Function - Omron Sysmac NY-series Instruction & Reference Manual

4 Axes Group Instructions
Name Meaning
Error Error
ErrorID Error Code
*1. The upper four digits of the event code give the error code for ErrorID. Refer to the NY-series Troubleshooting Manual
(Cat. No. W564) for the event codes.
 Output Variable Update Timing
Name
Done When the instruction is completed.
Busy When Execute changes to TRUE.
CommandAborted When this instruction is canceled due to an error
in another instruction.
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
In-Out Variables
Name
AxesGroup Axes Group
Axes Axes Group Com-
position Axes
*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.
*2. Set only servo axes or virtual servo axes as the composition axes. Specify the same number of composition axes as
the number before the composition axes are changed.

Function

• When Execute changes to TRUE, the MC_ChangeAxesInGroup instruction writes the composition
axes that are specified in Axes (Axes Group Composition Axes) to the Axes Group parameter for
the axes group that is specified in AxesGroup (Axes Group).
• When execution of the instruction is completed, Axis[ ] in the Kinematics (Kinematics Transformation
Settings) axes group variable will indicate the specified composition axes.
• You cannot use this instruction to change the axis composition (i.e., the number of axes). For exam-
ple, if you execute this instruction for an axes group with an axis composition of three axes, the axis
composition will still contain three axes.
4-96
Data Valid
type range
BOOL TRUE or
FALSE
WORD
Timing for changing to TRUE
Meaning Data type
_sGROUP_R
EF
ARRAY [0..3]
OF UINT
TRUE while there is an error.
Contains the error code when an error occurs.
*1
A value of 16#0000 indicates normal execution.
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 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 for which to change the
*1
axes.
--- Specify the axis numbers of the new composition
*2
axes.
NY-series Motion Control Instructions Reference Manual (W561)
Description
Description