Omron Sysmac NY-series Instruction & Reference Manual page 339

 Relationship between Axis Types and Position Types
The relationship between the axis types that you can monitor and position types that is monitored is
shown below.
Axis Type
Servo axis
Encoder axis
Virtual servo axis
Virtual encoder
axis
*1. A Position Type Selection Out of Range error (error code: 5430 hex) occurs when the instruction is execut-
ed.
Timing Charts
• Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE. Active (Control-
ling) changes to TRUE in the next period.
• InGear (Gear Ratio Reached) changes to TRUE when the target velocity is reached.
• If another instruction aborts this instruction, CommandAborted changes to TRUE and Busy (Execut-
ing), Active (Controlling), and InGear (Gear Ratio Reached) change to FALSE.
• Use the MC_GearOut (End Gear Operation) or MC_Stop instruction to stop electronic gear opera-
tion before it is completed.
Execute
InGear
Busy
Active
CommandAborted
Error
ErrorID
Velocity
You can specify the Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) as input
variables.
NY-series Motion Control Instructions Reference Manual (W561)
_mcCommand or _mcLatestCommand
OK
*1
No
OK
*1
No
InGearPhase
MC_GearIn executed.
3 Axis Command Instructions
ReferenceType
16#0000
Multi-execution of
another instruction
_mcFeedback
OK
OK
OK
OK
Time
3-251
3