Function - Omron NY532-1500 Reference Manual

Ny-series industrial pc platform

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Function

• While Valid (Enabled) is TRUE, the MC_GroupReadPosition instruction gets the command current

positions and the actual current positions of the composition axes in the axes group each control

• The following table lists the position types that can be used for each axis type.

Virtual servo axis

Encoder axis

Virtual encoder axis

* For a virtual servo axis, the actual position is the same as the command position. However, there is sometimes

calculation error because processing is performed with long reals in the MC Function Module.

• You can execute this instruction even if home is not defined.

• You can execute this instruction regardless of whether the axes group is enabled or disabled.

Precautions for Correct Use

Before you use this instruction in a task to which the axes group is not assigned, declare Axis

Variables as external variables for the configuration axes that are specified in Axes (Axes Group

Composition Axes) in the task.

Timing Charts

• When Enable changes to TRUE, Busy (Executing) and Valid (Enabled) change to TRUE.

When Enable changes to FALSE, Busy (Executing) and Valid (Enabled) change to FALSE.

MC_GroupReadPosition

CommandPosition

/ActualPosition

Re-execution of Motion Control Instructions

You cannot re-execute enable-type motion instructions.

NY-series Motion Control Instructions Reference Manual (W561)

Command current position

Not applicable

10 20 30 40 40 40 30 20 20 Undefined

4 Axes Group Instructions

Types of positions

Actual current position