A-1-2 State Transitions And Instructions For Which Multi-Execution Is Supported - Omron Sysmac NY-series Instruction & Reference Manual

Appendices
Name
Stopping
ErrorStop
A-1-2
State Transitions and Instructions for which Multi-execution Is
Supported
This section tells whether multi-execution of motion control instructions is supported based on the axis
status and the axes group status. It also gives how the axis status and axes group status change.
For details on the state transitions for the MC Function Module and details on motion control instruc-
tions in relation to state transitions, refer to the NY-series Industrial Panel PC / Industrial Box PC
Motion Control User's Manual (Cat. No. W559).
Multi-execution of Instructions for a Servo Axis and Virtual Servo
Axis
The following table shows whether multi-execution of the instruction is supported for a servo axis and
servo axes group, as well as how the status of the servo axis or servo axes group changes after multi-
execution.
The color of the cell in the table tells you if multi-execution of the instruction is supported.
White : Multi-execution of the instruction is supported.
Gray : Multi-execution of the instruction is not supported. An error will occur.
Yellow : Multi-execution of the instruction is not supported. CommandAborted changes to TRUE and execution
of the instruction is disabled.
Each letter code in the table shows the status to which the axis or axes group changes.
Axis Status
A : Disabled
B : Standstill
C : Discrete
D : Continuous
E : Synchronized
F : Homing
G : Stopping
H : ErrorStop
I : Coordinated
Axes Group Status
A-4
Data type Meaning
BOOL Deceleration
Stopping
BOOL Error Decel-
eration Stop-
ping
TRUE until the axes group stops for an MC_Group-
Stop instruction.
This includes when Execute is TRUE after the axes
group stops for an MC_GroupStop instruction.
Axis motion instructions are not executed in this
state (CommandAborted = TRUE).
TRUE while the axes group is stopping or stopped
for the MC_GroupImmediateStop instruction or for
an axes group minor fault (when
_MC_GRP[*].MFaultLvl.Active is TRUE).
Axes group motion instructions are not executed in
this state (CommandAborted = TRUE).
NY-series Motion Control Instructions Reference Manual (W561)
Function