Function - Omron Sysmac NY-series Instruction & Reference Manual

 Output Variable Update Timing
Name
Done When positioning is completed.
Busy When Execute changes to TRUE.
Active When the axes move.
•
CommandAborted 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_GroupStop instruction execution.
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

• The MC_MoveLiner instruction performs linear interpolation for 2 to 4 axes.
Precautions for Correct Use
• An Instruction Execution Error with Undefined Home (error code: 5466 hex) occurs if home is
undefined for any of the composition axes in the axes group.
• You cannot execute an instruction to perform linear interpolation if a limit input is ON for any
of the logical axes that belong to the axes group.
Instruction Details
This section describes the instruction in detail.
NY-series Motion Control Instructions Reference Manual (W561)
Timing for changing to TRUE
Meaning Data type
_sGROUP_R
EF
4 Axes Group Instructions
Timing for changing to FALSE
•
When Execute is TRUE and changes to
FALSE.
•
After one period when Execute is FALSE.
•
When Done changes to TRUE.
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
•
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
*1
4-13
4