis number
Axis 0
Axis 1
*1
Description
Specify axis numbers to the logical axes from axis A0
in order from the lowest number.
4 Axes Group Instructions
4
4-45