Function - Omron NY532-1500 Reference Manual

3 Axis Command Instructions
In-Out Variables
Name Meaning
Axis Axis
* Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Axis***)
or a system-defined axis variable name (_MC_AX[*], _MC1_AX[*], or _MC2_AX[*]).

Function

• When Enable changes to TRUE, the axis specified by Axis is made ready to operate.
You can control the axis when it is ready to operate.
• When Enable changes to FALSE, the ready status is cleared for the axis specified by Axis.
You cannot control the axis after the ready status is cleared because it will not acknowledge opera-
tion commands. Also, an error occurs if a motion command is executed for an axis for which the
ready status is cleared. You can execute the MC_Power (Power Servo) and MC_Reset (Reset Axis
Error) instructions even for axes that are not ready.
• You can use this instruction to disable the operation of axes while they are in motion. In this case,
CommandAborted will change to TRUE. Output of the operation command will stop and the axis will
not longer be ready for operation.
• If home is not defined for a Servomotor with an absolute encoder, compensation is performed using
the absolute encoder home offset to define home when the axis is ready to operate. For a CPU Unit
with unit version 1.10 or later, home is also defined when EtherCAT process data communications
change from a non-established to an established state.
For details on the absolute encoder home offset, refer to the NJ/NX-series CPU Unit Motion Control
User's Manual (Cat. No. W507) or NY-series Industrial Panel PC / Industrial Box PC Motion Control
User's Manual (Cat. No. W559).
Precautions for Correct Use Precautions for Correct Use
• You can use this instruction for servo axes and virtual servo axes. If the instruction is used for
encoder axes or virtual encoder axes, an error will occur.
• The function of this instruction is different when it is executed for an NX-series Pulse Output
Unit. Refer to the NX-series Position Interface Units User's Manual (Cat. No. W524) for details.
• Executing this Instruction for the Master Axis of Synchronized Control
When master axis operation is disabled for a vertical axis, the position of the master axis may
change rapidly. This may cause the motion of the slave axis to change rapidly. Take suitable
measures to prevent the slave axis from moving rapidly, such as applying a brake to the mas-
ter axis or leaving master axis operation enabled until after synchronized control is completed.
3-4
Data type Valid range
_sAXIS_REF ---
NY-series Motion Control Instructions Reference Manual (W561)
Description
*
Specify the axis.