Omron Sysmac NY-series Instruction & Reference Manual page 454

3 Axis Command Instructions
Precautions for Correct Use
• When using Drive Mode, make sure that you connect the latch signal to the LatchID that you
are going to use.
• The width of the latch signal depends on the performance of the Servo Drive or other device
and other factors.
Additional Information
Set InputDrive to _mcEXT (External Input) if you use an OMRON GX-series GX-EC02££
EtherCAT Encoder Input Slave.
The OMRON GX-series GX-EC02££ EtherCAT Encoder Input Slaves cannot latch on the Z
phase. If you specify _mcEncoderMark (Z phase), an error occurs when the instruction is exe-
cuted. Error changes to TRUE and a Process Data Object Setting Missing error (error code:
3461 hex) is output to ErrorID when the instruction is executed.
Controller Mode
• You can specify a BOOL variable as the trigger in Controller Mode.
• Specify the BOOL variable that you want to use as a trigger for TriggerVariable.
• The Controller Mode causes a longer delay compared to the Drive Mode. This is due to the I/O
refresh delay that occurs when the trigger input signal is updated in the BOOL variable.
BOOL variable assigned to input signal
Position (latched position)
Position when trigger signal is input
Precautions for Correct Use
If you use Controller Mode, the latch is performed each task period interval. Therefore, the
trigger variable must remain TRUE for at least one task period interval.
Also, one task period is required between when the trigger variable changes to TRUE and the
MC Function Module processes the latch.
Here, the task period is the primary period.
LatchID
• You can execute up to two MC_TouchProbe instructions per axis.
Use LatchID to specify which of the two latches to use.
• If a LatchID specified for the same axis is already being executed, only the last instruction is valid.
CommandAborted of the previous instruction will change to TRUE.
• LatchID indicates latch circuit 1 and latch circuit 2 in the Servo Drive or other device.
For information on LatchID, refer to the NY-series Industrial Panel PC / Industrial Box PC Motion
Control User's Manual (Cat. No. W559).
3-366
Input signal to Input Unit
Axis position
Input filter delay and I/O
refresh delay
NY-series Motion Control Instructions Reference Manual (W561)
Time