Function - Omron Sysmac NY-series Instruction & Reference Manual

Name
Busy When Execute changes to TRUE.
•
Failure When an instruction is executed while an axis
or axes group is decelerating to a stop
caused by an error.
•
When an instruction is executed while there is
an axes group error that is caused by an axis
common error.
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

• When Execute changes to TRUE, the error of the axes group specified by AxesGroup in the
GroupEnable state and axis errors of axes belonging to the axes group are cleared.
The following are reset: minor faults or observations that occur for axes or axes groups and drive
errors.
• Error clear processing is performed regardless of whether the Servo is ON or OFF for the axes.
• If there is a drive error for an axis, the drive error is cleared first. Error clear processing is then per-
formed.
• Reset processing for the drive error is continued until the drive error is cleared or continues for the
Drive Error Reset Monitoring Time in the axis parameters. The drive error reset process is execut-
ed for all axes belonging to the axes group at the same time.
• Only errors that existed when Execute changed to TRUE are reset. Errors that occur while clearing
errors are not cleared.
• If this instruction is executed while the axes group is decelerating to a stop for an axes group error
and the instruction is not executed, Failure will change to TRUE. This is so that the error cannot be
reset before the axis stops.
Failure will also change to TRUE if an axis error that results from an axis common error cannot be
cleared by this instruction.
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 Done changes to TRUE.
•
When Error changes to TRUE.
•
When Failure 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
4-107
4