Omron Sysmac NY-series Instruction & Reference Manual page 616

4 Axes Group Instructions
If a minor fault level error occurs for the axis composition, the error handler for the device (FaultHandler) is
executed.
Program the FaultHandler according to the device.
MC_Axis000.MFaultLvl.Active
MC_Axis001.MFaultLvl.Active
MC_Group000.MFaultLvl.Active
If the Servo is ON for axis 1 and home is not defined, the Home instruction is executed.
Pwr1_Status MC_Axis000.Details.Homed
If the Servo is ON for axis 2 and home is not defined, the Home instruction is executed.
Pwr2_Status MC_Axis001.Details.Homed
After home is defined for axis 1 and axis 2, the axes group is enabled.
Hm1_D Hm2_D
The parameters are set for linear interpolation and circular interpolation.
InitFlag
4-64
MC_Axis000
MC_Axis001
MC_Group000
MC_Group000.Status.Disabled
FaultHandler
EN FaultHandler
HM1
MC_Home
Axis
Execute
CommandAborted
HM2
MC_Home
Axis
Execute
CommandAborted
GRP_EN
MC_GroupEnable
AxesGroup
Execute
CommandAborted
Note: The contents of the inline ST
are given below.
NY-series Motion Control Instructions Reference Manual (W561)
Hm1_D
Axis
Done
Busy Hm1_Bsy
Hm1_Ca
Error Hm1_Err
ErrorID Hm1_ErrID
Hm2_D
Axis
Done
Busy Hm2_Bsy
Hm2_Ca
Error Hm2_Err
ErrorID Hm2_ErrID
Grp_En_D
AxesGroup
Done
Busy Grp_En_Bsy
Grp_En_Ca
Error Grp_En_Err
ErrorID Grp_En_ErrID