Function - Omron Sysmac NY-series Instruction & Reference Manual

3 Axis Command Instructions
Name
•
CommandAborted
When execution of the synchronized control
instruction is stopped.
•
When this instruction is aborted because an-
other 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.
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
In-Out Variables
Name
Axis 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.

Function

The MC_OffsetPosition instruction adds an offset specified with OffsetPosition (Position Offset),
Velocity (Target Velocity), Acceleration (Acceleration), and Deceleration (Deceleration) to the com-
mand current position of the slave axis in synchronized control, and outputs the result to the Servo
Drive.
The following shows the timing chart for an example in which this instruction is executed during execu-
tion of the MC_GearIn instruction and then is completed.
3-460
Timing for changing to TRUE
Meaning Data type
_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
---
Specifies the axis.
NY-series Motion Control Instructions Reference Manual (W561)
Description
*1