Function - Omron Sysmac NY-series Instruction & Reference Manual

3 Axis Command Instructions
Name
•
CommandAborted
When this instruction is aborted because anoth-
er motion control instruction was executed with
the Buffer Mode set to Aborting.
•
When this instruction is canceled due to an er-
ror.
•
When this instruction is executed while there is
an error.
•
When you start this instruction during MC_Stop
instruction execution.
•
When execution of the synchronized control in-
struction is completed.
Error When there is an error in the execution conditions
or input parameters for the instruction.
In-Out Variables
Name
Master Master Axis
Slave Slave Axis
*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Ax-
is*) or a system-defined axis variable name (_MC_AX[*]).
If you use Sysmac Studio version 1.29 or higher, you can specify the system-defined axis variable name for AT specifi-
cation of a user-defined variable. This will allow you to specify the user-defined variable.
If you use Sysmac Studio version 1.28 or lower, do not specify any user-defined variable created in the variable table.
Precautions for Correct Use
If you specify the same axis for the master axis and slave axis, a Master and Slave Defined as
Same Axis minor fault (error code 5436 hex) will occur.

Function

• Except during execution of the MC_CombineAxes instruction, if the MC_Phasing instruction is exe-
cuted when single-axis synchronized control is in progress, the phase of the master axis is shifted
according to the settings of PhaseShift (Phase Shift Amount), Velocity (Target Velocity),
Acceleration (Acceleration Rate), and Deceleration (Deceleration Rate).
• The command current position and actual current position of the master axis do not change, and the
relative shift between the command current position and actual current position of the master axis is
taken as the phase of the master axis.
The slave axis is synchronized to the shifted master axis phase.
• Done changes to TRUE when the PhaseShift (Phase Shift Amount) is reached.
• Shifting is ended when execution of the synchronized control instruction is completed. If a synchron-
ized control instruction is executed again, the previous amount of shift is not affected.
• You can shift the phase of the master axis for the following synchronized control instructions:
MC_CamIn (Start Cam Operation), MC_GearIn (Start Gear Operation), MC_GearInPos (Positioning
Gear Operation), and MC_MoveLink (Synchronous Positioning).
3-330
Timing for changing to TRUE
Meaning Data type
_sAXIS_REF
_sAXIS_REF
Timing for changing to FALSE
•
When Execute is TRUE and changes to
FALSE.
•
After one period when Execute is FALSE.
When the error is cleared.
Valid
range
---
Specify the master axis.
---
Specify the slave axis.
NY-series Motion Control Instructions Reference Manual (W561)
Description
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