Sample Programming - Omron Sysmac NY-series Instruction & Reference Manual

Re-execution of Motion Control Instructions
You cannot re-execute motion instructions with enable-type inputs.
Multi-execution of Motion Control Instructions
This instruction is executed independently from other instructions. The restrictions for multi-execution
of motion instructions do not apply.
For details on multi-execution of motion control instructions, refer to the NY-series Industrial Panel
PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Errors
If an error occurs during instruction execution, Error will change to TRUE.
You can find out the cause of the error by referring to the value output by ErrorID (Error Code).
 Timing Chart When Error Occurs
Enable
InOperation
Busy
Error
ErrorID
Here, EnableOut in Outputs will be FALSE.
 Error Codes
Refer to the NY-series Troubleshooting Manual (Cat. No. W564) for instruction errors.

Sample Programming

This section provides sample programming for the example that is given in Setting Example on page
3-422.
Configuration Devices
The following devices are used in this sample programming.
Device
EtherCAT Coupler Unit
Pulse Output Unit
Incremental Encoder Input Unit NX-EC0122
NY-series Motion Control Instructions Reference Manual (W561)
16#0000
Model number
NX-ECC201 (Ver.1.1)
*2
NX-PG0122
*3
3 Axis Command Instructions
Error code
*1
3
3-427