Omron Sysmac NY-series Instruction & Reference Manual page 32

1 Introduction to Motion Control Instructions
Error Processing
You execute motion control instructions to implement motion control with the MC Function Module.
When motion control instructions are executed, input parameters and instruction processing are
checked for errors.
If an error occurs in an instruction, the Error output variable from the instruction changes to TRUE and
an error code is output to ErrorID output variable.
There are two ways that you can use to program processing of errors for motion control instructions.
 Error Processing for Individual Instructions
You can use the Error and ErrorID output variables from the instruction to process errors that occur
for each instruction.
The following example shows how to determine if an Illegal Axis Specification occurs for the in-
struction with the instance name PWR1.
The instructions are programmed so that error processing is executed if NoAxisErr changes to
TRUE.
Turning ON the Servo
Pwr1_En
Checking to See If the Specified Axis Exists
Pwr1_Err
 Error Processing for Different Types of Errors
You can use the error status that is provided by the system-defined variables for motion control to
process each type of error separately.
The following example shows how to determine if a Slave Communications Error occurs for the ax-
is that is called MC_Axis000. The instructions are programmed so that error processing is executed
if ConnectErr changes to TRUE.
1-4
PWR1
MC_Power
MC_Axis000
Axis
Enable
EQ
Pwr1_ErrID In1
WORD#16#5460 In2
In3
In4
In5
NY-series Motion Control Instructions Reference Manual (W561)
Axis
Status
Busy Pwr1_Bsy
Error Pwr1_Err
ErrorID Pwr1_ErrID
EQ
Pwr1_Status
NoAxisErr