Omron Sysmac NY-series Instruction & Reference Manual page 526

3 Axis Command Instructions
Position
Current position
Calculated position
Precautions for Correct Use
• If you use an NX-series Encoder Input Unit, this instruction requires that time stamping is op-
erating.
Time stamping is not possible in the following cases.
a) An Encoder Input Unit or Servo Drive that does not support time stamping is used.
b) Object 6010 hex (Time Stamp) in the NX-series Encoder Input Unit is not assigned to a
PDO.
c) The Enable Distributed Clock in the EtherCAT Coupler Unit is Disabled (FreeRun).
• If you use an OMRON 1S-series Servo Drive with built-in EtherCAT communications, this in-
struction is not possible in the following cases.
a) Object 3211-83 hex (Present Position Time Stamp) in the OMRON 1S-series Servo Drive
with built-in EtherCAT communications is not assigned to a PDO.
b) The Enable Distributed Clock in the OMRON 1S-series Servo Drive with built-in Ether-
CAT communications is Disabled (FreeRun).
• An error does not occur for this instruction even if the time stamp is not updated. The position
will be calculated, but the result will not be the position for the specified time stamp.
Use this instruction only after you confirm in the MC Monitor Table or Watch Tab Page of the
Sysmac Studio that the TimeStamp member of the Axis Variable is being updated.
• This instruction calculates the position for the specified time stamp based on both the current
position and current velocity of the axis. If the axis accelerates or decelerates quickly, the cal-
culation error may increase. Use this instruction when the axis is at a constant velocity.
Verify operation sufficiently to confirm safety.
• If you specify an unused axis or if the MC Test Run is in progress, Busy will change to TRUE
and Enabled and Error will change to FALSE when Enable changes to TRUE.
• Do not create two instances with the same instance name. If you do, unintentional outputs
may occur.
Timing Charts
A timing chart for execution of the MC_TimestampToPos instruction is shown below.
Enable
Enabled
Busy
CalcPosition
Undefined.
Error
ErrorID
The following timing chart is for when an unused axis is specified or when an MC Test Run in prog-
ress.
3-438
Current time Specified time
stamp stamp
Updated
16#0000
NY-series Motion Control Instructions Reference Manual (W561)
Time
Undefined.