Function - Omron Sysmac NY-series Instruction & Reference Manual

Name
Busy When Execute changes to TRUE.
CommandAborted When this instruction is canceled.
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
In-Out Variables
Name
AxesGroup Axes Group
*1. Specify a user-defined Axes Group Variable that was created in the Axes Group Basic Settings of the Sysmac Studio
(default: MC_Group*) or a system-defined axes group variable name (_MC_GRP[*]).
If you use Sysmac Studio version 1.29 or higher, you can specify the system-defined axes group variable name for AT
specification 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

Before describing the function of this instruction, the different states of axes groups are explained.
• Axes groups have two states, the GroupEnable and GroupDisable states.
State
GroupEnable
GroupDisable
• To perform multi-axes coordinated control, an axes group must be in a GroupEnable state.
You can monitor the Axes Group Variables in the system-defined variables for motion control to see if
axes groups are enabled or disabled.
Name
_MC_GRP*.Status.Ready
_MC_GRP*.Status.Disabled
Note * in _MC_GRP*. is replaced by a number between 0 and 31.
NY-series Motion Control Instructions Reference Manual (W561)
Timing for changing to TRUE
Meaning Data type
_sGROUP_R
EF
Multi-axes coordinated control is enabled.
You can execute any multi-axes coordinated control instructions except for the
MC_ChangeAxesInGroup (Change Axes In Group) instruction.
Multi-axes coordinated control is disabled.
You can execute only the following multi-axes coordinated control instructions.
•
MC_GroupEnable (Enable Axes Group) instruction
•
MC_GroupDisable (Disable Axes Group) instruction
•
MC_GroupReset (Group Reset) instruction
•
MC_GroupSetOverride (Set Group Overrides) instruction
•
MC_GroupReadPosition (Read Axes Group Position) instruction
•
MC_ChangeAxesInGroup (Change Axes in Group) instruction
Meaning
Axes Group Ena-
bled
Axes Group Dis-
abled
Timing for changing to FALSE
•
When Done changes to TRUE.
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
•
When Execute is TRUE and changes to
FALSE.
•
After one period when Execute is FALSE.
When the error is cleared.
Valid
range
---
Specify the axes group.
Description
Description
TRUE when the axes group is stopped and preparations to exe-
cute an axes group instruction are completed.
TRUE when the axes group is disabled and stopped.
4 Axes Group Instructions
Description
*1
4
4-3