Omron NY532-1500 Reference Manual page 90

3 Axis Command Instructions
Enable
Status
Busy
Precautions for Correct Use Precautions for Correct Use
• Status (Servo ON) will not change to TRUE until Enable changes to TRUE and the processing
is finished at the axis. Make sure that Status (Servo ON) changes to TRUE before moving the
axis.
• Write the user program to confirm that EtherCAT communications are established before you
execute motion control instructions. This is particularly important when starting axis operation
immediately after you turn ON the power supply to the Controller. Also, include interlocks in
the user program that detect errors in EtherCAT communications during operation.
Re-execution of Motion Control Instructions
You cannot re-execute motion instructions with enable-type inputs.
Multi-execution of Motion Control Instructions
For details on multi-execution of motion control instructions, 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).
Multi-execution of MC_Power Instructions
Precautions for Correct Use Precautions for Correct Use
Do not execute the MC_Power (Power Servo) instruction for an axis that is already enabled for
another instance of the MC_Power (Power Servo) instruction. Normally, use only one MC_Power
(Power Servo) instruction for each axis.
If another MC_Power instruction is executed for the same axis, the last instruction takes priority.
A
Multiple MC_Power instructions
executed for the same axis
B
3-6
The specified axis becomes
ready for operation.
Power A
MC_Power
Axis1 Axis
Enable
Power B
MC_Power
Axis1 Axis
Enable
Ready status is cleared for the
specified axis.
Axis
Status
Busy
Error
ErrorID
Axis
Status
Busy
Error
ErrorID
NY-series Motion Control Instructions Reference Manual (W561)