Motion Control Instruction Locations - Omron Sysmac NY-series Instruction & Reference Manual

• The status of the instruction or the status of the Servo Drive is output with output variables.
• If input parameters are omitted, input variables are set to default values.
Structured Text (ST)
The instruction instance name is specified.
Instruction variables are written from upper left to lower left, then upper right to lower right.
The following example shows MC_MoveAbsolute (Absolute Positioning).
MC_ABS_instance (
Axis := MC_Axis001 ,
Execute := PTP_Absolute ,
Position := PTP_Position ,
Velocity := PTP_Velocity ,
Acceleration := PTP_Acc ,
Deceleration := PTP_Dec ,
Jerk := PTP_Jerk ,
Direction := _mcNoDirection ,
BufferMode := _mcAborting ,
Axis => MC_Axis001 ,
Done => PTP_Done
);
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Motion Control Instruction Locations

This section describes the tasks in which motion control instructions can be located, and the differen-
ces in operation that can occur for different locations in the user program.
Task Types
Motion control instructions can be used in the primary periodic task, or in a priority-16 periodic task. If
you use motion control instructions in any other task, an error will occur when you build the program.
Task type
Primary periodic task
Periodic task (execution priority: 16)
Periodic task (execution priority: 17)
Periodic task (execution priority: 18)
Event task (execution priority: 8)
NY-series Motion Control Instructions Reference Manual (W561)
1 Introduction to Motion Control Instructions
Applica-
bility
•
Applicable
Common instructions for which an axis or axes group is
not specified.
•
Instructions for an axis or axes group assigned to the pri-
mary periodic task
•
Applicable Common instructions for which an axis or axes group is
not specified.
•
Instructions for an axis or axes group assigned to the pri-
mary periodic task
Not Appli-
cable
Not Appli-
cable
Not Appli-
cable
Remarks
1
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